CN107685328A - Autokinesis avoids obstacle mechanical arm - Google Patents
Autokinesis avoids obstacle mechanical arm Download PDFInfo
- Publication number
- CN107685328A CN107685328A CN201710887716.1A CN201710887716A CN107685328A CN 107685328 A CN107685328 A CN 107685328A CN 201710887716 A CN201710887716 A CN 201710887716A CN 107685328 A CN107685328 A CN 107685328A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- host computer
- autokinesis
- joint
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
Abstract
The invention discloses autokinesis to avoid obstacle mechanical arm, including：Host computer, bus conversion module, seven freedom mechanical arm, host computer completes the closed-loop control of mechanical arm cartesian space with calculating using processor, and realize that bus data exchanges by bus conversion module, joint control is electrically connected to host computer, rotated with receiving the instruction controlled motor of host computer transmission, and read the information transfer of sensor collection in the storage module in host computer；Using the technical program, avoidance is realized in the kernel motion for effectively utilizing redundant mechanical arm, while ensures the track following of end effector, and end effector steady-state error is less than 1/5th of dynamic error, and the operation of end effector is not also affected.
Description
Technical field
The invention belongs to field in intelligent robotics, it is more particularly related to which autokinesis avoids obstacle mechanical arm.
Background technology
With expanding economy, Robot industry development is swift and violent, and the particularly development of emulated robot, mechanical arm is multiple
The safety problem for the man-machine interaction being related to when being worked under heterocycle border obtains more and more people's concerns, when being likely to occur collision, very
To when having occurred and that the burst fortuitous event such as collision, stop all of mechanical arm at once by the way of jerk in the prior art
Motion, but in the interactive environment of complexity, this processing mode can increase the injury to mechanical arm and personnel on the contrary sometimes；
Therefore, it is necessary to which a kind of mode being more suitable for realizes safe avoidance, so as to adapt to the change of external environment.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of mechanical using redundant degree of freedom, autokinesis avoidance obstacle
Arm.
To achieve these goals, the technical scheme taken of the present invention is：Autokinesis avoids obstacle mechanical arm, including：On
Position machine, bus conversion module, seven freedom mechanical arm；
Host computer：The host computer is located inside mechanical arm；
Bus conversion module：Host computer is communicated by bus with being integrated in IA controller, communication cycle 1ms；
Seven freedom mechanical arm：Driven by brushless electric machine by harmonic speed reducer, and provided using absolute position transducer
Joint angles information；
Host computer completes the closed-loop control of mechanical arm cartesian space with calculating using processor, and passes through general line system mould
Block realizes that bus data exchanges, and is provided with joint control in the joint in seven freedom mechanical arm, joint control is electrically connected to
Host computer, rotated with receiving the instruction controlled motor of host computer transmission, and read the information transfer of sensor collection in host computer
Interior storage module.
Autokinesis disclosed by the invention avoids obstacle mechanical arm, the free degree of the redundancy in the seven freedom mechanical arm
Control machinery shoulder joint bending part constantly to lower swing, with control machinery arm avoiding obstacles, and does not influence end effector,
Seven freedom manipulator motion track is generated by seven preserving Interpolation Usings, initial acceleration/speed of setting and final acceleration
Degree/speed is zero.
Autokinesis disclosed by the invention avoids obstacle mechanical arm, and the host computer uses dual core processor.
Autokinesis disclosed by the invention avoids obstacle mechanical arm, and the joint control uses model NIOS processing
Device.
Autokinesis disclosed by the invention avoids obstacle mechanical arm, and the seven freedom mechanical arm is provided with multiple artis, its
In, each artis is rotated by motor control joint both sides mechanical arm, and motor bottom is provided with rotary encoder, bus transfer
Signal rotates in rotary encoder controlled motor.
Autokinesis disclosed by the invention avoids obstacle mechanical arm, and sensor receives obstacle in the seven freedom mechanical arm
Thing information transfer is in host computer, and host computer confirms turning arm angle and is transmitted in bus control unit, and the arm that the mechanical arm is formed is put down
Face is rotated by the information that host computer transmits to avoidance face, and joint control control machinery arm forms autokinesis.
Using the technical program, avoidance rationally and effectively is realized using the kernel motion of redundant mechanical arm, is ensured simultaneously
The track following of end effector, and dynamic response characteristic of the mechanical arm to barrier can be adjusted by arrange parameter, lead to again
When crossing the minimum distance of experimental verification mechanical arm and barrier and being more than four centimetres of states, end effector position dynamic error is small
In one centimetre, steady-state error is less than 1/5th of dynamic error, and the operation of end effector is not also affected, machinery
The physical characteristic of mass-damper system of the dynamic property of arm kernel with designing is consistent.
Below with reference to drawings and examples, the present invention is described in detail.
Brief description of the drawings
The content expressed by each width accompanying drawing of this specification and the mark in figure are briefly described below：
Fig. 1 is the control structure figure that autokinesis of the present invention avoids obstacle mechanical arm；
Fig. 2 is the schematic diagram that autokinesis of the present invention avoids obstacle mechanical arm.
In figure mark for：1st, arm plane；2nd, avoidance face；3rd, elbow joint；4th, wrist joint；5th, barrier；6th, Tuned mass damper；
7th, shoulder joint；8th, arm angle.
Embodiment
Below against accompanying drawing, by the description to embodiment, each structure for example involved to the embodiment of the present invention
Mutual alignment and annexation, the effect of each several part and operation principle, manufacturing process between the shape of part, construction, each several part
And operate with method etc., it is described in further detail, to help invention structure of the those skilled in the art to the present invention
Think, technical scheme has more complete, accurate and deep understanding.
Fig. 1 is the control structure figure that autokinesis of the present invention avoids obstacle mechanical arm, and autokinesis as depicted avoids obstacle
Mechanical arm, including：Host computer, bus conversion module, seven freedom mechanical arm；
Host computer：The host computer is located inside mechanical arm；
Bus conversion module：Host computer is communicated by bus with being integrated in IA controller, communication cycle 1ms；
Seven freedom mechanical arm：Driven by ripple decelerator by brushless electric machine, and pass is provided using absolute position transducer
Save angle information；
Host computer completes the closed-loop control of mechanical arm cartesian space with calculating using processor, and passes through general line system mould
Block realizes that bus data exchanges, and is provided with joint control in the joint in seven freedom mechanical arm, joint control is electrically connected to
Host computer, rotated with receiving the instruction controlled motor of host computer transmission, and read the information transfer of sensor collection in host computer
Interior storage module, it is generally the case that the practical operation of mechanical arm is that its end effector is completed in operating space, because
Compared with joint space, the controller in design operation space is more of practical significance for this.
The free degree control machinery shoulder joint bending part of redundancy in seven freedom mechanical arm is constantly to lower swing, with control
Mechanical arm avoiding obstacles processed, and end effector is not influenceed, seven freedom manipulator motion track is by seven preserving Interpolation Usings
Generation, initial acceleration/speed of setting and final acceleration/speed are zero, and host computer uses dual core processor, joint
Controller uses model NIOS processor.
Seven freedom mechanical arm is provided with multiple artis, wherein, each artis passes through motor control joint both sides machinery
Arm rotates, and motor bottom is provided with rotary encoder, and bus transfer signal rotates in rotary encoder controlled motor, seven freedom
Sensor receives obstacle information and is transmitted in host computer in mechanical arm, and host computer confirms turning arm angle and is transmitted in bus marco
Device, the arm plane that the mechanical arm is formed are rotated by the information that host computer transmits to avoidance face, joint control control machinery
Arm forms autokinesis, and for seven freedom redundant mechanical arm, this control method utilizes position inner ring, realizes end effector
Cartesian space motion control, compared in general inverse metabolic engineering method, there is higher end effector position tracking
Precision.
Fig. 2 is the schematic diagram that autokinesis of the present invention avoids obstacle mechanical arm, and arm angle 8 as depicted is comparable to machinery
The redundant degree of freedom of arm, so no matter what pose end effector is in, arm angle 8 can arbitrarily be chosen；But in original
The plane of reference determines that this is likely to occur algorithm singular problem by a fixed vector in definition, introduces an avoidance face, arm herein
Angle is redefined the angle between avoidance face and arm plane, if it is determined that arm angle 8, then avoidance face 2 and it is unique really
It is fixed, therefore can dexterously avoiding obstacles 5.
Using the technical program, avoidance rationally and effectively is realized using the kernel motion of redundant mechanical arm, is ensured simultaneously
The track following of end effector, and dynamic response characteristic of the mechanical arm to barrier can be adjusted by arrange parameter, lead to again
When crossing the minimum distance of experimental verification mechanical arm and barrier and being more than four centimetres of states, end effector position dynamic error is small
In one centimetre, steady-state error is less than 1/5th of dynamic error, and the operation of end effector is not also affected, machinery
The physical characteristic of mass-damper system of the dynamic property of arm kernel with designing is consistent.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that present invention specific implementation is not by above-mentioned side
The limitation of formula, if the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is employed, or without
Improve and the design of the present invention and technical scheme are directly applied into other occasions, within protection scope of the present invention.
Claims (6)
1. autokinesis avoids obstacle mechanical arm, it is characterised in that：Including：Host computer, bus conversion module, seven freedom machinery
Arm；
Host computer：The host computer is located inside mechanical arm；
Bus conversion module：Host computer is communicated by bus with being integrated in IA controller, communication cycle 1ms；
Seven freedom mechanical arm：Driven by harmonic speed reducer by brushless electric machine, and joint is provided using absolute position transducer
Angle information；
Host computer completes the closed-loop control of mechanical arm cartesian space with calculating using processor, and is realized by bus conversion module
Bus data is exchanged, and joint control is provided with the joint in seven freedom mechanical arm, and joint control is electrically connected to host computer,
Rotated with receiving the instruction controlled motor of host computer transmission, and read the information transfer of sensor collection in the storage in host computer
Module.
2. avoid obstacle mechanical arm according to the autokinesis described in claim 1, it is characterised in that：In the seven freedom mechanical arm
Redundancy free degree control machinery shoulder joint bending part constantly to lower swing, with control machinery arm avoiding obstacles, and not
End effector is influenceed, seven freedom manipulator motion track is generated by seven preserving Interpolation Usings, initial acceleration/speed of setting
It is zero with final acceleration/speed.
3. avoid obstacle mechanical arm according to the autokinesis described in claim 1, it is characterised in that：The host computer is using at double-core
Manage device.
4. avoid obstacle mechanical arm according to the autokinesis described in claim 1, it is characterised in that：The joint control uses type
Number be NIOS processor.
5. avoid obstacle mechanical arm according to the autokinesis described in claim 1, it is characterised in that：The seven freedom mechanical arm is set
There are multiple artis, wherein, each artis is rotated by motor control joint both sides mechanical arm, and motor bottom is provided with rotation and compiled
Code device, bus transfer signal rotate in rotary encoder controlled motor.
6. avoid obstacle mechanical arm according to the autokinesis described in claim 1, it is characterised in that：In the seven freedom mechanical arm
Sensor receives obstacle information and is transmitted in host computer, and host computer confirms turning arm angle and is transmitted in bus control unit, the machine
The arm plane that tool arm is formed is rotated by the information that host computer transmits to avoidance face, and joint control control machinery arm is formed from fortune
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710887716.1A CN107685328A (en) | 2017-09-27 | 2017-09-27 | Autokinesis avoids obstacle mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710887716.1A CN107685328A (en) | 2017-09-27 | 2017-09-27 | Autokinesis avoids obstacle mechanical arm |
Publications (1)
| Publication Number | Publication Date |
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| CN107685328A true CN107685328A (en) | 2018-02-13 |
Family
ID=61156598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201710887716.1A Pending CN107685328A (en) | 2017-09-27 | 2017-09-27 | Autokinesis avoids obstacle mechanical arm |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101327589A (en) * | 2008-07-10 | 2008-12-24 | 上海交通大学 | Control system and method for instruction input and configuration of remote-operation planar redundant manipulator |
| CN101352854A (en) * | 2008-07-17 | 2009-01-28 | 上海交通大学 | Remote operation planar redundant manipulator automated guided intelligent element, system and method |
| TW200930523A (en) * | 2008-01-11 | 2009-07-16 | Han-Pang Huang | 7 degrees of freedom humanoid robot arm (including a gripper) |
-
2017
- 2017-09-27 CN CN201710887716.1A patent/CN107685328A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200930523A (en) * | 2008-01-11 | 2009-07-16 | Han-Pang Huang | 7 degrees of freedom humanoid robot arm (including a gripper) |
| CN101327589A (en) * | 2008-07-10 | 2008-12-24 | 上海交通大学 | Control system and method for instruction input and configuration of remote-operation planar redundant manipulator |
| CN101352854A (en) * | 2008-07-17 | 2009-01-28 | 上海交通大学 | Remote operation planar redundant manipulator automated guided intelligent element, system and method |
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Application publication date: 20180213 |
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