CN107972032A - A kind of control method and device of articulated arm robots - Google Patents
A kind of control method and device of articulated arm robots Download PDFInfo
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- CN107972032A CN107972032A CN201711117533.8A CN201711117533A CN107972032A CN 107972032 A CN107972032 A CN 107972032A CN 201711117533 A CN201711117533 A CN 201711117533A CN 107972032 A CN107972032 A CN 107972032A
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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- 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
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Abstract
The present invention relates to industrial technical field, discloses a kind of control method of articulated arm robots, including：Obtain the processing pilot point for being processed object and the parameter information of the articulated arm robots, the processed object includes at least two places to be processed, each place to be processed includes at least a processing pilot point, and the parameter information of the articulated arm robots includes processing initial position and processing final position；According to the first preset rules arrangement processing pilot point, processing initial position and processing final position, candidate's machining path is generated；According to the second preset rules and candidate's machining path, optimal machining path is determined, second preset rules include simulated annealing.Present invention also offers a kind of control device of articulated arm robots, the above method is applied.The present invention improves search speed, ensures the reliability and high efficiency of the planning of articulated arm robots' processing tasks.
Description
Technical field
The present invention relates to industrial technical field, more particularly to a kind of control method and device of articulated arm robots.
Background technology
Intelligence manufacture device is the sharp weapon of manufacturing power, it is necessary to intelligent to high speed, energy-saving, efficient direction
Stride forward.One important feature of intelligence manufacture device is can be automatically performed processing tasks, and the intelligence of core is used as using robot
Manufacture device must possess the automatic optimum programming function of processing tasks.
Conventional robot completes processing tasks and still needs manpower participation, it is difficult to realizes full automatic processing tasks
Planning and operation, recently as the progress of technology, robot gradually realizes the automatic processing using exhaustive search algorithm as core
Method, however, the processing method stills need to carry out exhaustive search based on existing machining path points, can not realize whole process certainly
Dynamicization, meanwhile, the processing method search speed is too slow, and operational efficiency is low；It is not extensive enough using underaction, utilization；Be not suitable for
Resolving under extensive task.
The content of the invention
The present invention provides the control method and system of a kind of articulated arm robots, to solve existing joint arm machine
The problem of device people search speed in operation process is too slow, and operational efficiency is low.
On the one hand the embodiment of the present invention provides a kind of control method of articulated arm robots, including：
The processing pilot point for being processed object and the parameter information of the articulated arm robots are obtained, it is described to be processed
Object includes at least two places to be processed, and each place to be processed includes at least a processing pilot point, the joint arm
The parameter information of robot includes processing initial position and processing final position；
Waited according to the first preset rules arrangement processing pilot point, processing initial position and processing final position, generation
Select machining path；
According to the second preset rules and candidate's machining path, optimal machining path, second preset rules are determined
Including simulated annealing.
On the other hand, the embodiment of the present invention additionally provides a kind of control device of articulated arm robots, including：
Acquisition module, for obtaining the processing pilot point of processed object and the parameter letter of the articulated arm robots
Breath, the processed object include at least two places to be processed, and each place to be processed includes at least a processing guiding
Point, the parameter information of the articulated arm robots include processing initial position and processing final position；
Generation module, for whole according to the first preset rules arrangement processing pilot point, processing initial position and processing
Stop bit is put, and generates candidate's machining path；
Determining module, for according to the second preset rules and candidate's machining path, determining optimal machining path, institute
Stating the second preset rules includes simulated annealing.
The embodiment of the present invention is processed the processing pilot point of object and the parameter information of articulated arm robots by obtaining,
Wherein, each place to be processed for being processed object includes at least a processing pilot point, the parameter of articulated arm robots
Information includes processing initial position and processing final position, realizes the automatic acquisition of machining path points, is articulated arm robots
The global automation of processing provides necessary condition, shortens the activity duration, saves human cost；Meanwhile by according to
The one preset rules arrangement processing pilot point, processing initial position and processing final position, generate candidate's machining path, and
According to the second preset rules and candidate's machining path, optimal machining path is determined, second preset rules include mould
Intend annealing algorithm, ensure calculating process Fast Convergent, avoid calculating and be absorbed in locally optimal solution and miss globally optimal solution,
Ensure the reliability and high efficiency of articulated arm robots' processing tasks planning, improve search speed, improve joint arm machine
The operating efficiency of people.
Brief description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, required in being described below to embodiment
The attached drawing used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, can also be obtained according to these attached drawings
Other attached drawings.
Fig. 1 is the hardware architecture diagram of the control device of each embodiment of the present invention；
Fig. 2 is the flow diagram of the first embodiment of the control method of articulated arm robots of the present invention；
Fig. 3 is a kind of schematic diagram of processed object of the embodiment of the present invention, also includes multiple regions to be processed in figure；
Fig. 4 is the flow diagram of the second embodiment of the control method of articulated arm robots of the present invention；
Fig. 5 is the schematic diagram for processing starting point reorientation；
Fig. 6 is the structure diagram of the first embodiment of the control device of articulated arm robots of the present invention；
Fig. 7 is the structure diagram of the second embodiment of the control device of articulated arm robots of the present invention.
Embodiment
In order to which technical problem, technical solution and beneficial effect solved by the invention is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Step label " S " in the embodiment of the present invention is the abbreviation of " Step ", the abbreviation as step.The present invention is implemented
Step order in example is exemplary, the logical relation being not limited between step.
When the embodiment of the present invention refers to " first ", " second " when ordinal number, unless based on context its express really it is suitable
The meaning of sequence, it should be understood that only play differentiation and be used.
When the embodiment of the present invention refers to such as " module ", " component " or " unit ", be only conducive to illustrate of the invention real
Example is applied, itself does not have specific meaning.Therefore, " module " can be used mixedly with " component ".
Control method and device based on articulated arm robots can be implemented in a variety of manners.For example, retouched in the present invention
The control method and device stated can include various device ends.Hereinafter it is assumed that device is a kind of fixed equipment terminal.However,
Similar set it will be appreciated by those skilled in the art that construction according to the embodiment of the present invention can also apply to other
Standby terminal.
Fig. 1 is the hardware configuration signal for the control device for realizing each embodiment of the present invention.Control device 100 can wrap
Include communication unit 110, input unit 120, output unit 130, memory 140, power supply unit 150, interface unit 160 and control
Device 170 processed etc..Fig. 1 shows the device end with various assemblies, it should be understood that being not required for implementing all
The component shown.More or fewer components can alternatively be implemented.The element of mobile terminal will be discussed in more detail below.
Communication unit 110 generally includes one or more assemblies, its allow control device 100 and wireless communication system or
Communicate between network.For example, communication unit can include wireless Internet module, short range communication module and Ethernet mould
It is in the block at least one.The Wi-Fi (Wireless Internet Access) of the wireless Internet module holding equipment terminal.The module can be internal
Or externally it is couple to terminal.Wi-Fi (Wireless Internet Access) technology involved by the module can include WLAN (Wireless LAN) (Wi-
Fi), Wibro (WiMAX), Wimax (worldwide interoperability for microwave accesses), HSDPA (high-speed downlink packet access) etc..
The short range communication module is the module for supporting junction service.Some examples of short-range communication technology include bluetooth TM,
Radio frequency identification (RFID), Infrared Data Association (IrDA), ultra wide band (UWB), purple honeybee TM etc..
Input unit 120 can generate key input data to control the various of mobile terminal according to order input by user
Operation.Input unit 120 allows user to input various types of information, and can include keyboard, metal dome, touch pad (example
Such as, detect the sensitive component of the change of resistance, pressure, capacitance etc. caused by by contact), roller, rocking bar etc..
Especially, when touch pad is superimposed upon on the display module corresponding to output unit in the form of layer, touch-screen can be formed.
Output unit 130 is configured to provide output signal (for example, audio is believed with vision, audio and/or tactile manner
Number, vision signal, alarm signal, vibration signal etc.).Output unit 130 can include display module, dio Output Modules,
Alarm modules etc..Output unit 130 can be to the display module output information, so as to export residing in control device 100
The information of reason, for example, can be by being shown and the relevant user interface of operation (UI) or graphical user circle in the display module
Face (GUI).When control device 100 is in work pattern, the display module can show the workpiece of capture and the rail of operation
UI or GUI of mark image and correlation function etc..Meanwhile when the display module and touch pad in the form of layer each other
When superposition is to form touch-screen, the display module may be used as input unit and output device.The display module can wrap
Include liquid crystal display (LCD), thin film transistor (TFT) LCD (TFT-LCD), Organic Light Emitting Diode (OLED) display, Flexible Displays
At least one of device, three-dimensional (3D) display etc..Some in these displays may be constructed such that transparence to allow
User watches from outside, this is properly termed as transparent display, and typical transparent display can be, for example, TOLED (transparent organic
Light emitting diode) display etc..According to specific desired embodiment, control device 100 can include two or more
Display module (or other display devices), for example, device end can include exterior display module (not shown) and internal display
Module (not shown).Touch-screen can be used for detection touch input pressure and touch input position and touch input area.
Memory 140 can store software program of the processing performed by controller 100 and control operation etc., or
Oneself data through exporting or will export can temporarily be stored.The storage that memory 140 can include at least one type is situated between
Matter, the storage medium include flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memories etc.), random
It is read-only to access memory (RAM), static random-access memory (SRAM), read-only storage (ROM), electrically erasable
Memory (EEPROM), programmable read only memory (PROM), magnetic storage, disk, CD etc..Moreover, control device
100 can cooperate with the network storage device for the store function that memory 140 is performed by network connection.
Power supply unit 150 receives external power or internal power under the control of controller 170 and provides operation each member
Appropriate electric power needed for part and component.
Interface unit 140 is connected the interface that can pass through as at least one external device (ED) with control device 100.For example,
External device (ED) can include external power supply (or battery charger) port, wired or wireless data port, memory card port, use
In the port of device of the connection with identification module, data input/output (I/O) port, video i/o port etc..Identify mould
Block can be that storage is used to verify user using the various information of control device 100 and can include subscriber identification module
(UIM), client identification module (SIM), Universal Subscriber identification module (USIM) etc..In addition, the device with identification module
(hereinafter referred to as " identification device ") can take the form of smart card, and therefore, identification device can be via port or other companies
Connection device is connected with mobile terminal 100.Interface unit 140 can be used for receiving the input from external device (ED) (for example, data
Information, electric power etc.) and the input received is transferred to one or more elements in control device 100 or can be with
For transmitting data between device end and external device (ED).
In addition, when control device 100 is connected with external base, interface unit 140 may be used as allowing by it by electricity
Power provides to the path of control device 100 from base or may be used as allowing to pass through from the various command signals that base inputs
It is transferred to the path of mobile terminal.It may be used as being used to identify from the various command signals or electric power of base input mobile whole
Whether end is accurately fitted within the signal on base.
The overall operation of 170 usual control unit end of controller.For example, the execution of controller 170 and data communication etc.
Relevant control and processing.Controller 170 can be with execution pattern identifying processing, the handwriting input that will be performed on the touchscreen
Or picture draws input and is identified as character or image.
Various embodiments described herein can by using such as computer software, hardware or any combination thereof in terms of
Calculation machine computer-readable recording medium is implemented.Implement for hardware, embodiment described herein can integrate electricity by using special-purpose
Road (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), scene
Programmable gate array (FPGA), processor, controller, microcontroller, microprocessor, be designed to perform work(described herein
Can at least one of electronic unit implement, in some cases, such embodiment can be in controller 170
Implement.For software implementation, the embodiment of such as process or function can be with allowing to perform at least one functions or operations
Single software module implement.Software code can be by the software application write with any appropriate programming language
(or program) is implemented, and software code can be stored in memory 140 and be performed by controller 170.
So far, oneself according to its function through describing device end.In the following, for the sake of brevity, description is such as folded
Slider type terminal in various types of terminals of type, board-type, oscillating-type, sliding-type device end etc. is as example.Cause
This, the present invention can be applied to any kind of device end, and be not limited to slider type terminal.
Control device 100 as shown in Figure 1 may be constructed such that using via frame or packet transmission data it is all if any
Line and wireless communication system and operated based on other kinds of communication system.Based on the said equipment terminal hardware structure with
And related system, each embodiment of the proposition control method and device of the invention based on articulated arm robots.
Fig. 2 is refer to, is the flow diagram of the first embodiment of the control method of the articulated arm robots of the present invention.
Control method includes：
S11, obtains the processing pilot point for being processed object and the parameter information of the articulated arm robots, the quilt
Processing object includes at least two places to be processed, and each place to be processed includes at least a processing pilot point, the pass
The parameter information of joint arm robot includes processing initial position and processing final position.
In the present embodiment, illustrated by polishing of processing method, robot is in the overall polishing task of automatic planning
When, it is necessary to be processed object (such as bathtub) it is multiple treat burnishing part (i.e. above-mentioned place to be processed) progress mission planning so that
Robot can complete polishing task within the shortest time.The inner surface for being processed object treats distribution such as Fig. 3 institutes of burnishing part
Show, it is found that be processed on object inner surface to treat that burnishing part has multiple, be distributed in the bottom surface of processed object, side and
Upper surface, and the trend of each polishing route for treating burnishing part is also different.Wherein P0 be milling tools processing initial position and
Final position is processed, A0, A1, A2 ... An are to treat burnishing part, in each strip tape for treating to have a black in burnishing part,
This is the surface blemish thing for needing to remove by polishing.Robot perform Zone Full polishing task when, typically according to
Treat that the order of burnishing part is sequentially completed polishing.The quality of so this grinding turn directly affects the efficiency of polishing.The present embodiment
By respectively treating that burnishing part takes processing pilot point, the inside polishing path that burnishing part is treated in planning is not only facilitated, it helps rule
Draw robot it is multiple wait to polish between external movement path.
It should be noted that when the shape at place to be processed is different, the quantity of the processing pilot point at single place to be processed
Difference, such as when place to be processed for point when, the quantity of the processing pilot point at the place to be processed is one, when being line when place to be processed
Or during face, the quantity of the processing pilot point at the place to be processed is multiple.
In the present embodiment, processing pilot point is not limited only to, at the place to be processed, can also be near processed object
Collision prevention tracing point etc., the collision prevention track during multiple continuous collision prevention tracing points composition processing of robots.
S12 is raw according to the first preset rules arrangement processing pilot point, processing initial position and processing final position
Into candidate's machining path.
In the present embodiment, the first preset rules can be set by user, such as setting processing initial position, processing
The sequence of positions of final position or part processing pilot point in candidate's machining path, to limit the priority of processing pilot point,
Realize more specific aim and flexible processing scheme.Meanwhile first preset rules can also be random rule, processing pilot point,
Initial position and processing final position random alignment are processed to generate candidate's machining path.
S13, according to the second preset rules and candidate's machining path, determines optimal machining path, described second is default
Rule includes simulated annealing.
In the present embodiment, the second preset rules include but not limited to simulated annealing, are given birth to by the second preset rules
Into with candidate's machining path, generate multiple candidate's machining paths, and the corresponding robot for recording all candidate's machining paths adds
Work characteristic value, the machining feature value can be the machining path length of end effector of robot, robot process time,
The amplitude of fluctuation in each joint of robot etc..Optimal machining path calibrate really will definitely be machining path is most short, process time most
Short, robot amplitude of fluctuation minimum etc..
The embodiment of the present invention is processed the processing pilot point of object and the parameter information of articulated arm robots by obtaining,
Wherein, each place to be processed for being processed object includes at least a processing pilot point, the parameter of articulated arm robots
Information includes processing initial position and processing final position, realizes the automatic acquisition of machining path points, is articulated arm robots
The global automation of processing provides necessary condition, shortens the activity duration, saves human cost；Meanwhile by according to
The one preset rules arrangement processing pilot point, processing initial position and processing final position, generate candidate's machining path, and
According to the second preset rules and candidate's machining path, optimal machining path is determined, second preset rules include mould
Intend annealing algorithm, ensure calculating process Fast Convergent, avoid calculating and be absorbed in locally optimal solution and miss globally optimal solution,
Ensure the reliability and high efficiency of articulated arm robots' processing tasks planning, improve search speed, improve joint arm machine
The operating efficiency of people.
Fig. 4 is refer to, is the flow diagram of the second embodiment of the control method of the articulated arm robots of the present invention.
Control method includes：
S201, the coordinate for being processed subject surface each point is obtained according to a cloud analysis method.
In the present embodiment, it is three-dimension curved surface to be processed subject surface, and the coordinate of each point is three-dimensional point coordinate, exemplary
, each point coordinates is represented with (x, y, z).
S202, processing pilot point is determined with default resolution ratio respectively at each place to be processed of the processed object.
Resolution ratio is used to determine processing pilot point in the selection density at any place to be processed, and resolution ratio is smaller, chooses density
Bigger, machining accuracy is higher.The present embodiment usually uniformly chooses processing pilot point at each place to be processed.
As the first implementation of the present embodiment, the default resolution ratio at above-mentioned all places to be processed can be it is identical,
It is mutually independent between the processing pilot point at same place to be processed.
As second of implementation of the present embodiment, the corresponding default resolution ratio in each place to be processed can be different, same to treat
It is between processing pilot point at processing and mutually independent, it is exemplary, the to be processed of surface is contacted with user in processing
During place, default resolution ratio value is smaller, when processing does not contact the place to be processed on surface with user, presets resolution ratio value
It is larger, it can shorten machining period on the premise of ensureing that being processed object meets preferable user experience, save processing cost.
It is mutually to close between all processing pilot points at same place to be processed as the third implementation of the present embodiment
Connection, after all processing pilot points at same place to be processed determine, while determine that all processing at correspondence place to be processed are drawn
An inside machining path (i.e. machining path of the articulated arm robots at correspondence place to be processed is unique) for composition is led, works as pass
When the end effector (such as grinding head, cutting are first-class) of joint arm robot is moved to corresponding place to be processed, with unique inside
Machining path is processed, and such a mode can ensure that end effector reaches processing effect (such as drawing process, the mill of anticipation
Sand technique etc.).Remark additionally as one kind, the third implementation is special implementation, before being not particularly illustrated
Put, in described below, the explanation to the present embodiment usually corresponds to above-mentioned the first implementation and second of implementation.
S203, obtains the parameter information of the articulated arm robots, and the parameter information of the articulated arm robots includes adding
Work initial position and processing final position.
In the present embodiment, above-mentioned processing initial position and processing final position perform for the end of articulated arm robots
The corresponding processing initial position of device and processing final position.During actual processing, processing initial position and processing stop bit
Putting can be identical.
S204, determines that the processing pilot point, processing initial position and processing final position are machining path points.
In the present embodiment, will processing pilot point, processing initial position and processing final position as machining path points,
To generate machining path subsequently through machining path points.
It should be noted that corresponding to the third above-mentioned implementation, each place to be processed chooses two processing pilot points,
This two processing pilot points correspond to two endpoints of the internal machining path respectively.
S205, machining path points described in random alignment, candidate's machining path S that generation scale is N1=[P1, P2, P3,
P4..., Pn-1, Pn], wherein, P1, P2, P3, P4..., Pn-1, PnFor the coordinate of each machining path points.
In the present embodiment, machining path [P1, P2, P3, P4..., Pn-1, Pn] show end effector from P1Point sets out,
Pass through P successively2, P3, P4... it is finally reached PnPoint, in this step, P1Point might not correspond to processing initial position, PnPoint
Processing final position might not be corresponded to.
Operator's pre-set priority is also supported as to further improvement of this embodiment, the present embodiment, it is more for ensuring
Processing precedence relationship between a machining path points, when robot operator is inputting the pre-set priority of machining path points
On the premise of, further include step after S205：Effect candidate's machining path S1Each machining path points whether meet it is default preferential
Level, if so, S206 is performed, if it is not, re-executing S205.
It should be noted that corresponding to the third above-mentioned implementation, two processing pilot points at same place to be processed are
Adjoin each other, but the tandem of this two processing pilot points can overturn.
S206, converts candidate's machining path S1, obtain and compare machining path S2。
Above-mentioned change machining path S1Process can be arbitrary, those skilled in the art can set change according to demand
Change parameter and condition.
As a kind of preferred embodiment, in candidate's machining path S1In, 1 is randomly generated at least two phases between N
Heteromerism k and m, define k<m、S1=[P1..., Pk-1, Pk, Pk+1..., Pm-1, Pm, Pm+1..., Pn-1, Pn], by described at least two
Two machining path points P corresponding to phase heteromerism k and mkAnd PmExchange position, obtain comparing machining path S2=[P1...,
Pk-1, Pm, Pk+1..., Pm-1, Pk, Pm+1..., Pn-1, Pn].It should be noted that the present invention does not carry out the quantity of phase heteromerism
Limit, the quantity of phase heteromerism can also be three, four or more.
Likewise, the situation of corresponding above-mentioned pre-set priority, S206 further include step afterwards：Effect candidate's machining path
S2Each machining path points whether meet pre-set priority, if so, perform S207, if it is not, re-executing S206.
It should be noted that corresponding to the third above-mentioned implementation, step is further included after S206：Effect candidate adds
Work path S2In, two processing pilot points at same place to be processed adjoin each other, if so, S207 is performed, if it is not, again
Perform S206.
Relative to above-mentioned first embodiment, the present embodiment is determined using the length of machining path as optimal machining path
Standard, includes after S206：
S207, by candidate's machining path S1, compare machining path S2Bring formula into respectively
Calculate the path length f (S of candidate's machining path1) and compare machining path path length f (S2), wherein, x, y
With coordinates of the z for representing each machining path points.
It should be noted that corresponding to the third above-mentioned implementation, step is further included after S207：Processed in candidate
Path length f (the S in path1) in subtract in each place to be processed the distances of two processing pilot points, comparing the road of machining path
Electrical path length f (S2) in subtract in each place to be processed the distance of two processing pilot points, and update the path length of candidate's machining path
Spend f (S1) and compare machining path path length f (S2)。
S208, according to simulated annealing
Wherein
Work as df<When 0, it is candidate's machining path to replace the comparison machining path；As df >=0, calculate receive to replace it is general
Rate P, randomly generates equally distributed random number rand on (0,1) section；Probability P ＞ rand are replaced if receiving, by the comparison
Machining path replaces with candidate's machining path, and update candidate's machining path is replaced number l, if P≤rand, does not replace
Change candidate's machining path.
In the present embodiment, the number initial value that is replaced of candidate's machining path can be 0, every time when comparison processing road
When candidate's machining path is replaced in footpath, the number that is replaced of candidate's machining path can be made to add counting processing.
S209, the initial temperature T being set in annealing algorithm0, end temp TendWith temperature damping function g (x), definition
Tl+1=Tl* g (x), when above-mentioned replacement number is less than preset times, returns and performs S206-S208, when above-mentioned replacement number reaches
During to preset times, judge whether Current Temperatures T reaches end temp Tend, perform S210.
In the present embodiment, above-mentioned preset times can be Metropolis chain lengths L, and above-mentioned g (x) can be constant, such as
Tl+1=Tl* g (x)=Tl* q, exemplary, T0Value range can be 200-1000 DEG C, TendCan be 0 DEG C, q value models
Enclosing can be 0.5~0.99.
S210, when Current Temperatures T reaches end temp TendWhen, determine in all candidate's machining paths, above-mentioned path length
Spend f(S)Minimum candidate's machining path is as optimal machining path.
In the present embodiment, when Current Temperatures T reaches end temp TendWhen, return and perform S206-S209.
After above-mentioned steps, articulated arm robots process initial position and processing final position may be not at most
The first both ends of excellent machining path, therefore after the S210 of the present embodiment, processing start bit that can also be to optimal machining path
Put and relocated, specific step is search processing initial position corresponding position number in optimal machining path, will
It is placed in the stem of newly-generated optimal machining path, and keeps time of the machining path points in other former optimal machining paths
Sequence is constant.
Exemplary, when processing initial position and processing final position is same position, refer to shown in Fig. 5, if
The optimal machining path that S210 is obtained is [19,14,15,16,1,5,6,7,2,3,4,10,9,8,13,12,11,17,18], then
Newly-generated optimal machining path after repositioning for [1,5,6,7,2,3,4,10,9,8,13,12,11,17,18,19,
14,15,16]。
The embodiment of the present invention is by randomly generating 1 at least two phase heteromerism k and m between N, to provide more ratios
To machining path, and then guarantee to obtain splendid optimal machining path；Meanwhile by being processed the place to be processed of object
Processing pilot point chosen with default resolution ratio, realizes controllable precise and the following process processing of processing pretreatment operation
Personalized and customization；Secondly, by pre-set priority, the personalization and customization of following process processing are further increased,
Improve construction quality；Again, the mechanism that initial position is relocated causes the operation of articulated arm robots not to be subject to processing
The constraints such as initial position, processing final position, enhance the practicality of articulated arm robots.
The embodiment of the control method of articulated arm robots of the present invention is discussed in detail above.It will correspond to below
The system (i.e. control device) of the above method is further elaborated.Wherein, control device can be articulated arm robots.
Fig. 6 is refer to, is the structure diagram of the first embodiment of the control device of the articulated arm robots of the present invention,
The control method being used for realization in the first embodiment of the above method.Control device 200 includes acquisition module 210, generation module
220 and determining module 230.
Wherein, acquisition module 210, are connected with generation module 220, for obtain the processing pilot point of processed object with
And the parameter information of the articulated arm robots, the processed object includes at least two places to be processed, each described to be processed
Place includes at least a processing pilot point, and the parameter information of the articulated arm robots includes processing initial position and adds
Work final position.
Generation module 220, is connected with determining module 230, for being guided according to the first preset rules arrangement processing
Point, processing initial position and processing final position, generate candidate's machining path.
Determining module 230, for according to the second preset rules and candidate's machining path, determining optimal machining path,
Second preset rules include simulated annealing.
Each module in the present embodiment and each step in the first embodiment of the above method correspond, module declaration
Identical with corresponding step, which is not described herein again.
The embodiment of the present invention is processed the processing pilot point of object and the parameter information of articulated arm robots by obtaining,
Wherein, each place to be processed for being processed object includes at least a processing pilot point, the parameter of articulated arm robots
Information includes processing initial position and processing final position, realizes the automatic acquisition of machining path points, is articulated arm robots
The global automation of processing provides necessary condition, shortens the activity duration, saves human cost；Meanwhile by according to
The one preset rules arrangement processing pilot point, processing initial position and processing final position, generate candidate's machining path, and
According to the second preset rules and candidate's machining path, optimal machining path is determined, second preset rules include mould
Intend annealing algorithm, ensure calculating process Fast Convergent, avoid calculating and be absorbed in locally optimal solution and miss globally optimal solution,
Ensure the reliability and high efficiency of articulated arm robots' processing tasks planning, improve search speed, improve joint arm machine
The operating efficiency of people.
Fig. 7 is refer to, is the structure diagram of the second embodiment of the control device of the articulated arm robots of the present invention.
The control method being used for realization in the second embodiment of the above method.Control device 300 includes acquisition module 310, generation module
320 and determining module 330.
Wherein, acquisition module 310, are connected with generation module 320, including first acquisition unit 311, the first determination unit
312nd, 313 and second determination unit 314 of second acquisition unit.Wherein,
First acquisition unit 311, is connected with the first determination unit 312, is processed for being obtained according to a cloud analysis method
The coordinate of subject surface each point.
First determination unit 312, is connected with the second determination unit 314, for being processed pair described with default resolution ratio
Each place to be processed of elephant determines processing pilot point respectively.
Second acquisition unit 313, is connected with the second determination unit 314, for obtaining the parameter of the articulated arm robots
Information, the parameter information of the articulated arm robots include processing initial position and processing final position.
Second determination unit 314, is for determining the processing pilot point, processing initial position and processing final position
Machining path points.
Generation module 320, is connected with determining module 330, and for machining path points described in random alignment, generation scale is N
Candidate's machining path S1=[P1, P2, P3, P4..., Pn-1, Pn], wherein, P1, P2, P3, P4..., Pn-1, PnFor each machining path
The coordinate of point.
Determining module 330, including the 3rd acquiring unit 331, first processing units 332, second processing unit the 333, the 3rd
334 and the 3rd determination unit 335 of processing unit.Wherein,
3rd acquiring unit 331, is connected with first processing units 332, for converting candidate's machining path S1, obtain
Machining path S must be compared2。
In the present embodiment, the 3rd acquiring unit, is specifically used for：In candidate's machining path S1In, randomly generate 1 to N it
Between at least two phase heteromerism k and m, define k<m、S1=[P1..., Pk-1, Pk, Pk+1..., Pm-1, Pm, Pm+1..., Pn-1, Pn],
By two machining path points P corresponding at least two phases the heteromerism k and mkAnd PmExchange position, obtain compare processing road
Footpath S2=[P1..., Pk-1, Pm, Pk+1..., Pm-1, Pk, Pm+1..., Pn-1, Pn]。
First processing units 332, are connected with second processing unit 333, for by candidate's machining path S1, compare processing
Path S2Bring formula into respectively
Calculate the path length f (S of candidate's machining path1) and compare machining path path length f (S2), wherein, x, y
With coordinates of the z for representing each machining path points.
Second processing unit 333, is connected with the 3rd processing unit 334, for according to simulated annealing
Wherein
Work as df<When 0, it is candidate's machining path to replace the comparison machining path；As df >=0, calculate receive to replace it is general
Rate P, randomly generates equally distributed random number rand on (0,1) section；Probability P ＞ rand are replaced if receiving, by the comparison
Machining path replaces with candidate's machining path, and update candidate's machining path is replaced number l, if P≤rand, does not replace
Change candidate's machining path.
3rd processing unit 334, is connected with the 3rd determination unit 335, for the initial temperature being set in annealing algorithm
T0, end temp TendWith temperature damping function g (x), T is definedl+1=Tl* g (x), when above-mentioned replacement number is less than preset times
When, return and perform conversion candidate's machining path S1, obtain and compare machining path S2The step of, when above-mentioned replacement number
When reaching preset times, judge whether Current Temperatures T reaches end temp Tend。
3rd determination unit 335, for reaching end temp T as Current Temperatures TendWhen, determine that all candidates process road
In footpath, above-mentioned path length f(S)Minimum candidate's machining path is as optimal machining path.
Each module, unit in the present embodiment and each step in the second embodiment of the above method correspond, mould
Block, cell descriptions and expanded function are identical with the correspondence step of above method second embodiment, and which is not described herein again.
The embodiment of the present invention is by randomly generating 1 at least two phase heteromerism k and m between N, to provide more ratios
To machining path, and then guarantee to obtain splendid optimal machining path；Meanwhile by being processed the place to be processed of object
Processing pilot point chosen with default resolution ratio, realizes controllable precise and the following process processing of processing pretreatment operation
Personalized and customization；Secondly, by pre-set priority, the personalization and customization of following process processing are further increased,
Improve construction quality；Again, the mechanism that initial position is relocated causes the operation of articulated arm robots not to be subject to processing
The constraints such as initial position, processing final position, enhance the practicality of articulated arm robots.
It is apparent to those skilled in the art that for convenience and simplicity of description, only with above-mentioned each function
The division progress of module, can be as needed and by above-mentioned function distribution by different function moulds for example, in practical application
Block is completed, i.e., the internal structure of device is divided into different function modules, to complete all or part of work(described above
Energy.The specific work process of the system, apparatus, and unit of foregoing description, may be referred to corresponding in preceding method embodiment
Journey, details are not described herein.
In several embodiments provided herein, it should be understood that disclosed control device and control method, can
To realize by another way.For example, the embodiment of control device described above is only schematical, the mould
The division of block or unit, is only a kind of division of logic function, can there is other dividing mode when actually realizing, such as more
A unit or component can combine or be desirably integrated into another system, or some features can be ignored, or not perform.Separately
A bit, shown or discussed mutual coupling, direct-coupling or communication connection can be by some interfaces, device
Or INDIRECT COUPLING or the communication connection of unit, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be it is physically separate, as unit
The component of display may or may not be physical location, you can with positioned at a place, or can also be distributed to more
In a network unit.Some or all of unit therein can be selected to realize this embodiment scheme according to the actual needs
Purpose.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme essence
On all or part of the part that contributes in other words to the prior art or the technical solution can be with the shape of software product
Formula embodies, which is stored in a storage medium, including some instructions are used so that a calculating
Machine equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform the present invention
The all or part of step of each embodiment the method.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only deposit
Reservoir (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or
CD etc. is various can be with the medium of store program codes.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (10)
- A kind of 1. control method of articulated arm robots, it is characterised in that including：Obtain the processing pilot point for being processed object and the parameter information of the articulated arm robots, the processed object bag At least two places to be processed are included, each place to be processed includes at least a processing pilot point, the articulated arm robots Parameter information include processing initial position and processing final position；According to the first preset rules arrangement processing pilot point, processing initial position and processing final position, generation candidate adds Work path；According to the second preset rules and candidate's machining path, optimal machining path is determined, second preset rules include Simulated annealing.
- 2. control method as claimed in claim 1, it is characterised in that it is described obtain be processed object processing pilot point and The parameter information of the articulated arm robots, the processed object include at least two places to be processed, each place to be processed Including at least a processing pilot point, the parameter information of the articulated arm robots includes processing initial position and processing eventually The step of stop bit is put, including：The coordinate for being processed subject surface each point is obtained according to a cloud analysis method；Processing pilot point is determined with default resolution ratio respectively at each place to be processed of the processed object；The parameter information of the articulated arm robots is obtained, the parameter information of the articulated arm robots includes processing initial position With processing final position；Determine that the processing pilot point, processing initial position and processing final position are machining path points.
- 3. control method as claimed in claim 2, it is characterised in that described to be drawn according to the first preset rules arrangement processing The step of leading point, processing initial position and processing final position, generating candidate's machining path, including：Machining path points described in random alignment, candidate's machining path S that generation scale is N1=[P1, P2, P3, P4..., Pn-1, Pn], wherein, P1, P2, P3, P4..., Pn-1, PnFor the coordinate of each machining path points.
- 4. control method as claimed in claim 3, it is characterised in that described to be processed according to the second preset rules and the candidate The step of path, determines optimal machining path, and second preset rules include simulated annealing, including：Convert candidate's machining path S1, obtain and compare machining path S2；By candidate's machining path S1, compare machining path S2Bring formula into respectivelyCalculate the path length of candidate's machining pathWith the path length for comparing machining pathWherein, x, y and z are used for Represent the coordinate of each machining path points；According to simulated annealingWhereinWork as df<When 0, it is candidate's machining path to replace the comparison machining path；Work as dfWhen >=0, calculate and receive to replace probability P, with Machine produces equally distributed random number rand on (0,1) section；Probability P ＞ rand are replaced if receiving, described compare is processed into road Footpath replaces with candidate's machining path, and update candidate's machining path is replaced number l, if P≤rand, does not replace the time Select machining path；The initial temperature T being set in annealing algorithm0, end temp TendWith temperature damping's function g(x), define Tl+1=Tl*g(x), When above-mentioned replacement number is less than preset times, returns and perform conversion candidate's machining path S1, obtain and compare processing Path S2The step of, when above-mentioned replacement number reaches preset times, judge whether Current Temperatures T reaches end temp Tend；When Current Temperatures T reaches end temp TendWhen, determine in all candidate's machining paths, above-mentioned path length f(S)Minimum Candidate's machining path is as optimal machining path.
- 5. control method as claimed in claim 4, it is characterised in that conversion candidate's machining path S1, compared Machining path S2The step of, it is specially：In candidate's machining path S1In, 1 at least two phase heteromerism k and m between N is randomly generated, defines k<m、S1= [P1..., Pk-1, Pk, Pk+1..., Pm-1, Pm, Pm+1..., Pn-1, Pn], by two corresponding at least two phases the heteromerism k and m A machining path points PkAnd PmExchange position, obtain comparing machining path S2=[P1..., Pk-1, Pm, Pk+1..., Pm-1, Pk, Pm+1..., Pn-1, Pn]。
- A kind of 6. control device of articulated arm robots, it is characterised in that including：Acquisition module, for obtaining the processing pilot point of processed object and the parameter information of the articulated arm robots, institute Stating processed object includes at least two places to be processed, and each place to be processed includes at least a processing pilot point, institute Stating the parameter information of articulated arm robots includes processing initial position and processing final position；Generation module, for according to the first preset rules arrangement processing pilot point, processing initial position and processing stop bit Put, generate candidate's machining path；Determining module, for according to the second preset rules and candidate's machining path, determining optimal machining path, described second Preset rules include simulated annealing.
- 7. control device as claimed in claim 6, it is characterised in that the acquisition module, including：First acquisition unit, the coordinate of subject surface each point is processed for being obtained according to a cloud analysis method；First determination unit, for determining processing guiding respectively at each place to be processed of the processed object with default resolution ratio Point；Second acquisition unit, for obtaining the parameter information of the articulated arm robots, the parameter letter of the articulated arm robots Breath includes processing initial position and processes final position；Second determination unit, for determining that the processing pilot point, processing initial position and processing final position are machining path Point.
- 8. control device as claimed in claim 7, it is characterised in that the generation module, is specifically used for：Described in random alignment Machining path points, candidate's machining path S that generation scale is N1=[P1, P2, P3, P4..., Pn-1, Pn], wherein, P1, P2, P3, P4..., Pn-1, PnFor the coordinate of each machining path points.
- 9. control device as claimed in claim 8, it is characterised in that the determining module, including：3rd acquiring unit, for converting candidate's machining path S1, obtain and compare machining path S2；First processing units, for by candidate's machining path S1, compare machining path S2Bring formula into respectivelyCalculate the path length of candidate's machining pathWith the path length for comparing machining pathWherein, x, y and z are used for Represent the coordinate of each machining path points；Second processing unit, for according to simulated annealingWhereinWork as df<When 0, it is candidate's machining path to replace the comparison machining path；Work as dfWhen >=0, calculate and receive to replace probability P, with Machine produces equally distributed random number rand on (0,1) section；Probability P ＞ rand are replaced if receiving, described compare is processed into road Footpath replaces with candidate's machining path, and update candidate's machining path is replaced number l, if P≤rand, does not replace the time Select machining path；3rd processing unit, for the initial temperature T being set in annealing algorithm0, end temp TendWith temperature damping's function g(x), define Tl+1=Tl*g(x), when above-mentioned replacement number is less than preset times, returns and perform conversion candidate's processing Path S1, obtain and compare machining path S2The step of, when above-mentioned replacement number reaches preset times, whether judge Current Temperatures T Reach end temp Tend；3rd determination unit, for reaching end temp T as Current Temperatures TendWhen, determine in all candidate's machining paths, it is above-mentioned Path length f(S)Minimum candidate's machining path is as optimal machining path.
- 10. control device as claimed in claim 9, it is characterised in that the 3rd acquiring unit, is specifically used for：Processed in candidate Path S1In, 1 at least two phase heteromerism k and m between N is randomly generated, defines k<m、S1=[P1..., Pk-1, Pk, Pk+1..., Pm-1, Pm, Pm+1..., Pn-1, Pn], by two machining path points P corresponding at least two phases the heteromerism k and mk And PmExchange position, obtain comparing machining path S2=[P1..., Pk-1, Pm, Pk+1..., Pm-1, Pk, Pm+1..., Pn-1, Pn]。
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