CN108340352A - The long-range real-time control method of industrial robot based on teaching joint arm - Google Patents
The long-range real-time control method of industrial robot based on teaching joint arm Download PDFInfo
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- CN108340352A CN108340352A CN201810131217.4A CN201810131217A CN108340352A CN 108340352 A CN108340352 A CN 108340352A CN 201810131217 A CN201810131217 A CN 201810131217A CN 108340352 A CN108340352 A CN 108340352A
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- industrial robot
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip 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
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Health & Medical Sciences (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Numerical Control (AREA)
Abstract
The present invention relates to a kind of long-range real-time control methods of industrial robot based on teaching joint arm, teaching joint arm is operated according to vision feedback system, each joint of teaching joint arm is mounted on angular transducer, each angular transducer is communicated by SSI respectively to be connect with angle-data acquisition module, is connected by K BUS bus communications between angle-data acquisition module and the motion controller of industrial robot；The industrial robot of connection teaching joint arm passes through motion controller and computer system OPC protocols, torque needed for each spindle motor of industrial robot is calculated by computer system, realizes that robot follows teaching joint arm to move by the given driver torque closed-loop control system of motion controller；Industrial robot records the motion path of industrial robot according to the station acquisition frequency and movement interpolation pattern that pre-set during the motion, generates movement code and realizes teaching playback.Have the advantages that operator is made to avoid the severe operating environment in scene, improve efficiency.
Description
Technical field
The present invention relates to a kind of long-range real-time control methods of industrial robot based on teaching joint arm.
Background technology
With the continuous expansion of industrial robot application field, unavoidably there are some relatively severe building rings
Border, the people if staff operates machine at the scene for a long time, personal safety and physical and mental health to operator cause greatly to endanger
Evil, especially in bad environments, it is pressed for time, product category is more, when structure curved surface complexity, traditional industrial robot
Teaching box teaching mode has been unable to meet demand, and the teaching mode needs programming personnel to have higher professional knowledge technical ability, difficult
With popularization and application.
Invention content
Regarding the issue above, the present invention provides a kind of make operator avoid the severe operating environment in scene, carry
The long-range real-time control method of the efficient industrial robot based on teaching joint arm.
The present invention, a kind of long-range real-time control method of industrial robot based on teaching joint arm, operator pass through vision
Reponse system knows field operation situation, operates the teaching joint arm of industrial robot according to vision feedback system by operator,
Each joint of teaching joint arm is mounted on angular transducer, and each angular transducer passes through SSI communications and angle number respectively
It is connected according to acquisition module, passes through K-BUS bus communications between angle-data acquisition module and the motion controller of industrial robot
Connection, by SSI agreements periodicity acquisition angles sensor position information and passes through K-BUS buses by angle-data acquisition module
It is transferred to the motion controller of robot；The industrial robot of connection teaching joint arm passes through motion controller and computer system
OPC protocols calculate torque needed for each spindle motor of industrial robot by computer system, are given by motion controller
Driver torque closed-loop control system realize robot follow teaching joint arm move motion accompanying；Industrial robot is being transported
The motion path for recording industrial robot during dynamic according to the station acquisition frequency and movement interpolation pattern that pre-set, generates work
The movement code of industry robot and realize teaching playback.
The present invention, motion controller circle collection angle sensor data is simultaneously transferred to computer system, by department of computer science
System converts sensing data to angle value, calculates joint values, including position, speed and acceleration etc., and be worth according to limit
Setting judges whether the angle exceeds limit value, shows that display screen is arrived in alarm if beyond limit value；Conversely, by computer system
Torque needed for each spindle motor of industrial robot is calculated, the given driver torque closed-loop control system of motion controller is passed through
Realize the motion accompanying that robot follows teaching joint arm to move.
The present invention, movement interpolation pattern establish the kinematics side of industrial robot using Denavit-Hartenberg methods
Formula, n are joint number, calculate and transform to second joint from first joint successively, transform to third joint, finally convert
Position and posture of the tail end connecting rod coordinate system relative to basis coordinates system where to n-th joint, formed one group of complete position and
Attitude matrix；Null file is generated by computer system, the joint position and posture of periodic reading kinematics analysis result and
Speed, and be written in the null file, after the completion of operation, automatically generate the executable program code of industrial robot.
The beneficial effects of the invention are as follows：Operator's professional skill class requirement is reduced, so that operator is avoided live severe
Operating environment realizes long-range real-time control and fast programming, improves efficiency, guarantees personal safety.Thus, the present invention, having makes
Operator avoids the severe operating environment in scene, improves the advantages of efficiency.
Following example is described with reference to the drawings that the present invention is further illustrated.
Description of the drawings
Fig. 1 is the remote control teaching framework communication block diagram of one embodiment of the present of invention；
Fig. 2 is the flow diagram of Fig. 1 embodiments.
Specific implementation mode
Referring to Fig.1, the present embodiment is a kind of long-range real-time control method of the industrial robot based on teaching joint arm, operation
Person knows field operation situation by vision feedback system, and showing for industrial robot is operated according to vision feedback system by operator
Joint arm, each joint of teaching joint arm is taught to be mounted on angular transducer, each angular transducer is communicated by SSI respectively
It is connect with angle-data acquisition module, passes through K-BUS between angle-data acquisition module and the motion controller of industrial robot
Bus communication connects, and by SSI agreements periodicity acquisition angles sensor position information and is passed through by angle-data acquisition module
Motion controller of the K-BUS bus transfers to robot；Connect teaching joint arm industrial robot by motion controller with
Computer system OPC protocols are calculated according to dynamic analysis needed for each spindle motor of industrial robot by computer system
Torque realizes that robot follows teaching joint arm to move by the given driver torque closed-loop control system of motion controller
Motion accompanying；Industrial robot records work according to the station acquisition frequency and movement interpolation pattern that pre-set during the motion
The motion path of industry robot generates the movement code of industrial robot and realizes teaching playback.
The above-mentioned dynamic analysis being related to establishes industrial robot kinetics equation, specific method using Lagrangian method
It is as follows：Cartesian coordinate system is chosen, each component kinetic energy of industrial robot is found outAnd potential energy, construct Lagrangian, according to Lagrange equationAnd the position in length of connecting rod and each joint, speed and
Acceleration calculation obtains each spindle motor rotating torque。
The above-mentioned movement interpolation pattern being related to establishes the kinematics side of industrial robot using Denavit-Hartenberg methods
Formula, n are joint number, and calculating begins to transform into second joint from first joint successively, then arrives third, and so on, most
Position and posture of the tail end connecting rod coordinate system relative to basis coordinates system where transforming to n-th of joint afterwards, form one group of complete position
And attitude matrix；The matrix equation of position and posture,
By taking six-freedom degree industrial robot as an example, its six-freedom degree value is calculated.Meanwhile institute's calculated value being shown together with joint values
In the software of computer system, null file, the joint of periodic reading kinematics analysis result are generated by computer system
Position and posture and speed, and be written in the null file, after the completion of operation, automatically generate the executable journey of industrial robot
Sequence code.
The operation and control flow of the present invention, with reference to Fig. 2, when operator starts to operate teaching joint arm, motion controller follows
Ring acquisition angles sensing data is simultaneously transferred to computer system, and sensing data is converted to angle value by computer system,
Joint values, including position, speed and acceleration etc. are calculated, and judge the angle whether beyond limit according to the setting of limit value
Value shows that display screen is arrived in alarm if beyond limit value；Conversely, calculating each spindle motor institute of industrial robot by computer system
Torque is needed, realizes that robot follows teaching joint arm to transport by the given driver torque closed-loop control system of motion controller
Dynamic motion accompanying.
The described six-freedom degree industrial robot remote control based on teaching joint arm of the embodiment of the present invention is only
It is one embodiment in the present invention, rather than whole embodiments.
Claims (3)
1. a kind of long-range real-time control method of industrial robot based on teaching joint arm, it is characterised in that：
Operator knows field operation situation by vision feedback system, and industrial machine is operated according to vision feedback system by operator
Each joint of the teaching joint arm of device people, the teaching joint arm is mounted on angular transducer, each angular transducer point
It is not communicated by SSI and is connect with angle-data acquisition module, the movement control of the angle-data acquisition module and industrial robot
It is connected by K-BUS bus communications between device processed, SSI agreement periodicity acquisition angles is passed through by the angle-data acquisition module
Sensor position information and by K-BUS bus transfers to the motion controller of robot；
The industrial robot of teaching joint arm is connected by motion controller and computer system OPC protocols, by the meter
Torque needed for each spindle motor of calculation machine system-computed industrial robot passes through the given driver torque closed loop of motion controller
Control system realizes the motion accompanying that robot follows teaching joint arm to move；
The industrial robot is during the motion according to the station acquisition frequency and movement interpolation pattern record industry pre-seted
The motion path of robot generates the movement code of industrial robot and realizes teaching playback.
2. the long-range real-time control method of industrial robot according to claim 1 based on teaching joint arm, it is characterised in that：
The motion controller circle collection angle sensor data is simultaneously transferred to computer system, by computer system by sensor number
According to angle value is converted into, joint values are calculated, and judge whether the angle exceeds limit value according to the setting of limit value, if beyond limit
Place value then shows that display screen is arrived in alarm.
3. the long-range real-time control method of industrial robot according to claim 1 based on teaching joint arm, it is characterised in that：
The movement interpolation pattern establishes the kinematic equations of industrial robot using Denavit-Hartenberg methods, and n is to close
Joint number calculates and transforms to second joint from first joint successively, transforms to third joint, finally transforms to n-th of pass
Position and posture of the tail end connecting rod coordinate system relative to basis coordinates system where section, form one group of complete position and attitude matrix；
Null file, the joint position and posture and speed of periodic reading kinematics analysis result are generated by computer system, and write
Enter into the null file, after the completion of operation, automatically generates the executable program code of industrial robot.
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| CN201810131217.4A CN108340352A (en) | 2018-02-09 | 2018-02-09 | The long-range real-time control method of industrial robot based on teaching joint arm |
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Cited By (5)
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| WO2020024183A1 (en) * | 2018-08-01 | 2020-02-06 | 西门子股份公司 | Interconnection device, communication method and system comprising robot |
| CN111158329A (en) * | 2020-01-15 | 2020-05-15 | 南通大学 | Network configuration monitoring system based on OPC and MQTT |
| CN114174009A (en) * | 2019-09-30 | 2022-03-11 | 西门子（中国）有限公司 | Method, device and system for controlling robot, storage medium and terminal |
| CN115213880A (en) * | 2021-04-14 | 2022-10-21 | 中国科学院沈阳自动化研究所 | Industrial robot interoperation information model construction and analysis method |
| CN117558174A (en) * | 2023-11-13 | 2024-02-13 | 山东卓朗检测股份有限公司 | Data acquisition and analysis method for teaching robot training |
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Application publication date: 20180731 |