CN108453707A - Robot drags teaching orbit generation method - Google Patents
Robot drags teaching orbit generation method Download PDFInfo
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- CN108453707A CN108453707A CN201810323750.0A CN201810323750A CN108453707A CN 108453707 A CN108453707 A CN 108453707A CN 201810323750 A CN201810323750 A CN 201810323750A CN 108453707 A CN108453707 A CN 108453707A
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- robot
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- straightway
- speed
- joint position
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Classifications
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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
- B25J9/1656—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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
Abstract
The present invention proposes a kind of robot dragging teaching orbit generation method, including：The joint position value acquired by the sensor of robot is received, which is filtered to eliminate high dither, and difference processing is carried out to filtered joint position value, obtains the speed and acceleration of robot；According to joint position value, speed and the acceleration of generation, user is approached by the way of sectional straight line fitting and drags teaching track, calculates description of the track of robot in cartesian space；According to obtained straightway, turning area and speed, the user program file of description track is generated, the track that user drags is converted into text instruction, in order to which the track completed to teaching is modified optimization.The present invention can improve the smoothness for being subsequently generated track, and fitting precision can be according to actual conditions sets itself, and flexibility ratio is high, seamlessly transits straightway using turning area, ensures the continuity of track.
Description
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to a kind of robot drags teaching orbit generation method.
Background technology
The application range of industrial robot is constantly expanded at present, is answered from tradition such as automobile making, electronic assemblies, food processings
With scene, the emerging fields such as consumption, service are gradually penetrated into.These fields propose more ease for use, the convenience of robot
High requirement.
Industrial robot determines desired target point and track generally by the mode of teaching, then according to outer signals
Triggering repeats the track of teaching.Traditional industrial robot is all by teaching machine field programming or off-line programming software
The mode of off-line programing obtains user program, this needs user to have higher professional skill, this in addition using threshold height
Teaching mode is not intuitive enough, if user is not enough familiar with robot, programming can consume a longer time.
Invention content
The purpose of the present invention aims to solve at least one of described technological deficiency.
For this purpose, it is an object of the invention to propose that a kind of robot drags teaching orbit generation method.
To achieve the goals above, the embodiment of the present invention provides a kind of robot dragging teaching orbit generation method, packet
Include following steps：
Step S1 receives the joint position value acquired by the sensor of robot, place is filtered to the joint position value
Reason carries out difference processing to eliminate high dither to filtered joint position value, obtains the speed and acceleration of robot；
Step S2, according to joint position value, speed and the acceleration generated in the step S1, using sectional straight line fitting
Mode drag teaching track to approach user, calculate description of the trace information of the robot in cartesian space,
Including：According to the continuous joint position value, continuous cartesian space position P is just being deconstructed by robot, and pass through
Iterative fitting obtains straightway；Turning area, seamlessly transitting between realization straightway are built between straightway；The phase of straightway
Speed is hoped to take the average speed in this section of path on teaching curve, the speed of cartesian space is V (t)=Jac (t) * J_dot (t),
Wherein Jac (t) is the Jacobian matrix at corresponding moment, and J_dot (t) is the joint angular speed exported in step S1；
Step S3 generates the user program of description track according to straightway, turning area and speed that the step S2 is obtained
The track that user drags is converted into text instruction, in order to which the track completed to teaching is modified optimization by file.
Further, in the step S1, pass through the encoder mounted on joint of robot or motor side, acquisition joint position
Set value.
Further, in the step S1, in such a way that bandstop filter and bandpass filter combine, to the joint
Positional value is filtered.
Further, in the step S2, fitting obtains straightway, includes the following steps：
Known joint position J (t) obtains position P (t)=FK (J (t)) of cartesian space by robot normal solution, leads to
It crosses continuous joint position J and constitutes continuous cartesian space position P, t is acquisition time；
If straightway starting point is F0, if straight line segment endpoint is a bit that F1, F1 and F0 are on P, F0 and F1 is constituted straight
Line is L, is integrated to fabs (L (t)-P (t)), and fabs is ABS function, and integral result represents fitting a straight line and practical song
Error between line, when error is less than given threshold, F1 is rational straightway path termination, reasonable by being searched on P
F1, continuous iteration obtains fitting a straight line section.
Further, in the step S2, the radius of the turning area is determined according to tandem segment length.
Further, in the step S3, user program file includes：MoveL P0, V100, Z20, wherein P0 are straight line
Section target location, V100 representation speed sizes, Z20 represent turning area radius.
Robot according to the ... of the embodiment of the present invention drags teaching orbit generation method, has the advantages that：
(1) high dither that friction, human hand introducing are eliminated by filtering, can improve the smoothness for being subsequently generated track；
(2) user is dragged teaching track to be fitted with cartesian space form of straight lines, fitting precision can be according to actual conditions
Sets itself, flexibility ratio are high；
(3) straightway is seamlessly transitted using turning area, ensures the continuity of track；
(4) user trajectory is preserved in the form of text instruction, it can modification and perfection target point, speed or turning as needed
Area, it is convenient, flexible.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the flow chart that teaching orbit generation method is dragged according to the robot of the embodiment of the present invention；
Fig. 2 is the schematic diagram of the speed obtained according to the direct differential raw position data of the embodiment of the present invention；
Fig. 3 is the schematic diagram according to the fitting a straight line and the comparison of teaching track of the embodiment of the present invention；
Fig. 4 is to generate schematic diagram according to the turning area of the embodiment of the present invention；
Fig. 5 is the schematic diagram that teaching orbit generation method is dragged according to the robot of the embodiment of the present invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
As shown in Figure 1 and Figure 5, the robot of the embodiment of the present invention drags teaching orbit generation method, includes the following steps:
Step S1 receives the joint position value acquired by the sensor of robot, place is filtered to the joint position value
Reason carries out difference processing to eliminate high dither to filtered joint position value, obtains the speed and acceleration of robot.
In one embodiment of the invention, by the encoder mounted on joint of robot or motor side, joint is acquired
Positional value.By carrying out preliminary treatment to the data obtained from robot sensor.Sensor can be joint of robot or electricity
The initial data of the encoder of generator terminal, acquisition is joint position value.
Since Track Pick-up is in addition to position, it is also necessary to which speed and acceleration, speed and acceleration generally can not be measured directly
It obtains, needs that position is made the difference to separately win to take.Specifically, analysis actual experiment data are it can be found that when low-speed or high-speed drags,
There are certain high dither, this shakes will become more apparent after difference is at speed, acceleration for collected position, and (Fig. 2 is
The speed that initial data direct differential obtains), if directly the data is utilized to generate track, it is easy when track as playback
Cause robot to be shaken, therefore data are further processed before extracting trace information.
Position data fluctuation source it is main there are two：First, the presence of joint of robot frictional force, frictional force are presented as
It is non-linear, it can be described with following formula, wherein fe is external force, and fs is maximum static friction, and fv is viscosity friction coefficient, and v is phase
To movement velocity,
Due to Frictional model parameter time varying and be difficult to determine, merely frictionally compensation be difficult eliminate, friction there are shadows
The feel of dragging is rung, so human hand inevitably has certain hyperharmonic concussion in dragging；Another source is human hand dragging
When intrinsic frequency, this is equally difficult to avoid.
To solve the above problems, the present invention is in such a way that bandstop filter and bandpass filter combine, to joint position
Value is filtered, and main purpose filters initial joint position data, is eliminated high dither, is then obtained by difference
Speed, acceleration.The form of bandstop filter combination bandpass filter may be used in filtering, and it is specific that bandstop filter filters out human hand
The shake of frequency, bandpass filter eliminates high dither caused by frictional force, while retaining desired trace information
Step S2, according to joint position value, speed and the acceleration generated in step S1, using the side of sectional straight line fitting
Formula drags teaching track to approach user, calculates description of the trace information of robot in cartesian space.
(1) according to continuous joint position value, continuous cartesian space position P is just being deconstructed by robot, and lead to
It crosses iterative fitting and obtains straightway.
The track of robot can be there are two types of representation, and one is joint space, another kind is cartesian space.From making
From the point of view of, the desired track description of user is all the movement of workpiece opposite piece, therefore is more closed in cartesian space description
Reason.Since the track that user drags teaching can be arbitrary space curve, cannot be retouched with a unified expression formula
It states.The present invention is approached user by the way of sectional straight line fitting and drags teaching track.
Specifically, fitting obtains straightway, include the following steps：
Known joint position J (t) obtains position P (t)=FK (J (t)) of cartesian space by robot normal solution, even
Continuous joint position J may be constructed continuous cartesian space position P, and t is acquisition time.
Assuming that straightway starting point is F0, which can be a bit on P, it is assumed that straight line segment endpoint is F1, which is equally P
On a bit, the straight line that F0 and F1 are constituted is L, is integrated to fabs (L (t)-P (t)), and fabs is ABS function, and integral is tied
Fruit represents the error between fitting a straight line and actual curve, and when error is less than given threshold, F1 is just reasonable straightway
Path termination.By searching for rational F1 on P, continuous iteration obtains fitting a straight line section, as shown in Figure 3.
(2) turning area, seamlessly transitting between realization straightway are built between straightway.
The straightway being fitted above is that position is continuous, but slope has mutation, when this can cause robot to run
It is discontinuous.Therefore turning area is built between straightway, turning area radius is determined according to tandem segment length.Utilize turning area
Seamlessly transitting between realization straightway, as shown in Figure 4.
(3) desired speed of straightway takes the average speed in this section of path on teaching curve, and the speed of cartesian space is V
(t)=Jac (t) * J_dot (t), wherein Jac (t) are the Jacobian matrix at corresponding moment, and J_dot (t) is to be exported in step S1
Joint angular speed.
Step S3, the straightway obtained according to step S2, turning area and speed generate the user program text of description track
The track that user drags is converted into text instruction, in order to which the track completed to teaching is modified optimization by part.
In one embodiment of the invention, user program file includes：MoveL P0, V100, Z20, wherein P0 are straight
Line segment target location, V100 representation speed sizes, Z20 represent turning area radius.The track that user drags is converted into line by line
Text instruction, the track that can be easily completed to teaching are modified optimization.
The robot of the embodiment of the present invention drags teaching orbit generation method, is to reach to specify by hand-held traction robot
Pose or this moved along specific track, robot acquire sensor information, record target point or track data, by place
Reason generates dragging teaching track, and user reappears teaching track by way of playing back track.This intuitive teaching mode reduces
Requirement to operating personnel can substantially shorten the time cost using deployment, improve programming efficiency, have obviously
Practicability and economic value.
Robot according to the ... of the embodiment of the present invention drags teaching orbit generation method, has the advantages that：
(1) high dither that friction, human hand introducing are eliminated by filtering, can improve the smoothness for being subsequently generated track；
(2) user is dragged teaching track to be fitted with cartesian space form of straight lines, fitting precision can be according to actual conditions
Sets itself, flexibility ratio are high；
(3) straightway is seamlessly transitted using turning area, ensures the continuity of track；
(4) user trajectory is preserved in the form of text instruction, it can modification and perfection target point, speed or turning as needed
Area, it is convenient, flexible.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case of can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.The scope of the present invention
By appended claims and its equivalent limit.
Claims (6)
1. a kind of robot drags teaching orbit generation method, which is characterized in that include the following steps：
Step S1, receive by robot sensor acquire joint position value, to the joint position value be filtered with
High dither is eliminated, and difference processing is carried out to filtered joint position value, obtains the speed and acceleration of robot；
Step S2, according to joint position value, speed and the acceleration generated in the step S1, using the side of sectional straight line fitting
Formula drags teaching track to approach user, calculates description of the trace information of the robot in cartesian space, including：
According to the continuous joint position value, continuous cartesian space position P is just being deconstructed by robot, and quasi- by iteration
Conjunction obtains straightway；Turning area, seamlessly transitting between realization straightway are built between straightway；The desired speed of straightway
The average speed in this section of path on teaching curve is taken, the speed of cartesian space is V (t)=Jac (t) * J_dot (t), wherein
Jac (t) is the Jacobian matrix at corresponding moment, and J_dot (t) is the joint angular speed exported in step S1；
Step S3 generates the user program text of description track according to straightway, turning area and speed that the step S2 is obtained
The track that user drags is converted into text instruction, in order to which the track completed to teaching is modified optimization by part.
2. robot as described in claim 1 drags teaching orbit generation method, which is characterized in that in the step S1,
By the encoder mounted on joint of robot or motor side, joint position value is acquired.
3. robot as described in claim 1 drags teaching orbit generation method, which is characterized in that in the step S1,
In such a way that bandstop filter and bandpass filter combine, the joint position value is filtered.
4. robot as described in claim 1 drags teaching orbit generation method, which is characterized in that in the step S2,
Fitting obtains straightway, includes the following steps：
Known joint position J (t) obtains position P (t)=FK (J (t)) of cartesian space by robot normal solution, passes through company
Continuous joint position J constitutes continuous cartesian space position P, and t is acquisition time；
If straightway starting point is F0, if straight line segment endpoint is a bit that F1, F1 and F0 are on P, the straight line that F0 and F1 is constituted is
L integrates fabs (L (t)-P (t)), and fabs is ABS function, integral result represent fitting a straight line and actual curve it
Between error, when error be less than given threshold when, F1 be rational straightway path termination, by searching for rational F1 on P,
Continuous iteration obtains fitting a straight line section.
5. robot as described in claim 1 drags teaching orbit generation method, which is characterized in that in the step S2,
The radius of the turning area is determined according to tandem segment length.
6. robot as described in claim 1 drags teaching orbit generation method, which is characterized in that in the step S3,
User program file includes：MoveL P0, V100, Z20, wherein P0 be straightway target location, V100 representation speed sizes,
Z20 represents turning area radius.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483517A (en) * | 2018-10-22 | 2019-03-19 | 天津扬天科技有限公司 | A kind of cooperation robot teaching method based on the tracking of hand appearance |
| CN109648571A (en) * | 2018-12-28 | 2019-04-19 | 深圳市越疆科技有限公司 | Teaching trajectory reproducing method, system and the robot of industrial robot |
| CN109648549A (en) * | 2018-12-30 | 2019-04-19 | 江苏集萃智能制造技术研究所有限公司 | Method for planning track of robot and robot |
| CN110561421A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Mechanical arm indirect dragging demonstration method and device |
| CN111482957A (en) * | 2019-07-12 | 2020-08-04 | 上海智殷自动化科技有限公司 | Vision offline demonstrator registration method |
| CN112276947A (en) * | 2020-10-21 | 2021-01-29 | 乐聚(深圳)机器人技术有限公司 | Robot motion simulation method, device, equipment and storage medium |
| CN113618710A (en) * | 2021-07-21 | 2021-11-09 | 慧灵科技（深圳）有限公司 | Dragging teaching method and device and dragging teaching robot |
| CN114227688A (en) * | 2021-12-29 | 2022-03-25 | 同济大学 | Teaching trajectory learning method based on curve registration |
| CN114800513A (en) * | 2022-05-10 | 2022-07-29 | 上海交通大学 | System and method for automatically generating robot shaft hole assembly program based on single-time dragging teaching |
| CN115685890A (en) * | 2022-11-04 | 2023-02-03 | 深圳市灵手科技有限公司 | Method, system and device for determining multi-joint equipment track and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109483517A (en) * | 2018-10-22 | 2019-03-19 | 天津扬天科技有限公司 | A kind of cooperation robot teaching method based on the tracking of hand appearance |
| CN109648571A (en) * | 2018-12-28 | 2019-04-19 | 深圳市越疆科技有限公司 | Teaching trajectory reproducing method, system and the robot of industrial robot |
| CN109648549A (en) * | 2018-12-30 | 2019-04-19 | 江苏集萃智能制造技术研究所有限公司 | Method for planning track of robot and robot |
| CN111482957A (en) * | 2019-07-12 | 2020-08-04 | 上海智殷自动化科技有限公司 | Vision offline demonstrator registration method |
| CN111482957B (en) * | 2019-07-12 | 2020-12-29 | 上海智殷自动化科技有限公司 | Vision offline demonstrator registration method |
| CN110561421A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Mechanical arm indirect dragging demonstration method and device |
| CN112276947A (en) * | 2020-10-21 | 2021-01-29 | 乐聚(深圳)机器人技术有限公司 | Robot motion simulation method, device, equipment and storage medium |
| CN113618710A (en) * | 2021-07-21 | 2021-11-09 | 慧灵科技（深圳）有限公司 | Dragging teaching method and device and dragging teaching robot |
| CN114227688A (en) * | 2021-12-29 | 2022-03-25 | 同济大学 | Teaching trajectory learning method based on curve registration |
| CN114227688B (en) * | 2021-12-29 | 2023-08-04 | 同济大学 | Teaching track learning method based on curve registration |
| CN114800513A (en) * | 2022-05-10 | 2022-07-29 | 上海交通大学 | System and method for automatically generating robot shaft hole assembly program based on single-time dragging teaching |
| CN114800513B (en) * | 2022-05-10 | 2024-03-29 | 上海交通大学 | System and method for automatically generating robot shaft hole assembly program based on single dragging teaching |
| CN115685890A (en) * | 2022-11-04 | 2023-02-03 | 深圳市灵手科技有限公司 | Method, system and device for determining multi-joint equipment track and storage medium |
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