CN108582071A - A kind of method of industrial robot programming route diagnosis and speed-optimization - Google Patents
A kind of method of industrial robot programming route diagnosis and speed-optimization Download PDFInfo
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- CN108582071A CN108582071A CN201810382999.9A CN201810382999A CN108582071A CN 108582071 A CN108582071 A CN 108582071A CN 201810382999 A CN201810382999 A CN 201810382999A CN 108582071 A CN108582071 A CN 108582071A
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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 invention belongs to industrial robot fields, and the method for disclosing a kind of diagnosis of industrial robot programming route and speed-optimization, include the following steps：(1) the initial program code of industrial robot motion track is obtained, and establishes industrial robot model, obtains the property parameters of industrial robot；(2) discrete to movement locus progress, the line segment of arc length such as formation simultaneously obtains a series of discrete point；(3) it inverts and obtains the joint coordinates of various discrete point；(4) joint velocity, acceleration and the torque at discrete point are calculated；(5) it is diagnosed to be the region that cannot reach program speed and carries out speed-optimization；(6) programming code after output speed optimization, the programming code increase programming point, optimize program speed compared with initial program code.The present invention can realize the speed-optimization of programming route, obtain the programming code for meeting robot dynamics.When making actually machine operation, shorten robot run time, operation is more steady.
Description
Technical field
The invention belongs to industrial robot fields, more particularly, to a kind of diagnosis of industrial robot programming route and speed
Spend the method for optimization.
Background technology
Industrial robot is programmed with teaching programming and off-line programing two ways.Teaching programming is that operator holds teaching
Device manually controls the arrival of machine people end specified posture and position, recorder people's pose data and simultaneously writes robotic programming
Instruction.Off-line programing be CAD on CAM softwares, build virtual 3D operative scenarios, then software can be according to will process zero
The size of part, shape, material, while coordinating some operations of software operator, automatically generate the programming code of robot.
Regardless of programming mode, in programming, it many times can only consider that industrial robot joint limits, and obtains this
Programming route can be run, other limitations (speed, acceleration and torque) of industrial robot joint are not accounted for.
The nonlinearizer that robot is a complexity, is highly coupled, joint velocity and tip speed only exist instantaneous relationship.In reality
When border is run, program speed is sometimes being not achieved in robot, since one or more joints have reached the limitation of its attribute.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides a kind of industrial robot programming routes to examine
Disconnected and speed-optimization method, by etc. arc length discrete programming point, calculate joint velocity, acceleration and the power at each point
Square, compared with being limited with practical joint；Speed-optimization is carried out by way of increasing programming point and changing program speed, it is full to generate
The kinematic programming code of biped robot.
To achieve the above object, it is proposed, according to the invention, provide a kind of diagnosis of industrial robot programming route and speed-optimization
Method, which is characterized in that include the following steps：
(1) the initial program code of industrial robot motion track is obtained, and establishes industrial robot model, obtains industry
The property parameters of robot；
(2) discrete to the progress of the movement locus of initial program code building, the line segment of arc length such as formation simultaneously obtains a series of
Discrete point, discrete arc length is set as to the integral multiple of an interpolation cycle length, preserves the cartesian coordinate P of discrete point
(x, y, z, A, B, C), wherein x, y, z are coordinate of the origin of tool coordinates system relative to workpiece coordinate system, and A, B, C is tool
Posture of the coordinate system relative to workpiece coordinate system；
(3) it according to the cartesian coordinate P (x, y, z, A, B, C) of discrete point, inverts and obtains the joint coordinates J of various discrete point
(θ1,θ2,θ3,θ4,θ5,θ6), θ1,θ2,θ3,θ4,θ5,θ6The respectively angle of industrial robot joint i, i=1,2 ... 6；
(4) according to the joint coordinates and program speed at each discrete point, calculate separately out joint velocity at each discrete point,
Acceleration and torque；
(5) according to joint velocity, acceleration and the torque at each discrete point, respectively with the speed in each joint of industrial robot
Degree limitation, acceleration limitation and torque limitation are compared and are diagnosed, to that cannot reach the region of program speed and compile
Journey speed-optimization；
(6) programming code after output speed optimization, the programming code increase programming point compared with initial program code
Position, optimizes program speed.
Preferably, the detailed process for being compared and diagnosing in step (5) is as follows：
Using each two programming point of the movement locus of initial program code building as benchmark, if between this two programmings point
All discrete points be all not above the rate limitation in each joint, acceleration limitation and torque limitation, then programming code is constant；
If there is the rate limitation more than each joint, acceleration limitation and torque in the discrete point between this two programmings point
The point of limitation then carries out following program speed optimization：It is inserted into new programming point between 2 programming points, to this two programmings point
Between movement locus be segmented, new programming point with just above each joint rate limitation, acceleration limits and torque
The discrete point of limitation overlaps, and the minimum value for the maximum line velocity that each section allows is set as to the program speed of this section.
Preferably for the programming point for actually limiting and allowing to improve speed is not above, program speed is improved to suitable
Value.
Preferably, the property parameters include DH parameters, workpiece coordinate system, tool coordinates system, each pass of industrial robot
Rate limitation, acceleration limitation and the torque limitation of section.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect：
This method from the angle of programming route, etc. arc length discrete programming route, obtain joint velocity at point, acceleration
And moment information, by increasing programming point and changing the method for program speed, realizes programming rail compared with the practical limitation in joint
The speed-optimization of mark obtains the programming code for meeting robot dynamics.When making actually machine operation, shorten robot operation
Time, operation are more steady.
Description of the drawings
Fig. 1 is the process step figure of invention；
Fig. 2 is the instance graph for solving acceleration at programming point；
Fig. 3 is the trajectory diagram in joint 1；
Fig. 4 is the hodograph in joint 1；
Fig. 5 is the acceleration diagram in joint 1；
Fig. 6 is the moment diagram in joint 1；
Fig. 7 is to be inserted into programming point exemplary plot.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.
The method of referring to Fig.1~Fig. 7, a kind of diagnosis of industrial robot programming route and speed-optimization, includes the following steps：
(1) the initial program code of industrial robot motion track is obtained, and establishes industrial robot model, obtains industry
The property parameters of robot；
(2) discrete to the progress of the movement locus of initial program code building, the line segment of arc length such as formation simultaneously obtains a series of
Discrete point, discrete arc length is set as to the integral multiple of an interpolation cycle length, preserves the cartesian coordinate P of discrete point
(x,y,z,A,B,C)；
(3) it according to the cartesian coordinate P (x, y, z, A, B, C) of discrete point, inverts and obtains the joint coordinates J of various discrete point
(θ1,θ2,θ3,θ4,θ5,θ6), wherein x, y, z are coordinate of the origin relative to workpiece coordinate system of tool coordinates system, A, B, and C is
Posture of the tool coordinates system relative to workpiece coordinate system, θ1,θ2,θ3,θ4,θ5,θ6For the angle in each joint of industrial robot；
(4) it according to the joint coordinates and program speed at discrete point, calculates separately out the joint velocity at discrete point, accelerate
Degree and torque；Wherein, the program speed is the linear velocity under cartesian space；
(5) according to joint velocity, acceleration and the torque at discrete point, respectively with the speed in each joint of industrial robot
Limitation, acceleration limitation and torque limitation compare, and are diagnosed to be the region that cannot reach program speed and carry out speed-optimization；
(6) programming code after output speed optimization, the programming code increase programming point compared with initial program code
Position, optimizes program speed.
Further, the speed-optimization process in step (5) is as follows：
Always using each two of the movement locus of initial program code building programming point as benchmark, if original two programming
All discrete points between point are all not above limitation, then programming code is without modification.If it is original two programming point between from
There is the point that the rate limitation more than each joint, acceleration limitation and torque limit in scatterplot, then be inserted between 2 programming points
New programming point, the movement locus between the two programming points are segmented, new programming point with just above more than each
The maximum line velocity that rate limitation, acceleration limitation and the discrete point of torque limitation in joint overlap, and each section allowed
Minimum value be set as the program speed of this section.With reference to Fig. 7, original programming point is P1And P2, set original program speed as
v.Since discrete point has the point more than limitation, the maximum line velocity of its permission is calculated.It carries out being to track point when speed-optimization
Section, is inserted into new programming point P3、P4And P5, P3、P4And P5Position limited with just above the rate limitation in each joint, acceleration
The discrete point position of system and torque limitation overlaps, P3、P4And P5P1P2Track is divided into four sections, sets every section of program speed as this
The minimum value of one section of permission maximum line velocity, i.e. P1P3Section program speed is v, P3P4Section program speed is v1, P4P5Section programming speed
Degree is v, P5P2Section program speed is v2。
Further, for being not above the programming point for actually limiting and allowing to improve speed, program speed is improved to suitable
Value.
Further, the property parameters include DH parameters, workpiece coordinate system, tool coordinates system, each pass of industrial robot
Rate limitation, acceleration limitation and the torque limitation of section.
With reference to specific magnificent number HSR-JR605 industrial robots, the method for programming route diagnosis and speed-optimization
It is as follows：
(1) property parameters for obtaining the code and magnificent number HSR-JR605 industrial robots of off-line programing, use off-line programing
Software makes HSR-JR605 robots generate sinusoidal trajectory on a slope, and it is reachable that emulation obtains track, generates off-line programing
Code.In programming, it is 100mm/s to give constant Descartes's speed.Obtain the property parameters of robot, the practical limit in joint
System is as shown in the table.
The joint of 1 HSR-JR605 robots of table limits
A part of programming code
……………..
MOVES ROBOT P18{205.1112,-263.9156,320.8333,-90.0000,30.0000,
140.6536 } Vtran=100
MOVES ROBOT P19{202.8824,-262.1114,321.8750,-90.0000,30.0000,
132.5908}
MOVES ROBOT P20{200.3213,-258.5029,323.9583,-90.0000,30.0000,
107.1232}
MOVES ROBOT P21{200.0001,-256.6987,325.0000,-90.0000,30.0000,90.0053}
MOVES ROBOT P22{200.3212,-254.8945,326.0417,-90.0000,30.0000,72.8654}
MOVES ROBOT P23{201.2835,-253.0903,327.0833,-90.0000,30.0000,58.4061}
MOVES ROBOT P24{202.8822,-251.2861,328.1250,-90.0000,30.0000,47.4065}
MOVES ROBOT P25{205.1113,-249.4819,329.1667,-90.0000,30.0000,39.3476}
MOVES ROBOT P26{207.9605,-247.6776,330.2083,-90.0000,30.0000,33.4335}
MOVES ROBOT P27{211.4182,-245.8734,331.2500,-90.0000,30.0000,29.0082}
MOVES ROBOT P28{220.0963,-242.2650,333.3333,-90.0000,30.0000,22.9961}
………………
(2) the discrete programming point of arc length such as, obtain it is discrete after point coordinates.The value of arc length is set as 10 interpolation cycles at this time
1mm。
Explanation：Since industrial robot has 6 joints, quantity is more, only provide here 1 joint of joint as a result, other
It does not list in joint.
(3) cartesian coordinate and posture information of point, the joint coordinates put is utilized to obtain the song under its arc length domain
Line.
(4) speed at the calculated joint coordinates of previous step and programming point is utilized, joint velocity is calculated separately out, accelerates
Degree and torque, and obtain corresponding curve.
(5) it on the basis of each two programming point, is compared with the value of calculating and the actual attribute limitation in joint, being diagnosed to be is
It is no to there is the point to transfinite, and different situations are done with different processing.There are speed, acceleration and the torque image in joint 1 above
It is found that the point to transfinite can be positioned quickly.
(6) after the processing for completing front, the programming code after output speed optimization.
Lacing range code in speed-optimization rear portion is
……………….
MOVES ROBOT P18{205.1112,-263.9156,320.8333,-90.0000,30.0000,
140.6536 } Vtran=160
MOVES ROBOT P19{202.8824,-262.1114,321.8750,-90.0000,30.0000,
132.5908}
MOVES ROBOT P157{201.2834,-260.3072,322.9167,-90.0000,30.0000,
121.6003 } Vtran=95.0
MOVES ROBOT P20{200.3213,-258.5029,323.9583,-90.0000,30.0000,
107.1232 } Vtran=32.60
MOVES ROBOT P21{200.0001,-256.6987,325.0000,-90.0000,30.0000,90.0053}
MOVES ROBOT P22{200.3212,-254.8945,326.0417,-90.0000,30.0000,72.8654}
MOVES ROBOT P23{201.2835,-253.0903,327.0833,-90.0000,30.0000,58.4061}
MOVES ROBOT P24{202.8822,-251.2861,328.1250,-90.0000,30.0000,47.4065}
MOVES ROBOT P25{205.1113,-249.4819,329.1667,-90.0000,30.0000,39.3476}
MOVES ROBOT P26{207.9605,-247.6776,330.2083,-90.0000,30.0000,33.4335}
MOVES ROBOT P27{211.4182,-245.8734,331.2500,-90.0000,30.0000,29.0082}
Vtran=32.60
MOVES ROBOT P158{215.4692,-244.0692,332.2917,-90.0000,30.0000,
25.6325 Vtran=96.5
MOVES ROBOT P28{220.0963,-242.2650,333.3333,-90.0000,30.0000,22.9961}
Vtran=160
…………………
Code comparison twice compiles from the code of P157 and P158 it can be found that the quantity programmed a little after optimization increased
Cheng Sudu is also changed.Programming code after output has carried out speed-optimization and has met the kinematics of robot.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (4)
1. a kind of method of industrial robot programming route diagnosis and speed-optimization, which is characterized in that include the following steps：
(1) the initial program code of industrial robot motion track is obtained, and establishes industrial robot model, obtains industrial machine
The property parameters of people；
(2) to the movement locus of initial program code building carry out it is discrete, formed etc. the line segment of arc length and obtain it is a series of from
Discrete arc length is set as the integral multiple of an interpolation cycle length by scatterplot, preserve discrete point cartesian coordinate P (x, y,
Z, A, B, C), wherein x, y, z are coordinate of the origin of tool coordinates system relative to workpiece coordinate system, and A, B, C is tool coordinates system
Posture relative to workpiece coordinate system；
(3) it according to the cartesian coordinate P (x, y, z, A, B, C) of discrete point, inverts and obtains the joint coordinates J (θ of various discrete point1,
θ2,θ3,θ4,θ5,θ6), θ1,θ2,θ3,θ4,θ5,θ6The respectively angle of industrial robot joint i, i=1,2 ... 6；
(4) it according to the joint coordinates and program speed at each discrete point, calculates separately out the joint velocity at each discrete point, accelerate
Degree and torque；
(5) it according to joint velocity, acceleration and the torque at each discrete point, is limited respectively with the speed in each joint of industrial robot
System, acceleration limitation and torque limitation are compared and are diagnosed, to that cannot reach the region of program speed and be programmed speed
Degree optimization；
(6) programming code after output speed optimization, the programming code increase programming point compared with initial program code,
Optimize program speed.
2. the method for a kind of industrial robot programming route diagnosis according to claim 1 and speed-optimization, feature exists
In the detailed process for being compared and diagnosing in step (5) is as follows：
Using each two programming point of the movement locus of initial program code building as benchmark, if the institute between this two programmings point
There is discrete point to be all not above the rate limitation in each joint, acceleration limitation and torque limitation, then programming code is constant；
If there is the rate limitation more than each joint, acceleration limitation and torque limitation in the discrete point between this two programmings point
Point, then carry out following program speed optimization：It is inserted into new programming point between 2 programming points, between this two programmings point
Movement locus is segmented, and new programming point is limited with rate limitation, acceleration limitation and the torque just above each joint
Discrete point overlap, and the minimum value for the maximum line velocity that each section allows is set as the program speed of this section.
3. the method for a kind of industrial robot programming route diagnosis according to claim 1 and speed-optimization, feature exists
In for being not above the programming point for actually limiting and allowing to improve speed, raising program speed to suitable value.
4. the method for a kind of industrial robot programming route diagnosis according to claim 1 and speed-optimization, feature exists
In, property parameters include DH parameters, workpiece coordinate system, tool coordinates system, the rate limitation in each joint of industrial robot,
Acceleration limits and torque limitation.
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| CN109434841A (en) * | 2019-01-07 | 2019-03-08 | 南京航空航天大学 | A kind of length of a game's optimal trajectory planning method of industrial robot dynamic speed adjustment |
| CN109620410A (en) * | 2018-12-04 | 2019-04-16 | 微创（上海）医疗机器人有限公司 | The method and system of mechanical arm anticollision, medical robot |
| CN109940619A (en) * | 2019-04-09 | 2019-06-28 | 深圳前海达闼云端智能科技有限公司 | Trajectory planning method, electronic device and storage medium |
| CN110722554A (en) * | 2019-09-02 | 2020-01-24 | 深圳群宾精密工业有限公司 | Manipulator track editing and correcting method based on laser point cloud data |
| CN110900605A (en) * | 2019-12-02 | 2020-03-24 | 浙江大学 | Multi-constraint machining optimization method for coordinated mechanical arm based on speed reconfiguration |
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| WO2021042389A1 (en) * | 2019-09-06 | 2021-03-11 | 罗伯特·博世有限公司 | Trajectory simplification method and device for industrial robot, and computer storage medium and industrial robot operating platform |
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| CN111702380A (en) * | 2020-05-18 | 2020-09-25 | 天津大学 | Welding process control method of welding robot |
| CN112720455A (en) * | 2020-12-01 | 2021-04-30 | 深圳众为兴技术股份有限公司 | Optimal joint acceleration and deceleration calculation method and device and application thereof |
| CN112720455B (en) * | 2020-12-01 | 2022-05-10 | 深圳众为兴技术股份有限公司 | Optimal joint acceleration and deceleration calculation method and device and application thereof |
| CN113190021A (en) * | 2021-06-03 | 2021-07-30 | 佛山华数机器人有限公司 | Industrial robot small line segment trajectory planning algorithm |
| CN113190021B (en) * | 2021-06-03 | 2023-10-27 | 佛山华数机器人有限公司 | Industrial robot small line segment track planning method |
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