CN108908336A - A kind of manipulator command generating method and system - Google Patents
A kind of manipulator command generating method and system Download PDFInfo
- Publication number
- CN108908336A CN108908336A CN201810805093.3A CN201810805093A CN108908336A CN 108908336 A CN108908336 A CN 108908336A CN 201810805093 A CN201810805093 A CN 201810805093A CN 108908336 A CN108908336 A CN 108908336A
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- manipulator
- order
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- parameter
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000002159 abnormal effect Effects 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 6
- 238000012512 characterization method Methods 0.000 claims description 5
- 241000208340 Araliaceae Species 0.000 claims description 4
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 4
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 4
- 235000008434 ginseng Nutrition 0.000 claims description 4
- 238000011161 development Methods 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000011017 operating method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator command generating method and systems, pass through above-mentioned method, the manipulator order that system can be selected according to user, the corresponding default parameters of manipulator order is determined, then using the default parameters as the parameter needed when final execute, so that user no longer needs to input parameter by cumbersome manual operation, reduce user's operation step, introduction basis is reduced, reduces the development cycle of robot program, also reduces the application cost of robot.
Description
Technical field
This application involves field of automation technology more particularly to a kind of manipulator command generating method and systems.
Background technique
Computer programming refers to the exploitation that program is completed using the WPF development platform of specific software, and by calculating
Machine is come the technology that reaches a certain purpose or solve the problems, such as, using certain programming languages' program code, and final
To result.
For the generation of manipulator order, current manipulator order generate there are logic complexity and program step compared with
It is more, need the more problem of operating procedure.
Summary of the invention
The present invention provides a kind of manipulator command generating method and systems, raw to solve prior art manipulator order
At there are logic complexity and program step are more, the more problem of operating procedure is needed.
Its specific technical solution is as follows：
A kind of manipulator command generating method, the method includes：
Obtain the need manipulator order to be used of user's selection；
According to the manipulator order of selection, default parameters corresponding with the manipulator order is determined；
The default parameters is separately dispensed on each control；
When detecting the information that user completes the manipulator command operation, detecting the machinery order whether there is
It is abnormal；
It is abnormal if it does not exist, then generate the pending order comprising the default parameters；
It is abnormal if it exists, then export prompt information.
Optionally, default parameters corresponding with the manipulator order is determined, including：
Determine the execution parameter of the manipulator order, wherein in execution parameter characterization manipulator implementation procedure
The condition reached；
According to the current state of the manipulator, the corresponding state parameter of the manipulator is determined；
Using the execution parameter and the state parameter as the default parameters.
Optionally, after generating the pending order comprising the default parameters, the method also includes：
Take out the data in generated each pending order；
Whether the data detected in the pending order of each are accurate；
When data in the pending order are accurate, the execution order that the manipulator can identify is generated；
Execution order is sent to manipulator to execute.
A kind of manipulator order generation system, the system comprises：
Module is obtained, for obtaining the need manipulator order to be used of user's selection；
Determining module is determined corresponding with the manipulator order silent for the manipulator order according to selection
Recognize parameter；
Processing module, for the default parameters to be separately dispensed into each control；Detecting user to the machine
When the information that tool hand command operation is completed, the machinery order is detected with the presence or absence of abnormal；Abnormal if it does not exist, then generation includes
The pending order of the default parameters；It is abnormal if it exists, then export prompt information.
Optionally, the determining module, specifically for the execution parameter of the determination manipulator order；According to the machinery
The current state of hand determines the corresponding state parameter of the manipulator；Using the execution parameter and the state parameter as
The default parameters, wherein described to execute the condition reached in parameter characterization manipulator implementation procedure.
Optionally, the processing module, specifically for taking out the data in generated each pending order；Detection is every
Whether the data in one pending order are accurate；When data in the pending order are accurate, the manipulator is generated
The execution order that can be identified；Execution order is sent to manipulator to execute.
By above-mentioned method, the manipulator order pair is determined in the manipulator order that system can be selected according to user
The default parameters answered, then using the default parameters as the parameter needed when final execute, so that user no longer needs by numerous
Trivial manual operation inputs parameter, reduces user's operation step, reduces introduction basis, reduces the exploitation of robot program
Period also reduces the application cost of robot.
Detailed description of the invention
Fig. 1 is a kind of flow chart of manipulator command generating method in the embodiment of the present invention；
Fig. 2 is the schematic diagram that parameter page is grasped in the embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of manipulator order generation system in the embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is described in detail below by attached drawing and specific embodiment, it should be understood that this hair
Particular technique feature in bright embodiment and embodiment is the explanation to technical solution of the present invention, rather than is limited, not
In the case where conflict, the particular technique feature in the embodiment of the present invention and embodiment be can be combined with each other.
It is as shown in Figure 1 a kind of flow chart of manipulator command generating method in the embodiment of the present invention, this method includes：
S101 obtains the need manipulator order to be used of user's selection；
Firstly, user can select the pre-stored various manipulator lives that can be used for controlling manipulator in systems
It enables, does not include in the manipulator order various for controlling the parameter of manipulator.
S102 determines default parameters corresponding with manipulator order according to the manipulator order of selection；
In embodiments of the present invention, default parameters corresponding to various manipulator orders has been stored in advance in system, this is silent
Recognizing parameter is the parameter tested by multiple, more scenes, different loads, which can not do any ginseng in user
In the case where number setting, manipulator can also complete corresponding work.
Briefly, which is exactly the parameter obtained after a certain task of successful execution, so the parameter can be with
Guarantee the correct execution of manipulator.
So after manipulator command selection, system can be determined corresponding to execute ginseng according to the manipulator order
Number.Such as user's selection is motion command, then the execution parameter such as the corresponding speed, acceleration of motion command, position will
It is determined directly out.
Further, other than above-mentioned default parameters, system also by the posture current according to manipulator, determines manipulator
Corresponding state parameter will execute parameter and state parameter as final default parameters, in the state ginseng that joined manipulator
After number, it is ensured that manipulator can be executed accurately.
Default parameters is separately dispensed on each control by S103；
After obtaining the default parameters of manipulator, different data can be generated in a place in the operating parameter page
It is temporarily stored on local variable, these data can select different orders to be separately sent to according to user after the completion of operation
As display purposes on control on the current command.
In embodiments of the present invention, the schematic diagram of behaviour's parameter page divides as shown in Fig. 2, including three regions in Fig. 2
It is not：Commard editor area 1, order viewing area 2, command parameter editing area 3, module select area 4,1 major function of commard editor area
It is to be operated to the order of order viewing area；2 major function of order viewing area is to complete display and the selection index system of order, choosing
Editing area can be entered after good lot enables by acknowledgement key by, which selecting, edits all parameters of order；Command parameter editing area 3 is main
Function is wanted to be available to the quick editor that user completes each not same commands, the region when user selects different orders
Show that content is not also identical；The major function in module selection area 4 has connection modules.
S104, when detecting the information that user completes manipulator command operation, detection machinery order is with the presence or absence of different
Often；
During user carries out parameter editor, system by real-time detection user to the operation of manipulator order whether
It completes, when operation of the user to manipulator order is completed, system, which will test manipulator order, whether there is exception, abnormal here
Detection is mainly that range etc. detects to parameter.
If the manipulator order then executes S105 there is no when exception；If the manipulator order is deposited when abnormal, then
Execute S106.
S105 generates the pending order comprising default parameters；
S106 exports prompt information.
Further, in embodiments of the present invention, after generating the pending order comprising default parameters, system will be each
The data in pending order are taken out in pending order respectively after breaing up, whether the data in detection one pending order of life are quasi-
Really, when the data in pending order are accurate, the execution order that manipulator can identify is generated, order will be executed and be sent to machine
Tool hand executes.
By above-mentioned method, the manipulator order pair is determined in the manipulator order that system can be selected according to user
The default parameters answered, then using the default parameters as the parameter needed when final execute, so that user no longer needs by numerous
Trivial manual operation inputs parameter, reduces user's operation step, reduces introduction basis, reduces the exploitation of robot program
Period also reduces the application cost of robot.
One of embodiment of the present invention manipulator command generating method is corresponded to, additionally provides one kind in the embodiment of the present invention
Manipulator order generates system, is illustrated in figure 3 a kind of structural representation of manipulator order generation system in the embodiment of the present invention
Figure, the system include：
Module 301 is obtained, for obtaining the need manipulator order to be used of user's selection；
Determining module 302 is determined corresponding with the manipulator order for the manipulator order according to selection
Default parameters；
Processing module 303, for the default parameters to be separately dispensed into each control；Detecting user to described
When the information that manipulator command operation is completed, the machinery order is detected with the presence or absence of abnormal；It is abnormal if it does not exist, then generate packet
Pending order containing the default parameters；It is abnormal if it exists, then export prompt information.
Further, in embodiments of the present invention, the determining module 302, specifically for the determination manipulator order
Execute parameter；According to the current state of the manipulator, the corresponding state parameter of the manipulator is determined；By the execution parameter
And the state parameter is as the default parameters, wherein reaches in execution parameter characterization manipulator implementation procedure
Condition.
Further, in embodiments of the present invention, the processing module 303, it is generated each wait hold specifically for taking out
Data in line command；Whether the data detected in the pending order of each are accurate；Data in the pending order
When accurate, the execution order that the manipulator can identify is generated；Execution order is sent to manipulator to execute.
Although the preferred embodiment of the application has been described, but one of ordinary skilled in the art once knows substantially
Creative concept, then additional changes and modifications may be made to these embodiments.It is wrapped so the following claims are intended to be interpreted as
It includes preferred embodiment and falls into all change and modification of the application range, including vertex is determined using special symbol, label
Equal changes mode.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (6)
1. a kind of manipulator command generating method, which is characterized in that the method includes：
Obtain the need manipulator order to be used of user's selection；
According to the manipulator order of selection, default parameters corresponding with the manipulator order is determined；
The default parameters is separately dispensed on each control；
When detecting the information that user completes the manipulator command operation, the machinery order is detected with the presence or absence of different
Often；
It is abnormal if it does not exist, then generate the pending order comprising the default parameters；
It is abnormal if it exists, then export prompt information.
2. the method as described in claim 1, which is characterized in that determine default parameters corresponding with the manipulator order,
Including：
Determine the execution parameter of the manipulator order, wherein reach in execution parameter characterization manipulator implementation procedure
Condition；
According to the current state of the manipulator, the corresponding state parameter of the manipulator is determined；
Using the execution parameter and the state parameter as the default parameters.
3. the method as described in claim 1, which is characterized in that generate comprising the default parameters pending order it
Afterwards, the method also includes：
Take out the data in generated each pending order；
Whether the data detected in the pending order of each are accurate；
When data in the pending order are accurate, the execution order that the manipulator can identify is generated；
Execution order is sent to manipulator to execute.
4. a kind of manipulator order generates system, which is characterized in that the system comprises：
Module is obtained, for obtaining the need manipulator order to be used of user's selection；
Determining module determines default ginseng corresponding with the manipulator order for the manipulator order according to selection
Number；
Processing module, for the default parameters to be separately dispensed into each control；Detecting user to the manipulator
When the information that command operation is completed, the machinery order is detected with the presence or absence of abnormal；It is abnormal if it does not exist, then it generates comprising described
The pending order of default parameters；It is abnormal if it exists, then export prompt information.
5. system as claimed in claim 4, which is characterized in that the determining module is specifically used for determining the manipulator life
The execution parameter of order；According to the current state of the manipulator, the corresponding state parameter of the manipulator is determined；By the execution
Parameter and the state parameter are as the default parameters, wherein in execution parameter characterization manipulator implementation procedure
The condition reached.
6. system as claimed in claim 4, which is characterized in that the processing module is specifically used for taking out generated each
Data in pending order；Whether the data detected in the pending order of each are accurate；In the pending order
When data are accurate, the execution order that the manipulator can identify is generated；Execution order is sent to manipulator to execute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810805093.3A CN108908336A (en) | 2018-07-20 | 2018-07-20 | A kind of manipulator command generating method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810805093.3A CN108908336A (en) | 2018-07-20 | 2018-07-20 | A kind of manipulator command generating method and system |
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| Publication Number | Publication Date |
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| CN108908336A true CN108908336A (en) | 2018-11-30 |
Family
ID=64415757
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Patent Citations (12)
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| CN1876334A (en) * | 2005-06-07 | 2006-12-13 | 发那科株式会社 | Device and method for controlling robot |
| US20100106294A1 (en) * | 2005-08-01 | 2010-04-29 | Hisayoshi Sugihara | Robot Control System and Control Method for Robot |
| JP2009262279A (en) * | 2008-04-25 | 2009-11-12 | Nec Corp | Robot, robot program sharing system, robot program sharing method, and program |
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Application publication date: 20181130 |
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