CN108908350A - A kind of control system and its control method of interactive robot - Google Patents
A kind of control system and its control method of interactive robot Download PDFInfo
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- CN108908350A CN108908350A CN201810780373.3A CN201810780373A CN108908350A CN 108908350 A CN108908350 A CN 108908350A CN 201810780373 A CN201810780373 A CN 201810780373A CN 108908350 A CN108908350 A CN 108908350A
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention discloses a kind of control system of interactive robot and its control method, which includes the following steps：S1. target point is obtained：Read SD card content by PC machine or receive the instruction of user, the coordinate value for the target point that will be reached be stored in program in dependent variable；S2. target segment type is obtained：Specified target point is reached according to changing coordinates and sets motion mode, obtains target segment type；S3. interpolated point is calculated：According to known target point and target segment type, interpolated point is calculated；S4. step S3 is repeated until completing entire target segment；S5. the director data that controller sends over PC machine parses, and passes to end effector；S6. end effector executes the movement of controller.Compared to the prior art, the calculation method of interpolated point effectively reduces number of comparisons to the present invention, improves interpolation efficiency and precision.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of control system and its controlling party of interactive robot
Method.
Background technique
Safe and efficient human interaction robot will to assembly line, housework service, health insurance service with
And material flow industry generates huge change.According to related statistics indicate that display, annual because dangerous work causes the accident of disability to disregard
It is counted, only American market, because unexpected death caused by robot can reach more than 20, most of the time,
The region of robot movable needs to enclose as protection zone, is all simple movement on existing machine, not so-called
Wisdom it is mobile, but interactive robot can then carry suitable sensor, it is made to have corresponding safety, protection mechanism
With the safety of ambient enviroment.
Another aspect is exactly to learn reproducing processes, and having abandoned traditional robot can only single duplicate work spy
Property.Interaction humanoid robot can switch different operating modes, such as arrangement task according to the difference of task, carry task
Deng.Interaction humanoid robot in terms of the assembling production of consumer electronics' product will have very big market, and the sector relies primarily at present
For manpower assembling.
Certainly, stability and precision problem are one of the problem of many mechanical arms must not be not concerned with, most of high-precision machines
Device people application is completed by teaching, and exactly common controller manually controls, rather than is introduced directly into CAD or G code
Off-line programing.
Existing teaching system is all that teaching is carried out on hander, is rarely had by adding teaching display-tool with sticking plastic in end, allows machine
Autonomous learning reproduces, although the control of hander is precisely, it can be difficult to realizing complicated path clustering.
Therefore, in view of the above technical problems, it is necessary to which the control system and its controlling party of a kind of interactive robot are provided
Method.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of control system of interactive robot and its controlling parties
Method.
In order to achieve the above object, technical scheme is as follows：
The present invention provides a kind of control system of interactive robot, including：
PC machine, for sending the instruction of fixed format to controller；
Controller, the director data that controller sends over PC machine parses, and passes to end effector；
End effector, end effector carries execution tool, for executing the movement of controller；
Teaching machine for the work needed to be carried out manual operation, and is remembered and is reappeared by controller.
Compared to the prior art, robot control system has that precision is high, corresponding speed is fast, interactive function is rich to the present invention
Rich, teaching mode simplicity feature.
As a preferred option, it is additionally provided with spread footing, spread footing is isolated with robot by optical coupling isolation circuit, is expanded
It opens up pedestal and is equipped with control chip, spread footing is equipped with the SD card interface read and write for realizing SD card, for controlling motor
Motor interface and at least one of the UART interface for realizing communication.
As a preferred option, teaching machine is joystick, is set on joystick there are three potentiometer, joystick will be electric
The variation of position passes to control chip by isolation module, and potential change is parsed and is recorded in SD card by control chip, for weight
It is existing.
As a preferred option, a kind of control method of interactive robot, includes the following steps：
S1. target point is obtained：SD card content is read by PC machine or receives the instruction of user, the target point that will be reached
Coordinate value be stored in program in dependent variable；
S2. target segment type is obtained：Specified target point is reached according to changing coordinates and sets motion mode, obtains score
Segment type；
S3. interpolated point is calculated：According to known target point and target segment type, interpolated point is calculated；
S4. step S3 is repeated until completing entire target segment；
S5. the director data that controller sends over PC machine parses, and passes to end effector；
S6. end effector executes the movement of controller.
As a preferred option, interpolated point is calculated to include the following steps：
S31. by the equation of known target point and current point, determined according to the slope of target segment interpolation into
It gives, then executes；
S32. after the interpolation for completing a point, interpolation next time is carried out.
Using above-mentioned preferred embodiment, the calculation method of interpolated point effectively reduces number of comparisons, improves interpolation efficiency and essence
Degree.
Determine interpolation feeding be using current point position as starting point unit area in comparison target segment present position come it is true
Determine the feeding of interpolation；Wherein, the coordinate of current point m point is (Xi, Yi), the square mabc for being 1 with m point office's length takes length
Degree isLine segment ck, aj of unit, the coordinate of the starting point O point of target segment are (0,0), the seat of the terminal A point of target segment
It is designated as (Xe, Ye), departure function P is the slope and Oj slope difference for comparing target segment, and departure function Q is to compare target segment
Slope and Ok slope difference, specifically include following steps：
S311. when the terminal of target segment is located at first quartile, departure function P and Q are respectively：
If Qi> 0, then feed a step to +X direction, and deviation is：
If Pi< 0, then feed a step to +Y direction, and deviation is：
If Pi> 0 and Qi< 0, then respectively feed a step to+X and +Y direction, and deviation is：
S312. when the terminal of target segment is located at the second quadrant, departure function P and Q are respectively：
If Qi> 0, then feed a step to -X direction, and deviation is：
If Pi< 0, then feed a step to +Y direction, and deviation is：
If Pi> 0 and Qi< 0, then respectively feed a step to-X and +Y direction, and deviation is：
S313. when the terminal of target segment is located at third quadrant, departure function P and Q are respectively：
If Qi> 0, then feed a step to -X direction, and deviation is：
If Pi< 0, then feed a step to -Y direction, and deviation is：
If Pi> 0 and Qi< 0, then respectively feed a step to-X and -Y direction, and deviation is：
S314. when the terminal of target segment is located at fourth quadrant, departure function P and Q are respectively：
If Qi> 0, then feed a step to -Y direction, and deviation is：
If Pi< 0, then feed a step to +X direction, and deviation is：
If Pi> 0 and Qi< 0, then respectively feed a step to+X and -Y direction, and deviation is：
Detailed description of the invention
Fig. 1 is overall structure block diagram of the invention.
Fig. 2 is SD card interface circuit diagram in the present invention.
Fig. 3 is optical coupling isolation circuit figure in the present invention.
Fig. 4 is power supply conversion interface circuit figure in the present invention.
Specific embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
In order to reach the purpose of the present invention, as shown in Figure 1, providing a kind of friendship in one of embodiment of the invention
The control system of Hu Shi robot, including：
PC machine, for sending the instruction of fixed format to controller；
Controller, the director data that controller sends over PC machine parses, and passes to end effector；
End effector, end effector carries execution tool, for executing the movement of controller；
Teaching machine for the work needed to be carried out manual operation, and is remembered and is reappeared by controller.
Compared to the prior art, robot control system has that precision is high, corresponding speed is fast, interactive function to present embodiment
Abundant, teaching mode simplicity feature.
In addition, being additionally provided with spread footing, spread footing is isolated with robot by optical coupling isolation circuit, is set on spread footing
Have a control chip, spread footing be equipped with the SD card interface read and write for realizing SD card, the Motor interface for controlling motor,
And realize at least one of the UART interface of communication.
Teaching machine is joystick, is set on joystick there are three potentiometer, joystick by the variation of current potential by every
Control chip is passed to from module, potential change is parsed and is recorded in SD card by control chip, for reappearing.
PC machine user software can be divided into G code and generate software and control the two parts of software：It is the upper of system
Machine control terminal, user can be by generating the G code file that can identify of machine for controller using gray value for pictorial pattern
It uses；By sending instructions under control software, the functions such as the operating mode control to robot are realized using delivery means.
Controller is the core component of this system, selects the K64-MCU of Cortex M4 kernel as control core, carries
MQX-Lite real time operating system realizes serial communication, SD card read-write, the functions such as teaching, while reading the text of the G code in SD card
Part realizes the control to robot.
Final function depends on the end effector that the motor of robot end is bound, and needs to carve, then actuator is
Perhaps drawing then needs pneumatic sprayhead or drawing pen to laser to icking tool if necessary.But the selection of specific execution pattern according to
So is determined and selected by PC machine.
The overall flow of control system is as follows：Pictorial pattern to be reappeared can be known by dedicated Software Create machine
Other G code, is stored in the SD card of base plate, and after whole system, which powers on, restarts, the position of end effector is from limit position
It sets and moves to work top, then read the target position of setting, by interpolation algorithm, distribute the executive condition of each motor,
It plans after reaching target point and moves next time again.After operation, it revert to extreme position.
The wireless transmission function of SD card or mobile device makes robot support the work of off-line mode, greatly improves system
Practical performance.
The K64-MCU chip (MK64FX512) that chip is Cortex M4 kernel is controlled, it is that grace intelligence Pu (NXP) company exists
A 32 8-digit microcontrollers based on Cortex M4 kernel of newest release in 2014 have 512MB on piece FLASH and 256KB
RAM；Dominant frequency highest is configured into 200MHz；24 tunnels are single-ended and the A/D module (16 high-precisions) of 4 tunnel difference；8 channels PWM；1
A SDHC (SD card) controller；5 UART modules；1 2.0 OTG interface of USB；Up to 100 I/O pins.In addition, chip
Support voltage range is 1.71V~3.6V, and operating temperature is -40 DEG C~105 DEG C.
In addition, telescopic backboard, which contains core board, externally provides basic interface and other function, including for realizing SD card
The SD card interface of read-write, the serial line interface for realizing data exchange, the gate optoelectronic switch interface for realizing protection mechanism,
For realizing the power interface of peripheral hardware power supply, for controlling the control interface etc. of motor.
SD card interface：Interface circuit figure is shown in Fig. 2, and SD card interface is carried out data transmission with SD card by SD mode bus, SD
Bus includes clock signal, the two-way command/response signal, 4 two-way data-signals and electricity that host is sent to storage card
Source and earth signal.SD bus includes a host and multiple slaves, and using synchronous star topology, and is set in SD bus
There are several pull-up resistors.
SD card is big as a kind of memory capacity, and read or write speed is fast, the cheap and physical storage device that is convenient for carrying,
It is widely used in various control systems.K64 can be made to carry out as host and SD card slave by the way that these registers are arranged
Communication.SDHC is the storage card of new generation for meeting 2.0 specification of SD, and feature is high capacity (being greater than 2G, be less than 32G), corresponding
File system is also promoted from FAT16 to FAT32.SD card defines two kinds of communication protocols：SD mode bus and spi bus mould
Formula.Since SPI mode is single wire transmission, SD mode can choose the transmission of 4 lines, in contrast, the transmission rate of SD mode bus
It is higher, so the present invention selects the SD mode of 4 position datawires, the total line frame graph of SD such as Fig. 3.
According to SD v2.0 agreement, SD bus includes following signals：(1)CLK：The clock signal that host is sent to storage card；
(2)CMD：Two-way command/response signal；(3) DAT0~DAT3：4 two-way data-signals；(4)VDD,VSS1,VSS2：
Power supply and earth signal.
SD bus has the multiple slaves of a host and using synchronous star topology.All storage card common clocks,
Power supply and earth signal, order (CMD) and data (DAT0~DAT3) signal is the special signal of storage card, for all card companies of offer
Continuous point-to-point connection, typical circuit connection such as Fig. 4.Many chip interiors using open-drain design method, therefore
When exporting high level, extraneous pull-up resistor is needed, otherwise can not export high level.When selecting pull-up resistor, it can choose
Some biggish resistance of resistance value, it is possible to reduce stand-by power consumption.Wherein, DATA3 line must pull up, and enter SD after the power-up in this way
Mode bus.
Serial line interface：Serial line interface is connected with PC machine by RS232, and what the UART module of controller issued is TTL electricity
Flat, PC machine can not identify, convert the signal into the signal that PC can be identified by RS232 module, communicated.
Optoelectronic switch interface：Broadcasting and TV switch interface includes optical coupling isolation circuit, and light-coupled isolation chip 6n137,6n137 are most
High-speed can achieve 10Mbps, can adequately meet the data exchange of high speed and not will receive reverse interference.In isolated core
The input/output terminal of piece is all connected to filter capacitor and divider resistance, in order to which optocoupler normally can effectively work.
6N137 photo-coupler is a for single pass High-Speed Coupled Device, inside have a 850nm wavelength
A1GaAsLED and integrated detector composition, detector is by a photodiode, the linear amplifier of high-gain and Xiao
The triode of the open collector of special base clamper forms.With temperature, electric current and voltage compensating function, high input and output every
From LSTTL/TTL is compatible, high speed (being typically 10MBd), the minimum input current of 5mA.
Power interface：Interface circuit figure is shown in that Fig. 4, core control panel, gate photoelectricity, motor are respectively necessary for different work electricity
Pressure, it is therefore desirable to which power supply to be carried out to the 5V, 12V for being converted into needing using LM2596-ADJ chip.In conjunction with DC_DC core
Electrical isolation is realized the independent power supply circuit of two-way, not interfere with each other by piece S8050.
In order to further optimize implementation result of the invention, in another embodiment of the invention, aforementioned interior
On the basis of appearance, a kind of control method of interactive robot includes the following steps：
S1. target point is obtained：SD card content is read by PC machine or receives the instruction of user, the target point that will be reached
Coordinate value be stored in program in dependent variable；
S2. target segment type is obtained：Specified target point is reached according to changing coordinates and sets motion mode, obtains score
Segment type；
S3. interpolated point is calculated：According to known target point and target segment type, interpolated point is calculated；
S4. step S3 is repeated until completing entire target segment；
S5. the director data that controller sends over PC machine parses, and passes to end effector；
S6. end effector executes the movement of controller.
Wherein, interpolated point is calculated to include the following steps：
S31. by the equation of known target point and current point, determined according to the slope of target segment interpolation into
It gives, then executes；
S32. after the interpolation for completing a point, interpolation next time is carried out.
Using above-mentioned preferred embodiment, the calculation method of interpolated point effectively reduces number of comparisons, improves interpolation efficiency and essence
Degree.
Determine interpolation feeding be using current point position as starting point unit area in comparison target segment present position come it is true
Determine the feeding of interpolation；Wherein, the coordinate of current point m point is (Xi, Yi), the square mabc for being 1 with m point office's length takes length
Degree isLine segment ck, aj of unit, the coordinate of the starting point O point of target segment are (0,0), the seat of the terminal A point of target segment
It is designated as (Xe, Ye), departure function P is the slope and Oj slope difference for comparing target segment, and departure function Q is to compare target segment
Slope and Ok slope difference, specifically include following steps：
S311. when the terminal of target segment is located at first quartile, departure function P and Q are respectively：
If Qi> 0, then feed a step to +X direction, and deviation is：
If Pi< 0, then feed a step to +Y direction, and deviation is：
If Pi> 0 and Qi< 0, then respectively feed a step to+X and +Y direction, and deviation is：
S312. when the terminal of target segment is located at the second quadrant, departure function P and Q are respectively：
If Qi> 0, then feed a step to -X direction, and deviation is：
If Pi< 0, then feed a step to +Y direction, and deviation is：
If Pi> 0 and Qi< 0, then respectively feed a step to-X and +Y direction, and deviation is：
S313. when the terminal of target segment is located at third quadrant, departure function P and Q are respectively：
If Qi> 0, then feed a step to -X direction, and deviation is：
If Pi< 0, then feed a step to -Y direction, and deviation is：
If Pi> 0 and Qi< 0, then respectively feed a step to-X and -Y direction, and deviation is：
；
S314. when the terminal of target segment is located at fourth quadrant, departure function P and Q are respectively：
If Qi> 0, then feed a step to -Y direction, and deviation is：
If Pi< 0, then feed a step to +X direction, and deviation is：
If Pi> 0 and Qi< 0, then respectively feed a step to+X and -Y direction, and deviation is：
What has been described above is only a preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art
For, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the present invention
Protection scope.
Claims (6)
1. a kind of control system of interactive robot, which is characterized in that including：
PC machine, for sending the instruction of fixed format to controller；
Controller, the director data that controller sends over PC machine parses, and passes to end effector；
End effector, end effector carries execution tool, for executing the movement of controller；
Teaching machine for the work needed to be carried out manual operation, and is remembered and is reappeared by controller.
2. the control system of interactive robot according to claim 1, which is characterized in that be additionally provided with spread footing, expand
Exhibition pedestal is isolated with robot by optical coupling isolation circuit, and spread footing is equipped with control chip, and spread footing is equipped with and is used for
It realizes in SD card interface, the Motor interface for controlling motor and the UART interface of realization communication of SD card read-write at least
It is a kind of.
3. the control system of interactive robot according to claim 2, which is characterized in that teaching machine is joystick,
It is set on joystick there are three potentiometer, the variation of current potential is passed to control chip by isolation module, controls core by joystick
Potential change is parsed and is recorded in SD card by piece, for reappearing.
4. a kind of control method of interactive robot a method according to any one of claims 1-3, which is characterized in that including following step
Suddenly：
S1. target point is obtained：SD card content is read by PC machine or receives the instruction of user, the seat for the target point that will be reached
Scale value be stored in program in dependent variable；
S2. target segment type is obtained：Specified target point is reached according to changing coordinates and sets motion mode, obtains target segment class
Type；
S3. interpolated point is calculated：According to known target point and target segment type, interpolated point is calculated；
S4. step S3 is repeated until completing entire target segment；
S5. the director data that controller sends over PC machine parses, and passes to end effector；
S6. end effector executes the movement of controller.
5. the control method of interactive robot according to claim 4, which is characterized in that it includes following for calculating interpolated point
Step：
S31. by the equation of known target point and current point, the feeding of interpolation is determined according to the slope of target segment, so
After execute；
S32. after the interpolation for completing a point, interpolation next time is carried out.
6. the control method of interactive robot according to claim 5, which is characterized in that determine interpolation feeding be with
Current point position is the feeding for comparing target segment present position in starting point unit area to determine interpolation；Wherein, current point m point
Coordinate be (Xi, Yi), the square mabc for being 1 with m point office's length takes the length to beLine segment ck, aj of unit, mesh
The coordinate of the starting point O point of graticule section is (0,0), and the coordinate of the terminal A point of target segment is (Xe, Ye), departure function P is to compare
The slope and Oj slope difference of target segment, departure function Q are the slope and Ok slope difference for comparing target segment, are specifically included
Following steps：
S311. when the terminal of target segment is located at first quartile, departure function P and Q are respectively：
If Qi> 0, then feed a step to +X direction, and deviation is：
If Pi< 0, then feed a step to +Y direction, and deviation is：
If Pi> 0 and Qi< 0, then respectively feed a step to+X and +Y direction, and deviation is：
S312. when the terminal of target segment is located at the second quadrant, departure function P and Q are respectively：
If Qi> 0, then feed a step to -X direction, and deviation is：
If Pi< 0, then feed a step to +Y direction, and deviation is：
If Pi> 0 and Qi< 0, then respectively feed a step to-X and +Y direction, and deviation is：
S313. when the terminal of target segment is located at third quadrant, departure function P and Q are respectively：
If Qi> 0, then feed a step to -X direction, and deviation is：
If Pi< 0, then feed a step to -Y direction, and deviation is：
If Pi> 0 and Qi< 0, then respectively feed a step to-X and -Y direction, and deviation is：
S314. when the terminal of target segment is located at fourth quadrant, departure function P and Q are respectively：
If Qi> 0, then feed a step to -Y direction, and deviation is：
If Pi< 0, then feed a step to +X direction, and deviation is：
If Pi> 0 and Qi< 0, then respectively feed a step to+X and -Y direction, and deviation is：
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Cited By (1)
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| CN111216135A (en) * | 2020-02-28 | 2020-06-02 | 广州大学 | SCARA mechanical arm controller and control method thereof |
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Application publication date: 20181130 |