CN109108965A - A kind of cartesian space motion forecast method applied to mechanical arm - Google Patents
A kind of cartesian space motion forecast method applied to mechanical arm Download PDFInfo
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- CN109108965A CN109108965A CN201810840966.4A CN201810840966A CN109108965A CN 109108965 A CN109108965 A CN 109108965A CN 201810840966 A CN201810840966 A CN 201810840966A CN 109108965 A CN109108965 A CN 109108965A
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- mechanical arm
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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 discloses a kind of cartesian space motion forecast methods applied to mechanical arm, by carrying out quickly predicting to calculate before movement in mechanical arm, the key point for needing to slow down and extreme position are deduced out according to the motion profile of cartesian space, to increase by one section of safe deceleration distance, the strategy of speed control of mechanical arm has been planned in advance, it allows mechanical arm before reaching the limit of position, is slowed down calmly stopping according to the deceleration time of setting.To solve in the prior art, mechanical arm encounters the problems such as hardware caused by extreme position emergency deceleration impacts, track is deviateed under motion state.
Description
Technical field
The present invention relates to mechanical arm spatial movement electric powder prediction, specifically a kind of flute card applied to mechanical arm
That spatial movement prediction technique.
Background technique
Inevitable some states when the extreme positions such as the singular point, the moving boundaries that occur at random are manipulator motions,
In these special location points, mechanical arm will appear dyskinesia, it is necessary to which emergency deceleration stops, the solution party of prior art
Method is when mechanical arm encounters extreme position, and control system can control mechanical arm emergency deceleration, and mechanical arm can only be in joint space
It is 0 that interior each joint motor of control respectively slows down as early as possible, to realize that whole slow down of mechanical arm stops, the prior art mainly has
Following two disadvantage: 1, unexpected deceleration can cause bigger impact to hardware such as mechanical arm motor, speed reducers, influence hardware
Service life；2, mechanical arm terminal can deviate the motion profile planned under cartesian space in moderating process, influence the track of mechanical arm
Precision.
Summary of the invention
The purpose of the present invention is to provide a kind of cartesian space motion forecast methods applied to mechanical arm, to solve
The problem of being proposed in background technique.
To achieve the above object, the present invention provides the following technical solutions；
A kind of cartesian space motion forecast method applied to mechanical arm, the Descartes applied to mechanical arm
Spatial movement prediction technique includes:
S1: the maximum distance P that the mechanical arm can not reach is setm；
S2: go out the motion profile of the mechanical arm by following motion planning equation calculation:
Wherein, P (t) is the motion profile of mechanical arm, Pt1For the initial position of mechanical arm uniform motion, P0For machinery
The initial position of arm motion, V0For the initial velocity of mechanical arm movement, VmFor the maximum speed of mechanical arm movement, a is machine
The acceleration of tool arm motion, t are the time of mechanical arm movement, t1Start the time of uniform motion, t for mechanical armmFor machine
Tool arm reaches maximum distance PmTime；
S3: the time t moved by continuous iteration mechanical arm reversely transports the motion profile P (t) of mechanical arm
Dynamic learn solves；
S4: when the motion planning equation is without solution, the extreme position of the mechanical arm is obtained, step S5 is executed；
S5: according to the extreme position of the mechanical arm, the deceleration point of the mechanical arm is predicted, and to the manipulator
The motion profile of arm is planned.
Optionally, movement of the mechanical arm under cartesian space, motion profile are in straight line, circular arc or curve
It is one or more.
Optionally, the movement of the mechanical arm includes uniformly accelerated motion stage, uniform motion stage and uniformly retarded motion
Stage.
Optionally, the motion profile of the mechanical arm is planned using following motion control equation:
Wherein, P0For the initial position of mechanical arm movement, V0Fever initial velocity, V are moved for mechanical armmFor machinery
The maximum speed of arm motion, a are the acceleration of mechanical arm movement, Pt1、Pt2Start uniform motion and end for mechanical arm
The initial position of uniform motion, t1Start the time of uniform motion, t for mechanical arm2For mechanical arm terminate uniform motion when
Between, t3For the time of mechanical arm stop motion.
Optionally, the position of the mechanical arm stop motion is less than or equal to the limit position of mechanical arm movement
It sets.
Compared with prior art, the beneficial effects of the present invention are: it is quickly pre- by being carried out before movement to mechanical arm
It surveys and calculates, the deceleration point and extreme position of mechanical arm are deduced out according to the motion profile of cartesian space, to plan in advance
The strategy of speed control and motion profile of good mechanical arm slow down calmly stopping, no according to the motion profile of setting and deceleration point
Realize that the safety of mechanical arm is slowed down and stablized and stop that impact of the reduction to hardware avoids track inclined in meeting bias motion track
From raising system stability and bulk life time.
Detailed description of the invention
Fig. 1 is the Velocity Time image of trapezoidal Velocity control；
Fig. 2 is a kind of flow chart of the cartesian space motion forecast method applied to mechanical arm provided by the invention；
Schematic diagram when Fig. 3 is setting limit position provided by the invention；
Schematic diagram when Fig. 4 is setting deceleration point provided by the invention；
Fig. 5 is the effect picture that mechanical arm provided by the invention steadily slows down.
Specific embodiment
Currently, as shown in Figure 1, movement (straight line, circular arc, arbitrary curve) the universal base of mechanical arm under cartesian space
In trapezoidal Velocity control, following motion control equation can be used and be described:
Wherein, P0For the initial position of mechanical arm movement, V0Fever initial velocity, V are moved for mechanical armmFor machinery
The maximum speed of arm motion, a are the acceleration of mechanical arm movement, Pt1、Pt2Start uniform motion and end for mechanical arm
The initial position of uniform motion, t1Start the time of uniform motion, t for mechanical arm2For mechanical arm terminate uniform motion when
Between, t3For the time of mechanical arm stop motion.
By by time t1、t2It substitutes into above-mentioned motion control equation calculation and obtains the terminal posture of mechanical arm, then pass through fortune
Dynamic anti-solution (IK) of learning can acquire the joint space position of mechanical arm, to realize the control of mechanical arm.But manipulator
Arm has that the extreme positions such as singular point, limit point, the above method do not consider these problems under cartesian space,
So meeting emergency deceleration stops when encountering singular point or limit point, very big impact is caused to the hardware of mechanical arm, and
And cause the deviation of track.
Cartesian space motion forecast method proposed by the present invention applied to mechanical arm can transported in mechanical arm
Quickly prediction is carried out before dynamic to calculate, and the key point for needing to slow down and limit position are deduced out according to the motion profile of cartesian space
It sets, to increase by one section of safe deceleration distance, has planned the strategy of speed control of mechanical arm in advance, mechanical arm is allowed to reach pole
Before extreme position, slowed down calmly stopping according to the deceleration time of setting.To solve in the prior art, mechanical arm is in motion state
Under encounter hardware caused by extreme position emergency deceleration impact, track deviate the problems such as.
Following will be combined with the drawings in the embodiments of the present invention, carries out to the technical aspect in the embodiment of the present invention clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 2, a kind of embodiment provided by the invention:
A kind of cartesian space motion forecast method applied to mechanical arm, the Descartes applied to mechanical arm
Spatial movement prediction technique includes:
S1: the maximum distance P that the mechanical arm can not reach is setm；
S2: go out the motion profile of the mechanical arm by following motion planning equation calculation:
Wherein, P (t) is the motion profile of mechanical arm, Pt1For the initial position of mechanical arm uniform motion, P0For machinery
The initial position of arm motion, V0For the initial velocity of mechanical arm movement, VmFor the maximum speed of mechanical arm movement, a is machine
The acceleration of tool arm motion, t are the time of mechanical arm movement, t1Start the time of uniform motion, t for mechanical armmFor machine
Tool arm reaches maximum distance PmTime；
S3: the time t moved by continuous iteration mechanical arm reversely transports the motion profile P (t) of mechanical arm
Dynamic learn solves；
S4: when the motion planning equation is without solution, the extreme position of the mechanical arm is obtained, step S5 is executed；
S5: according to the extreme position of the mechanical arm, the deceleration point of the mechanical arm is predicted, and to the manipulator
The motion profile of arm is planned.
Specifically, assuming first that the extreme position of movement, initial motion profile is planned.It is unknown in singular point, limit point
In the case where, as shown in figure 3, we set the highest distance position P that a mechanical arm can not reachm, and pass through following movement
Plan that equation carries out motion planning:
Then, before the just true setting in motion of mechanical arm, or multithreading realizes prediction during the motion, constantly repeatedly
For time cycle t, substitutes into (4), in (5) formula, movement can be passed through in the hope of the mechanical arm terminal posture of each period of motion
IK is learned to solve.Successfully illustrate that the point of current iteration is not an extreme position if solved, continues iteration and update；If asked
Solution failure, then explanation has found the extreme position of the mechanical arm, can exit circulation.
Finally, as shown in figure 4, according to the extreme position of prediction, programming movement track again, and deceleration point is added, because
It can predict to obtain extreme position, according to the performance of mechanical arm, deceleration point before may specify extreme position uses formula
(1), (2), (3) realize mechanical arm accelerate, at the uniform velocity, the control of deceleration three phases, avoid suddenly slow down stop the case where,
Certainly, the position of the mechanical arm stop motion is less than or equal to the extreme position of mechanical arm movement.
Specifically, the present embodiment provides the examples calculated in detail below in order to clearly explain the present invention:
1, motion planning is carried out according to the extreme position of hypothesis
Assuming that the A point (0,0,0) of the initial position of mechanical arm in space, it is expected that move along a straight line along the x axis, the limit
Position is at M (10,0,0).The movement velocity upper limit of mechanical arm terminal is 2, acceleration 2.Due to being moved in mechanical arm
Before, we can not accurately know the extreme position of mechanical arm in the movement direction at M, so might as well first assume manipulator
A point P of the extreme position of arm except cartesian spaceMAt (100,0,0).
Motion planning is carried out then according to motion planning equation:
ByIt can derive
We can be obtained by mechanical arm and move to P in this wayMMotion planning equation when place:
2, it solves
Next, according to the motion planning equation being calculated above, loop iteration time cycle t acquires mechanical arm
Terminal posture, and carry out inverse kinematics solution.
When calculating at M (10,0,0), the actual extreme position of mechanical arm is reached, inverse kinematics can not acquire machine
Tool arm effectively solves, we just predict to have obtained the extreme position of mechanical arm at this time, and according to this extreme position again into
Row motion planning.
3, the mechanical arm extreme position obtained according to prediction, re-starts motion planning
As shown in figure 4, having calculated in step 1:
It predicts to obtain according to the iteration of step 2 again: Pt3=10
So as to obtain Pt2=Pt3-Pt1=10-1=9
So: t2-t1=(Pt2-Pt1)/Vm=(9-1)/2=4
t2=4+t1=4+1=5
t3=5+1=6
This is arrived, we just predict to have obtained the motion control during mechanical arm is moved in the X-axis direction from initial position
Equation can smoothly stop at extreme position M (10,0,0):
If using general motion planning method, motion control equation uses (4), (5), then can not the look-ahead limit
Smooth deceleration is simultaneously realized in position, will lead to mechanical arm in limit of sports record position emergent stopping, impacts to hardware larger, it is easy to
Off-track.So motion prediction algorithm effect proposed by the invention is more excellent.
Finally referring to Fig. 5, technical solution proposed by the present invention is applied to actual mechanical arm control system, carried out
Complete test, Fig. 5 are the steady slowing effects for carrying out realizing after look-ahead according to the present invention, and will not shift track
Phenomenon, compares prior art, and control effect has apparent advantage.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (5)
1. a kind of cartesian space motion forecast method applied to mechanical arm, it is characterised in that: described to be applied to manipulator
The cartesian space motion forecast method of arm includes:
S1: the maximum distance P that the mechanical arm can not reach is setm；
S2: go out the motion profile of the mechanical arm by following motion planning equation calculation:
Wherein, P (t) is the motion profile of mechanical arm, Pt1For the initial position of mechanical arm uniform motion, P0For mechanical arm
The initial position of movement, V0For the initial velocity of mechanical arm movement, VmFor the maximum speed of mechanical arm movement, a is manipulator
The acceleration of arm movement, t are the time of mechanical arm movement, t1Start the time of uniform motion, t for mechanical armmFor manipulator
Arm reaches maximum distance PmTime；
S3: the time t moved by continuous iteration mechanical arm, inverse kinematics are carried out to the motion profile P (t) of mechanical arm
It solves；
S4: when the motion planning equation is without solution, the extreme position of the mechanical arm is obtained, step S5 is executed；
S5: according to the extreme position of the mechanical arm, the deceleration point of the mechanical arm is predicted, and to the mechanical arm
Motion profile is planned.
2. a kind of cartesian space motion forecast method applied to mechanical arm according to claim 1, feature exist
In: movement of the mechanical arm under cartesian space, motion profile are one of straight line, circular arc or curve or more
Kind.
3. a kind of cartesian space motion forecast method applied to mechanical arm according to claim 2, feature exist
In: the movement of the mechanical arm includes uniformly accelerated motion stage, uniform motion stage and uniformly retarded motion stage.
4. a kind of cartesian space motion forecast method applied to mechanical arm according to claim 3, feature exist
In: the motion profile of the mechanical arm is planned using following motion control equation:
Wherein, P0For the initial position of mechanical arm movement, V0Fever initial velocity, V are moved for mechanical armmFor mechanical arm
The maximum speed of movement, a are the acceleration of mechanical arm movement, Pt1、Pt2Start uniform motion for mechanical arm and terminates at the uniform velocity
The initial position of movement, t1Start the time of uniform motion, t for mechanical arm2Terminate the time of uniform motion for mechanical arm,
t3For the time of mechanical arm stop motion.
5. a kind of cartesian space motion forecast method applied to mechanical arm according to claim 4, feature exist
In: the position of the mechanical arm stop motion is less than or equal to the extreme position of mechanical arm movement.
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| CN110744546A (en) * | 2019-11-01 | 2020-02-04 | 云南电网有限责任公司电力科学研究院 | Method and system for grabbing non-stationary lead by defect repairing robot |
| CN112207818A (en) * | 2020-08-28 | 2021-01-12 | 扬州哈工科创机器人研究院有限公司 | Six-axis mechanical arm control method and system |
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| CN113580149A (en) * | 2021-09-30 | 2021-11-02 | 湖南大学 | Unordered aliasing workpiece grabbing method and system based on key point prediction network |
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| CN113580149A (en) * | 2021-09-30 | 2021-11-02 | 湖南大学 | Unordered aliasing workpiece grabbing method and system based on key point prediction network |
| CN113580149B (en) * | 2021-09-30 | 2021-12-21 | 湖南大学 | Unordered aliasing workpiece grabbing method and system based on key point prediction network |
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