CN109571476A - The twin real time job control of industrial robot number, monitoring and precision compensation method - Google Patents
The twin real time job control of industrial robot number, monitoring and precision compensation method Download PDFInfo
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- CN109571476A CN109571476A CN201811535894.9A CN201811535894A CN109571476A CN 109571476 A CN109571476 A CN 109571476A CN 201811535894 A CN201811535894 A CN 201811535894A CN 109571476 A CN109571476 A CN 109571476A
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- robot
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
-
- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The present invention provides a kind of twin real time job control of industrial robot number, monitoring and precision compensation methods, comprising: the twin model of building robot number, and establish its contacting with robot controller；Twin model and robot controller synchronization action are driven using real-time joint angle；Acquisition joint of robot angle information in real time, and by carrying out real-time joint angle compensation with the comparison of the real-time joint angle of twin model.
Description
Technical field
The present invention relates to a kind of digital twin and Industry Control mechanics of communication of industrial robot, a kind of industrial machine when special
The twin real time job control of number word, monitoring and precision compensation method.
Background technique
Digital twin (DigitalTwin) is to make full use of the data such as physical model, sensor update, history run, collection
At multidisciplinary, more physical quantitys, the simulation process of multiple dimensioned, more probability, system is realized in the lifecycle process of entity equipment
System monitoring O&M, process and the functions such as system optimization and simulation.
Industrial robot becomes the most representative production in intelligence manufacture field because having merged multi-disciplinary sophisticated technology
Product.Although the flexibility of robot interacted with peripheral equipment is stronger, its operation is passively to execute duplicate task mostly,
It does not meet the demand of intelligence manufacture, therefore is to realize number twin important one with the smart machine that industrial machine artificially represents
Ring, however it is seldom to the explorative research that industrial robot number is twin at present.
It is often in the prior art individual part to the control of robot, monitoring and precision controlling, fails to pass through number
It is twin organically to be combined.The off-line programming technique of industrial robot generally requires executable file importing robot simultaneously
Controller carries out operation, the inefficiency when producing and coping with replacement of products adjustment.Thus robot production operation is also created
In information island, many data in the production cycle do not obtain effective acquisition and storage.
Summary of the invention
The purpose of the present invention is to provide a kind of twin real time job control of industrial robot number, monitoring and accuracy compensations
Method, comprising:
The twin model of robot number is constructed, and establishes its contacting with robot controller；
Twin model and robot controller synchronization action are driven using real-time joint angle；
Acquisition joint of robot angle information in real time, and by carrying out real-time joint with the comparison of the real-time joint angle of twin model
Angle compensation.
The present invention establishes twin model by the twin modeling software of number, is taken using manufacturer's development interface exploitation data communication
Program of being engaged in finally is realized with providing the two-way data communication processing service of simulation software and robot controller to robot
The real-time control and monitoring of operation, and the position compensation to joint of robot angle.The present invention by the twin modeling software of number with
Industrial robot entity connects into the digital twinned system an of closed loop, improve industrial robot operating efficiency and flexibly
Property, so that production information interaction is closer, it is convenient and practical.
The present invention is described further with reference to the accompanying drawings of the specification.
Detailed description of the invention
Fig. 1 is the method for the present invention flow diagram.
Fig. 2 is the system construction drawing of the embodiment of the present invention.
Fig. 3 is the communication control program flow chart of the embodiment of the present invention.
Specific embodiment
In conjunction with Fig. 1, a kind of twin real time job control of industrial robot number, monitoring and accuracy compensation method, it is special
Sign is, comprising the following steps:
S101, the twin model of building robot number and work piece model, pass through three in the twin modeling software of number
Point location guarantees the relative position accuracy of the two, on the basis of processing technology, generates robot manipulating task by model emulation and refers to
It enables；
S102, data communication service program are established with simulation software and robot controller simultaneously by manufacturer's open interface
Connection, conversion process instruction are that robotic standard control instruction controls robot manipulating task, and twin data are stored；
S103, data communication service program pass through the additional external high precision measuring instrument of robot or itself joint coding
Device acquires real-time machine person joint angle；
S104, data communication service program drive monitoring of the twin model to entity using real-time joint angle, and by with
The comparison at target joint angle carries out real-time joint angle compensation.
In conjunction with Fig. 2, the system of the embodiment of the present invention includes the twin model module 201 of robot, data communication service program
Module 202 and robot body module 203.
The twin model module 201 of robot is modeled using industrial robot off-line programing simulation software, passes through importing
The three-dimensional CAD model of robot and workpiece carries out the building of twin model；For part model, need to pass through three-point positioning method
It determines the relative position of its opposed robots, guarantees the accuracy for exporting robot program with this.
Six axis series connection humanoid robot therein uses general positive and negative resolving Algorithm, generates machining path by model emulation
Six joint floating numbers of point and the I/O signal of laser switch；The operation interpolation point instruction sequences of generation store in system memory,
For data communication service routine call.
203 ontology of industrial robot is six joint tandem type mechanical arms, and manufacturer provides C++ development interface, can develop
Program with its controller repertoire；
The 203 each joint in inside of robot is equipped with high-precision encoder and various data sampling sensors, closes for acquiring
Save the data such as angle, joint temperature, joint loads and voltage.
For data communication service program, since off-line programming software and Mysql database equally support external C Plus Plus
Interface, therefore program development is carried out using C Plus Plus and QT, program circuit is as shown in Figure 3.
Program is multi-threaded architecture, using socket communication respectively with robot controller, Mysql database and offline compile
Journey software establishes communication connection；
Program threads 1 obtain job instruction from simulation software memory, are converted into robotic standard job instruction, and six are closed
Program scale value and I/O signal are sent to robot one by one, control its operation；
Program threads 2 continuously obtain the real-time joint values of robot, for controlling the movement of robot model, to utilize mould
Type maps real machine people state；
Program threads 3 obtain all acquisition data in real time after robot has executed an instruction return success value, will
Its additional time of stamp deposit Mysql database；
Program threads 4 carry out absolute precision benefit to joint of robot according to the comparison of real-time joint values and target joint value
It repays；
5 pairs of emulation ends of program threads are monitored, and when operator observes operation exception, stopping emulation can stopping
Operation procedure operation.
Claims (4)
1. a kind of digital twin real time job control of industrial robot, monitoring and precision compensation method characterized by comprising
The twin model of robot number is constructed, and establishes its contacting with robot controller；
Twin model and robot controller synchronization action are driven using real-time joint angle；
Acquisition joint of robot angle information in real time, and by carrying out real-time joint angle benefit with the comparison of the real-time joint angle of twin model
It repays.
2. the method according to claim 1, wherein the connection of robot number twin model and robot controller
It is mode specifically:
Data communication service program establishes contacting between the twin model of robot number and robot controller, number by interface
It is determined according to the communication modes of Communications service program by interface, including Ethernet, Modbus, Can or serial ports；
The acquisition of joint of robot angular data is integrated by robot controller.
3. according to the method described in claim 2, it is characterized by:
Data communication service program is realized upper with digital twin modeling software and robot controller by both sides' development interface
Downlink real-time communication；
Off-line programing path point and I/O signal are converted into robot controller standard control statement control robot manipulating task；
While every job instruction is completed, real-time joint angle is acquired, with calculating error according to target joint value, giving joint
Compensation；
The structure of software is multi-threaded parallel, helps the twin modeling software of number to realize and realizes real time monitoring in operation, simultaneously
It can also stop the operation at scene by stopping emulation.
4. method according to claim 1, which is characterized in that robot return in real time joint angle measuring device can for
The encoder of the additional high-precision encoder in each joint in outside or robot interior.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811535894.9A CN109571476A (en) | 2018-12-14 | 2018-12-14 | The twin real time job control of industrial robot number, monitoring and precision compensation method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811535894.9A CN109571476A (en) | 2018-12-14 | 2018-12-14 | The twin real time job control of industrial robot number, monitoring and precision compensation method |
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| CN109571476A true CN109571476A (en) | 2019-04-05 |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991918A (en) * | 2019-04-10 | 2019-07-09 | 广东工业大学 | Parallel control method based on the sampling of multicycle difference with the twin technology of number |
| CN110181519A (en) * | 2019-06-25 | 2019-08-30 | 广东希睿数字科技有限公司 | Subway station door fault detection method and system based on the twin robot of number |
| CN110605709A (en) * | 2019-09-25 | 2019-12-24 | 西南交通大学 | Digital twin and precise filtering driving robot integration system and use method thereof |
| CN110658795A (en) * | 2019-10-10 | 2020-01-07 | 北京航空航天大学 | Accurate fusion method and system for digital twin data |
| CN110695962A (en) * | 2019-09-03 | 2020-01-17 | 南京理工大学 | Four-degree-of-freedom parallel robot mechanism |
| CN110989605A (en) * | 2019-12-13 | 2020-04-10 | 哈尔滨工业大学 | Three-body intelligent system architecture and detection robot |
| CN111230887A (en) * | 2020-03-10 | 2020-06-05 | 合肥学院 | Industrial gluing robot running state monitoring method based on digital twin technology |
| CN111251304A (en) * | 2020-03-12 | 2020-06-09 | 广东博智林机器人有限公司 | Robot control system and method |
| CN111596614A (en) * | 2020-06-02 | 2020-08-28 | 中国科学院自动化研究所 | Motion control error compensation system and method based on cloud edge cooperation |
| CN111633644A (en) * | 2020-05-15 | 2020-09-08 | 哈尔滨工程大学 | Industrial robot digital twin system combined with intelligent vision and operation method thereof |
| CN111650852A (en) * | 2020-04-23 | 2020-09-11 | 中国电子科技集团公司第三十八研究所 | Tethered balloon digital twin monitoring system |
| CN111964575A (en) * | 2020-07-06 | 2020-11-20 | 北京卫星制造厂有限公司 | Digital twin modeling method for milling of mobile robot |
| CN112091982A (en) * | 2020-11-16 | 2020-12-18 | 杭州景业智能科技股份有限公司 | Master-slave linkage control method and system based on digital twin mapping |
| US10921794B2 (en) | 2019-04-10 | 2021-02-16 | Guangdong University Of Technology | Parallel control method based on multi-period differential sampling and digital twinning technologies |
| CN114770496A (en) * | 2022-03-14 | 2022-07-22 | 上海飒智智能科技有限公司 | Joint servo drive controller for inhibiting mechanical vibration of robot joint by utilizing digital twinning technology |
| CN115056231A (en) * | 2022-07-26 | 2022-09-16 | 江苏邑文微电子科技有限公司 | Motion matching method and device for mechanical arm and animation of semiconductor equipment |
| CN115877736A (en) * | 2023-02-03 | 2023-03-31 | 广东工业大学 | Multi-robot cooperative work simulation monitoring method based on digital twin |
| CN116214542A (en) * | 2023-03-23 | 2023-06-06 | 广东省特种设备检测研究院东莞检测院 | Digital twin system of spherical tank inner wall climbing robot |
| CN117182930A (en) * | 2023-11-07 | 2023-12-08 | 山东捷瑞数字科技股份有限公司 | Four-axis mechanical arm binding method, system, equipment and medium based on digital twin |
| CN117621090A (en) * | 2024-01-25 | 2024-03-01 | 青岛创新奇智科技集团股份有限公司 | Industrial robot control method and system and industrial robot |
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Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991918B (en) * | 2019-04-10 | 2019-11-12 | 广东工业大学 | Parallel control method based on the sampling of multicycle difference with the twin technology of number |
| CN109991918A (en) * | 2019-04-10 | 2019-07-09 | 广东工业大学 | Parallel control method based on the sampling of multicycle difference with the twin technology of number |
| US10921794B2 (en) | 2019-04-10 | 2021-02-16 | Guangdong University Of Technology | Parallel control method based on multi-period differential sampling and digital twinning technologies |
| CN110181519B (en) * | 2019-06-25 | 2022-03-18 | 广东希睿数字科技有限公司 | Subway station door fault detection method and system based on digital twin robot |
| CN110181519A (en) * | 2019-06-25 | 2019-08-30 | 广东希睿数字科技有限公司 | Subway station door fault detection method and system based on the twin robot of number |
| CN110695962A (en) * | 2019-09-03 | 2020-01-17 | 南京理工大学 | Four-degree-of-freedom parallel robot mechanism |
| CN110605709A (en) * | 2019-09-25 | 2019-12-24 | 西南交通大学 | Digital twin and precise filtering driving robot integration system and use method thereof |
| CN110605709B (en) * | 2019-09-25 | 2022-11-08 | 西南交通大学 | Digital twin and precise filtering drive robot integration system and use method thereof |
| CN110658795A (en) * | 2019-10-10 | 2020-01-07 | 北京航空航天大学 | Accurate fusion method and system for digital twin data |
| CN110989605A (en) * | 2019-12-13 | 2020-04-10 | 哈尔滨工业大学 | Three-body intelligent system architecture and detection robot |
| CN111230887A (en) * | 2020-03-10 | 2020-06-05 | 合肥学院 | Industrial gluing robot running state monitoring method based on digital twin technology |
| CN111230887B (en) * | 2020-03-10 | 2021-01-26 | 合肥学院 | Industrial gluing robot running state monitoring method based on digital twin technology |
| CN111251304A (en) * | 2020-03-12 | 2020-06-09 | 广东博智林机器人有限公司 | Robot control system and method |
| US11403442B2 (en) | 2020-04-23 | 2022-08-02 | 38Th Research Institute, China Electronics Technology Group Corporation | Digital twin monitoring system of tethered balloon |
| CN111650852A (en) * | 2020-04-23 | 2020-09-11 | 中国电子科技集团公司第三十八研究所 | Tethered balloon digital twin monitoring system |
| CN111650852B (en) * | 2020-04-23 | 2021-10-26 | 中国电子科技集团公司第三十八研究所 | Tethered balloon digital twin monitoring system |
| CN111633644A (en) * | 2020-05-15 | 2020-09-08 | 哈尔滨工程大学 | Industrial robot digital twin system combined with intelligent vision and operation method thereof |
| CN111596614B (en) * | 2020-06-02 | 2021-06-25 | 中国科学院自动化研究所 | Motion control error compensation system and method based on cloud edge cooperation |
| CN111596614A (en) * | 2020-06-02 | 2020-08-28 | 中国科学院自动化研究所 | Motion control error compensation system and method based on cloud edge cooperation |
| CN111964575A (en) * | 2020-07-06 | 2020-11-20 | 北京卫星制造厂有限公司 | Digital twin modeling method for milling of mobile robot |
| CN111964575B (en) * | 2020-07-06 | 2022-02-01 | 北京卫星制造厂有限公司 | Digital twin modeling method for milling of mobile robot |
| CN112091982A (en) * | 2020-11-16 | 2020-12-18 | 杭州景业智能科技股份有限公司 | Master-slave linkage control method and system based on digital twin mapping |
| CN114770496A (en) * | 2022-03-14 | 2022-07-22 | 上海飒智智能科技有限公司 | Joint servo drive controller for inhibiting mechanical vibration of robot joint by utilizing digital twinning technology |
| CN114770496B (en) * | 2022-03-14 | 2024-02-27 | 上海飒智智能科技有限公司 | Joint servo driving controller for inhibiting mechanical vibration of robot joint by digital twin technology |
| CN115056231B (en) * | 2022-07-26 | 2023-12-22 | 江苏邑文微电子科技有限公司 | Motion matching method and device for mechanical arm and animation of semiconductor equipment |
| CN115056231A (en) * | 2022-07-26 | 2022-09-16 | 江苏邑文微电子科技有限公司 | Motion matching method and device for mechanical arm and animation of semiconductor equipment |
| CN115877736A (en) * | 2023-02-03 | 2023-03-31 | 广东工业大学 | Multi-robot cooperative work simulation monitoring method based on digital twin |
| CN115877736B (en) * | 2023-02-03 | 2024-02-06 | 广东工业大学 | Digital twinning-based multi-robot collaborative operation simulation monitoring method |
| CN116214542B (en) * | 2023-03-23 | 2023-11-10 | 广东省特种设备检测研究院东莞检测院 | Digital twin system of spherical tank inner wall climbing robot |
| CN116214542A (en) * | 2023-03-23 | 2023-06-06 | 广东省特种设备检测研究院东莞检测院 | Digital twin system of spherical tank inner wall climbing robot |
| CN117182930A (en) * | 2023-11-07 | 2023-12-08 | 山东捷瑞数字科技股份有限公司 | Four-axis mechanical arm binding method, system, equipment and medium based on digital twin |
| CN117182930B (en) * | 2023-11-07 | 2024-02-13 | 山东捷瑞数字科技股份有限公司 | Four-axis mechanical arm binding method, system, equipment and medium based on digital twin |
| CN117621090A (en) * | 2024-01-25 | 2024-03-01 | 青岛创新奇智科技集团股份有限公司 | Industrial robot control method and system and industrial robot |
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Application publication date: 20190405 |