CN109605370A - Control method and device, the control system of robot of robot - Google Patents
Control method and device, the control system of robot of robot Download PDFInfo
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- CN109605370A CN109605370A CN201811526219.XA CN201811526219A CN109605370A CN 109605370 A CN109605370 A CN 109605370A CN 201811526219 A CN201811526219 A CN 201811526219A CN 109605370 A CN109605370 A CN 109605370A
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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
Abstract
The invention discloses a kind of control method and device of robot, the control system of robot.Wherein, this method comprises: obtaining the first operating parameter fed back when robot is run according to first control signal, wherein first control signal is to be inputted by the control system of robot for controlling the signal of robot operation；Error analysis is carried out to the first operating parameter and the second operating parameter, obtains the departure of the first operating parameter and the second operating parameter, wherein the second operating parameter is the parameter for being used to indicate robot and running carried in first control signal；First control signal is modified using departure, obtains second control signal；It is run using second control signal control robot.The operating process that the present invention solves industrial robot in the related technology is comparatively laborious, the lower technical problem of control precision.
Description
Technical field
The present invention relates to technical field of robot control, in particular to a kind of robot control method and device,
The control system of robot.
Background technique
Industrial robot is Developing Trends of Modern Manufacturing Technology one of the important signs that, and a kind of emerging technology industry.It is integrated
The multi-disciplinary advanced technologies such as mechanics, electronics, control, computer science, sensor, artificial intelligence, are
The important automated arm of modern manufacturing industry is current, and with the development of industrial production automation technology, industrial robot is a large amount of
Using with all trades and professions, have a large amount of industrial robot system in all kinds of automatic production lines and applied, but these are industrial
Robot system is substantially complicated for operation also in controlling in the control mode of " teaching --- reproduction ", and process is cumbersome.
Operating process for above-mentioned industrial robot in the related technology is comparatively laborious, the lower problem of control precision, mesh
It is preceding not yet to put forward effective solutions.
Summary of the invention
The embodiment of the invention provides a kind of control method and device of robot, the control system of robot, at least
The operating process for solving industrial robot in the related technology is comparatively laborious, the lower technical problem of control precision.
According to an aspect of an embodiment of the present invention, a kind of control method of robot is provided, comprising: obtain robot
The first operating parameter fed back when being run according to first control signal, wherein the first control signal is to pass through the machine
The signal of the control system input of people run for controlling the robot；To first operating parameter and the second operation ginseng
Number carries out error analysis, obtains the departure of first operating parameter and second operating parameter, wherein second fortune
Row parameter is the parameter for being used to indicate the robot and running carried in the first control signal；Utilize the departure pair
The first control signal is modified, and obtains second control signal；The robot is controlled using the second control signal
Operation.
Optionally, before the first operating parameter fed back when obtaining robot and being run according to first control signal, the machine
The control method of device people further include: the first control signal is transferred to the robot by predetermined communication mode, wherein
The electric machine controller of the robot is after receiving the first control signal, based on what is carried in the first control signal
The second operating parameter operation, to drive each joint of the robot to execute preset movement posture.
Optionally, before the first operating parameter fed back when obtaining robot and being run according to first control signal, the machine
The control method of device people further include: obtain the first control signal；Wherein, obtaining the first control signal includes: to show
First interface of the control signal, wherein include operation object on first interface；Receive user's triggering operation pair
As generating trigger signal, the first control signal is obtained according to the trigger signal.
Optionally, after the first control signal is transferred to the robot by predetermined communication mode, the machine
The control method of device people further include: determine that the electric machine controller drives each pass of the robot according to first control signal
Section executes preset movement posture；Show that each joint of the robot executes preset movement appearance on first interface
The operation curve of motor when state, wherein the motor is the corresponding motor in each joint of the robot.
Optionally, the artificial six-joint robot of the machine, the control system are the system developed based on LABVIEW.
Another aspect according to an embodiment of the present invention, additionally provides a kind of control device of robot, comprising: first
Acquiring unit, for obtaining the first operating parameter fed back when robot is run according to first control signal, wherein described first
Control signal is to be inputted by the control system of the robot for controlling the signal of the robot operation；Analysis is single
Member obtains first operating parameter and institute for carrying out error analysis to first operating parameter and the second operating parameter
State the departure of the second operating parameter, wherein second operating parameter is to be carried in the first control signal for referring to
Show the parameter of the robot operation；Amending unit, for being modified using the departure to the first control signal,
Obtain second control signal；Control unit is run for controlling the robot using the second control signal.
Optionally, the control device of the robot further include: transmission unit, for obtaining robot according to the first control
When signal is run before the first operating parameter for feeding back, the first control signal is transferred to by predetermined communication mode described
Robot, wherein the electric machine controller of the robot is after receiving the first control signal, based on first control
Second operating parameter operation carried in signal, to drive each joint of the robot to execute preset movement appearance
State.
Optionally, the control device of the robot further include: second acquisition unit, for obtaining robot according to first
Before the first operating parameter fed back when control signal operation, the first control signal is obtained；Wherein, described second list is obtained
Member includes: display module, for showing the first interface of the control signal, wherein include operation pair on first interface
As；Module is obtained, the operation object generation trigger signal is triggered for receiving user, according to trigger signal acquisition
First control signal.
Optionally, the control device of the robot further include: determination unit, for passing through by the first control signal
Predetermined communication mode is transferred to after the robot, determines that the electric machine controller drives the machine according to first control signal
Each joint of device people executes preset movement posture；Display unit, for the first control signal to be passed through predetermined lead to
Letter mode is transferred to after the robot, and it is preset to show that each joint of the robot executes on first interface
The operation curve of motor when movement posture, wherein the motor is the corresponding motor in each joint of the robot.
Optionally, the artificial six-joint robot of the machine, the control system are the system developed based on LABVIEW.
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, the storage medium includes
The program of storage, wherein described program execute it is any one of above-mentioned described in robot control method.
Another aspect according to an embodiment of the present invention, additionally provides a kind of processor, the processor is for running
Program, wherein described program run when execute it is any one of above-mentioned described in robot control method.
Another aspect according to an embodiment of the present invention, additionally provides a kind of control system of robot, the machine
The control system of people using the robot described in any one of above-mentioned control method.
In embodiments of the present invention, the first operation fed back when being run using acquisition robot according to first control signal is joined
Number, wherein first control signal is to be inputted by the control system of robot for controlling the signal of robot operation；To
One operating parameter and the second operating parameter carry out error analysis, obtain the departure of the first operating parameter and the second operating parameter,
Wherein, the second operating parameter is the parameter for being used to indicate robot and running carried in first control signal；Utilize departure pair
First control signal is modified, and obtains second control signal；It is run using second control signal control robot.Pass through this Shen
Please embodiment provide robot control method can will the control system of robot output first control signal in carry
The second operating parameter and robot run the first operating parameter of feedback under the control of first control signal and carry out error point
Analysis, and the purpose being modified using error analysis result to first control signal have reached smaller kinematic error, improve machine
People controls the technical effect of precision, and then the operating process for solving industrial robot in the related technology is comparatively laborious, control essence
Spend lower technical problem.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the control method of robot according to an embodiment of the present invention；
Fig. 2 is the schematic diagram of pid control algorithm according to an embodiment of the present invention；
Fig. 3 is the schematic diagram of LABVIEW control panel according to an embodiment of the present invention；
Fig. 4 is the preferred flow chart of robot control method according to an embodiment of the present invention；
Fig. 5 is the schematic diagram of the control device of robot according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
For the above-mentioned technical problem in the embodiment of the present application, put forward a kind of machine based on LABVIEW in this application
Device people's control mode, wherein LABVIEW is the visual edit tool that a profession carries out signal processing.It mentions in this application
Control mode out can transmit and receive control signal, be calculated using PID control using LABVIEW visual programming language
Location information, velocity information that method feeds back robot etc. are handled, and are reached reduction kinematic error, are mentioned high control precision
Purpose.Below by following embodiment to the control method and device of robot provided herein, the control of robot
System is described in detail.
Embodiment 1
According to embodiments of the present invention, a kind of embodiment of the method for the control method of robot is provided, it should be noted that
Step shown in the flowchart of the accompanying drawings can execute in a computer system such as a set of computer executable instructions, and
It, in some cases, can be to be different from sequence execution institute herein and although logical order is shown in flow charts
The step of showing or describing.
Fig. 1 is the flow chart of the control method of robot according to an embodiment of the present invention, as shown in Figure 1, the robot
Control method includes the following steps:
Step S102 obtains the first operating parameter fed back when robot is run according to first control signal, wherein first
Control signal is to be inputted by the control system of robot for controlling the signal of robot operation.
In step s 102, LABVIEW controls program as host computer, controls the input and output of signal and the place of signal
Reason.Specifically, control signal (i.e. first control signal) is transmitted to robot by communication modes by LABVIEW control panel
Electric machine controller, electric machine controller receive control signal after according to control signal order-driven motor turned accordingly
It is dynamic, and then corresponding athletic posture is executed with each joint of E Dong robot, achieve the purpose that control robot motion.
Wherein, robot during exercise, can Real-time Feedback each joint feedback operating parameter (that is, the first operating parameter,
First operating parameter can include but is not limited to: position, speed, acceleration), LABVIEW pc control procedure can receive
The operating parameter of feedback.
Step S104 carries out error analysis to the first operating parameter and the second operating parameter, obtain the first operating parameter and
The departure of second operating parameter, wherein the second operating parameter is that the robot that is used to indicate carried in first control signal transports
Capable parameter.
Specifically, the parameter for being used to indicate robot operation is carried in above-mentioned first control signal, that is, the first control letter
The second operating parameter is carried in number, wherein the second operating parameter equally includes but is not limited to following several: position, adds speed
Speed.LABVIEW controls program after receiving the first operating parameter of feedback, by received first operating parameter and transmission
The first operating parameter carried in first control signal carries out error analysis, and optimizes processing by pid algorithm, reduces anti-
Feedback signal (carrying the signal of the first operating parameter) and output signal (carrying the first control signal of the second operating parameter)
Error, achieve the purpose that mention high control precision.
Step S106 is modified first control signal using departure, obtains second control signal.
Wherein, Fig. 2 is the schematic diagram of pid control algorithm according to an embodiment of the present invention, and R (t) as shown in Figure 2 is robot
Control system input first control signal (i.e. it is desired to the input of position, the speed of service and acceleration that robot reaches
Amount)；C (t) is the feedback quantity of physical location of the robot under the control of first control signal, speed and acceleration, i.e., the
One operating parameter；E (t) is the first operation of first control signal and robot actual feedback that the control system of robot inputs
The noon margin of error between parameter；U (t) is according to the modified first control signal of the margin of error.The physical location of robot, speed with
And there are errors for position, speed and the acceleration of the control system input of acceleration and robot, are passed by encoder, speed
Sensor and acceleration transducer can feed back the physical location, speed and acceleration of robot, and and input quantity
(i.e. first control signal) carries out error calculation, carries out the amendment of control signal according to error to reach and improve robot control essence
The purpose of degree.
Step S108 is run using second control signal control robot.
Through the above steps, the first operating parameter fed back when available robot is run according to first control signal,
Wherein, first control signal is to be inputted by the control system of robot for controlling the signal of robot operation；To first
Operating parameter and the second operating parameter carry out error analysis, obtain the departure of the first operating parameter and the second operating parameter,
In, the second operating parameter is the parameter for being used to indicate robot and running carried in first control signal；Using departure to
One control signal is modified, and obtains second control signal；It is run using second control signal control robot.Pass through the application
The control method for the robot that embodiment provides can will carry in first control signal that the control system of robot exports
The first operating parameter that second operating parameter and robot run feedback under the control of first control signal carries out error analysis,
And the purpose that first control signal is modified using error analysis result, reach smaller kinematic error, improves robot
The technical effect of precision is controlled, and then the operating process for solving industrial robot in the related technology is comparatively laborious, controls precision
Lower technical problem.
As a kind of optional embodiment, first fed back when obtaining robot and being run according to first control signal is run
Before parameter, the control method of the robot can also include: that first control signal is transferred to machine by predetermined communication mode
Device people, wherein the electric machine controller of robot is after receiving first control signal, based on carried in first control signal
The operation of two operating parameters executes preset movement posture with each joint with mobile robot.Wherein, above-mentioned predetermined communication mode
It can include but is not limited to as at least one of: bluetooth, WiFi, network and I/O serial communication.User can be according to reality
Situation voluntarily selects.
Preferably, before the first operating parameter fed back when obtaining robot and being run according to first control signal, the machine
The control method of device people can also include: acquisition first control signal；Wherein, obtaining first control signal includes: displaying control
First interface of signal, wherein include operation object on the first interface；It receives user's trigger action object and generates trigger signal,
First control signal is obtained according to trigger signal.
Specifically, by taking six-joint robot as an example, when LABVIEW control program operation, the control of the control system of robot
Panel processed instruction is as shown in Figure 3, wherein Fig. 3 is the schematic diagram of LABVIEW control panel according to an embodiment of the present invention, in Fig. 3
Show J1 motion control, J2 motion control, J3 motion control, J4 motion control, J5 motion control, J6 motion control, six axis
Each joint J1 of robot is used to control the position curve and rate curve of the servo motor of each axis into J6, while
Each operation object is shown, for example, rotating forward fine tuning, reversion fine tuning.The speed and location information in each joint can be according to machines
The transmission ratio and D-H parameter in each joint of device people are calculated, and no longer specifically repeat herein.
In addition, after first control signal is transferred to robot by predetermined communication mode, the control of the robot
It is preset dynamic that method can also comprise determining that each joint of the electric machine controller according to first control signal with mobile robot executes
It gestures；The operation curve of motor when each joint of robot executes preset movement posture is shown on the first interface,
In, motor is the corresponding motor in each joint of robot.
For example, user only needs crawl corresponding control button (that is, rotating forward fine tuning, reversion fine tuning) shown in Fig. 3, so that it may
Operation control signal is sent to by communication modes the electric machine controller of robot, electric machine controller is receiving motion control
Corresponding posture operation is carried out according to order-driven motor after signal (i.e. first control signal), band mobile robot is made accordingly
Movement, easy to operate, control panel is concise.
In addition, the operating parameter curve that real-time display goes out the motor in each joint as shown in Figure 3 is gone back on control panel, side
Just the fault detection of robot.Robot at runtime, has sensor and carries out instead to its position, speed and acceleration information
The second operating parameter carried in the first operating parameter and first control signal of feedback is carried out error comparison, passes through PID by feedback
Algorithm is adjusted the transmission of first control signal, and smaller Motion Errors improve the control precision of robot,
Be conducive to robot to the adaptability of various operating conditions.
It should be noted that robot in the embodiment of the present application can be six-joint robot, control system be based on
The system of LABVIEW exploitation.
In addition, additionally providing a kind of control system of robot in the embodiment of the present application, wherein the control of the robot
For system using the control method of robot among the above, Fig. 4 is the preferred of robot control method according to an embodiment of the present invention
Flow chart, as shown in figure 4, generating first control signal by LABVIEW control panel, wherein LABVIEW control panel is
The display interface of the control system of robot.The electric machine controller of robot receives first control signal, and according to the first control
Each joint of signal controlling machine device people executes corresponding athletic posture；Then, robot feeds back the first operating parameter and gives
LABVIEW control panel, the first operating parameter and the second operating parameter are compared, and then are realized to first control signal
It is modified, reaches reduction Motion Errors so as to realize, improve the control essence to robot
Due to using LABVIEW visible language to carry out control programming in the embodiment of the present application, so that control programming side
Just, simply.
Embodiment 2
A kind of control device of robot is additionally provided according to embodiments of the present invention, it should be noted that the present invention is implemented
The control device of the robot of example can be used for executing the control method of robot provided by the embodiment of the present invention.Below to this
The control device for the robot that inventive embodiments provide is introduced.
Fig. 5 is the schematic diagram of the control device of robot according to an embodiment of the present invention, as shown in figure 5, the robot
Control device may include: first acquisition unit 51, analytical unit 53, amending unit 55, control unit 57.Below to the machine
The control device of people is described in detail.
First acquisition unit 51, for obtaining the feed back when robot is run according to first control signal first operation ginseng
Number, wherein first control signal is to be inputted by the control system of robot for controlling the signal of robot operation.
Analytical unit 53 obtains the first operation for carrying out error analysis to the first operating parameter and the second operating parameter
The departure of parameter and the second operating parameter, wherein the second operating parameter is used to indicate machine for what is carried in first control signal
The parameter of device people operation.
Amending unit 55 obtains second control signal for being modified using departure to first control signal.
Control unit 57, for being run using second control signal control robot.
It should be noted that the first acquisition unit 51 in the embodiment can be used for executing the step in the embodiment of the present invention
Rapid S102, the analytical unit 53 in the embodiment can be used for executing the step S104 in the embodiment of the present invention, in the embodiment
Amending unit 55 can be used for executing the step S106 in the embodiment of the present invention, the control unit 57 in the embodiment can be used
Step S108 in the execution embodiment of the present invention.The example and application scenarios phase that above-mentioned module is realized with corresponding step
Together, but it is not limited to the above embodiments disclosure of that.
In this embodiment it is possible to be obtained using first acquisition unit 51 anti-when robot is run according to first control signal
First operating parameter of feedback, wherein first control signal is to be inputted by the control system of robot for controlling robot
The signal of operation；Then error analysis is carried out to the first operating parameter and the second operating parameter using analytical unit 53, obtains the
The departure of one operating parameter and the second operating parameter, wherein the second operating parameter is used for for what is carried in first control signal
Indicate the parameter of robot operation；It recycles amending unit 55 to be modified using departure to first control signal, obtains the
Two control signals；And it is run using control unit 57 using second control signal control robot.It is mentioned by the embodiment of the present application
The second operation that the control device of the robot of confession can will carry in the first control signal of the control system of robot output
The first operating parameter that parameter and robot run feedback under the control of first control signal carries out error analysis, and utilizes mistake
The purpose that difference analysis result is modified first control signal, has reached smaller kinematic error, improves robot and controls precision
Technical effect, and then the operating process for solving industrial robot in the related technology is comparatively laborious, controls the lower skill of precision
Art problem.
As a kind of optional embodiment, the control device of the robot can also include: transmission unit, for obtaining
Before the first operating parameter fed back when robot is run according to first control signal, first control signal is passed through into predetermined communication
Mode is transferred to robot, wherein the electric machine controller of robot is after receiving first control signal, based on the first control letter
The the second operating parameter operation carried in number, executes preset movement posture with each joint with mobile robot.
As a kind of optional embodiment, the control device of the robot further include: second acquisition unit, for obtaining
Before the first operating parameter fed back when robot is run according to first control signal, first control signal is obtained；Wherein, second
Acquiring unit includes: display module, for showing the first interface of control signal, wherein includes operation object on the first interface；
Module is obtained, trigger signal is generated for receiving user's trigger action object, first control signal is obtained according to trigger signal.
As a kind of optional embodiment, the control device of the robot further include: determination unit, for being controlled by first
After signal processed is transferred to robot by predetermined communication mode, determine electric machine controller according to first control signal band movement machine
Each joint of people executes preset movement posture；Display unit, for first control signal to be passed through predetermined communication mode
It is transferred to after robot, shows the fortune of motor when each joint of robot executes preset movement posture on the first interface
Row curve, wherein motor is the corresponding motor in each joint of robot.
As a kind of optional embodiment, the artificial six-joint robot of machine, control system is to be based on what LABVIEW was developed
System.
The control device of above-mentioned robot includes processor and memory, above-mentioned first acquisition unit 51, analytical unit 53,
Amending unit 55 and control unit 57 etc. store in memory as program unit, are stored in storage by processor execution
Above procedure unit in device realizes corresponding function.
Include kernel in above-mentioned processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can be set
One or more is run by adjusting kernel parameter using second control signal control robot.
Above-mentioned memory may include the non-volatile memory in computer-readable medium, random access memory
(RAM) and/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes extremely
A few storage chip.
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, and storage medium includes storage
Program, wherein program executes the control method of any one of above-mentioned robot.
Another aspect according to an embodiment of the present invention additionally provides a kind of processor, and processor is used to run program,
Wherein, the control method of any one of above-mentioned robot is executed when program is run.
A kind of equipment is additionally provided in embodiments of the present invention, which includes processor, memory and be stored in storage
On device and the program that can run on a processor, processor performs the steps of when executing program obtains robot according to first
The first operating parameter fed back when control signal operation, wherein first control signal is to be inputted by the control system of robot
For control robot operation signal；Error analysis is carried out to the first operating parameter and the second operating parameter, obtains first
The departure of operating parameter and the second operating parameter, wherein the second operating parameter is to be carried in first control signal for referring to
Show the parameter of robot operation；First control signal is modified using departure, obtains second control signal；Utilize second
Control signal controlling machine device people operation.
A kind of computer program product is additionally provided in embodiments of the present invention, when being executed on data processing equipment,
It is adapted for carrying out the program of initialization there are as below methods step: obtaining first fed back when robot is run according to first control signal
Operating parameter, wherein first control signal is to be inputted by the control system of robot for controlling the letter of robot operation
Number；Error analysis is carried out to the first operating parameter and the second operating parameter, obtains the first operating parameter and the second operating parameter
Departure, wherein the second operating parameter is the parameter for being used to indicate robot and running carried in first control signal；Using inclined
Residual quantity is modified first control signal, obtains second control signal；It is run using second control signal control robot.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of control method of robot characterized by comprising
Obtain the first operating parameter fed back when robot is run according to first control signal, wherein the first control signal
For the signal run for controlling the robot inputted by the control system of the robot；
Error analysis is carried out to first operating parameter and the second operating parameter, obtains first operating parameter and described the
The departure of two operating parameters, wherein second operating parameter is used to indicate institute for what is carried in the first control signal
State the parameter of robot operation；
The first control signal is modified using the departure, obtains second control signal；
The robot is controlled using the second control signal to run.
2. the method according to claim 1, wherein anti-when obtaining robot and being run according to first control signal
Before first operating parameter of feedback, further includes:
The first control signal is transferred to the robot by predetermined communication mode, wherein the motor of the robot
Controller is after receiving the first control signal, based on second operating parameter carried in the first control signal
Operation, to drive each joint of the robot to execute preset movement posture.
3. according to the method described in claim 2, it is characterized in that, anti-when obtaining robot and being run according to first control signal
Before first operating parameter of feedback, further includes: obtain the first control signal；
Wherein, obtaining the first control signal includes:
Show the first interface of the control signal, wherein include operation object on first interface；
It receives user and triggers the operation object generation trigger signal, first control is obtained according to the trigger signal and is believed
Number.
4. according to the method described in claim 3, it is characterized in that, the first control signal is passed through predetermined communication mode
It is transferred to after the robot, further includes:
Determine that the electric machine controller drives each joint of the robot to execute preset movement according to first control signal
Posture；
When showing that each joint of the robot executes preset movement posture on first interface, the operation of motor is bent
Line, wherein the motor is the corresponding motor in each joint of the robot.
5. method as claimed in any of claims 1 to 4, which is characterized in that the artificial six-joint robot of machine,
The control system is the system developed based on LABVIEW.
6. a kind of control device of robot characterized by comprising
First acquisition unit, for obtaining the first operating parameter fed back when robot is run according to first control signal, wherein
The first control signal is to be inputted by the control system of the robot for controlling the signal of the robot operation；
Analytical unit obtains first fortune for carrying out error analysis to first operating parameter and the second operating parameter
The departure of row parameter and second operating parameter, wherein second operating parameter is to take in the first control signal
The parameter for being used to indicate the robot operation of band；
Amending unit obtains second control signal for being modified using the departure to the first control signal；
Control unit is run for controlling the robot using the second control signal.
7. device according to claim 6, which is characterized in that further include:
Transmission unit will before the first operating parameter for feeding back when obtaining robot and being run according to first control signal
The first control signal is transferred to the robot by predetermined communication mode, wherein the electric machine controller of the robot
After receiving the first control signal, run based on second operating parameter carried in the first control signal,
To drive each joint of the robot to execute preset movement posture.
8. device according to claim 7, which is characterized in that further include: second acquisition unit, for obtaining robot
Before the first operating parameter fed back when running according to first control signal, the first control signal is obtained；
Wherein, the second acquisition unit includes:
Display module, for showing the first interface of the control signal, wherein include operation object on first interface；
Module is obtained, the operation object generation trigger signal is triggered for receiving user, institute is obtained according to the trigger signal
State first control signal.
9. device according to claim 8, which is characterized in that further include:
Determination unit, for after the first control signal is transferred to the robot by predetermined communication mode, really
The fixed electric machine controller drives each joint of the robot to execute preset movement posture according to first control signal；
Display unit, for after the first control signal is transferred to the robot by predetermined communication mode,
The operation curve of motor when each joint of the robot executes preset movement posture is shown on first interface,
In, the corresponding motor in each joint of robot described in the motor.
10. a kind of control system of robot, which is characterized in that the control system of the robot uses in claim 1 to 5
The control method of robot described in any one.
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