CN109732611A - A kind of mechanical arm control method - Google Patents
A kind of mechanical arm control method Download PDFInfo
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- CN109732611A CN109732611A CN201910185283.4A CN201910185283A CN109732611A CN 109732611 A CN109732611 A CN 109732611A CN 201910185283 A CN201910185283 A CN 201910185283A CN 109732611 A CN109732611 A CN 109732611A
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Abstract
The present invention provides a kind of mechanical arm control method, comprising: establishes target-based coordinate system according to target position, and establishes mechanical arm coordinate system according to mechanical arm；Obtaining the i-th common ground of the target-based coordinate system Yu the mechanical arm coordinate system, i >=1, and i is positive integer；Defining coordinate of i-th common ground under the target-based coordinate system is the i-th one coordinates, and defining coordinate of i-th common ground under the mechanical arm coordinate system is the i-th two coordinates, calculates the mapping relations between the i-th one coordinate and the i-th two coordinate；The i-th two coordinates are calculated according to the i-th one coordinates and the mapping relations, the mechanical arm control is completed, can be realized the real-time control of mechanical arm, control is accurate, and response speed is very fast.
Description
Technical field
The present invention relates to industrial control fields, more particularly to a kind of mechanical arm control method.
Background technique
With the promotion of industrial automation level, mechanical arm replaces artificial progress operation increasingly to be popularized, currently,
Robot technology mostly uses " teaching mode ", that is, presets the operating position of tool heads, and robot reaches, the operating position
Coordinate and posture are recorded, then according to the coordinate and attitude motion recorded to the operating position；However in the method,
Robot can only reach predetermined position, and be unable to real time control machine device people and move to target position.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of mechanical arm control method,
For solving the problems, such as that real-time control is convenient in robot in the prior art.
In order to achieve the above objects and other related objects, the present invention provides a kind of mechanical arm control method, comprising: according to
Target-based coordinate system is established in target position, and establishes mechanical arm coordinate system according to mechanical arm；Obtain the target-based coordinate system with
I-th common ground of the mechanical arm coordinate system, i >=1, and i are positive integer；I-th common ground is defined to sit in the target
The lower coordinate of mark system is the i-th one coordinates, and defining coordinate of i-th common ground under the mechanical arm coordinate system is the i-th two
Coordinate calculates the mapping relations between the i-th one coordinate and the i-th two coordinate；According to the i-th one coordinate and the mappings
Relationship calculates the i-th two coordinates, completes the mechanical arm control.
Optionally, the mapping relations mathematical expression are as follows:
Wherein, λ is zoom factor, and R is spin matrix,For the i-th one coordinates matrix,It is sat for described the i-th two
Mark matrix.
Optionally, the mapping relations mathematical expression are as follows:
Wherein, λ is zoom factor, and R is spin matrix,For the i-th one coordinates matrix,It is sat for described the i-th two
Matrix is marked,For the coordinate difference square between the origin of the target-based coordinate system and the origin of the mechanical arm coordinate system
Battle array.
Optionally, the mathematical expression of the zoom factor are as follows:
Wherein, (Xi, Yi, Zi) is the coordinate value of the i-th one coordinate, and (Xi', Yi', Zi') is the i-th two coordinate
Coordinate value.
Optionally, i >=3.
Optionally, if λ >=2, reacquire the target-based coordinate system and the mechanical arm coordinate system i-th is common
Point.
Optionally, the mathematical expression of the spin matrix are as follows:
R=(I-S) -1 (I+S)
Wherein, I is unit matrix, and S is antisymmetric matrix, and a is the first rodrigue parameters, and b is the second Rodrigo ginseng
Number, c are third rodrigue parameters.
Optionally, first rodrigue parameters, second rodrigue parameters and the third Rodrigo
The mathematical expression of parameter are as follows:
V3nX1=A3nX3X3X1-L3nX1
X3X1=[a, b, c]T
[a,b,c]T=(A3nX3 TA3nX3)-1A3nX3 TL3nX1
Optionally, the i-th common ground detailed process of the target-based coordinate system Yu the mechanical arm coordinate system is obtained are as follows:
Determined under the target-based coordinate system first common ground, second common ground ... and i-th common ground, record
One one coordinate, the 2nd 1 coordinate ... and the i-th one coordinates；The terminal position of the mechanical arm is respectively moved to institute
State the first common ground, second common ground ... and i-th common ground, the one or two coordinate of record, the two or two are sat
Mark ... and the i-th two coordinates.
As described above, mechanical arm control method of the invention, has the advantages that
By obtain one one coordinate of i-th common ground under target-based coordinate system, the 2nd 1 coordinate ... and the i-th one
The one or two coordinate, the two or two coordinate under coordinate and mechanical arm coordinate system ... and the i-th two coordinates, convenient for obtaining the
Mapping relations between mono- coordinate of i and the i-th two coordinates；
In the actual operation process, described the i-th two are calculated by the i-th one coordinate and the mapping relations to sit
Mark realizes real-time control, and accuracy is higher, and corresponding rapid.
Detailed description of the invention
Fig. 1 is shown as the mechanical arm control method flow diagram of the embodiment of the present invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.
Please refer to Fig. 1.It should be noted that illustrating what only the invention is illustrated in a schematic way provided in the present embodiment
Basic conception, only shown in schema then with related component in the present invention rather than component count, shape when according to actual implementation
And size is drawn, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout
Kenel may also be increasingly complex.This specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate explanation
The revealed content of book is not intended to limit the invention enforceable restriction so that those skilled in the art understands and reads
Condition, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, in not shadow
It rings under the effect of present invention can be generated and the purpose that can reach, should all still fall in disclosed technology contents and obtain energy
In the range of covering.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", the use of " centre " and " one "
Language is merely convenient to being illustrated for narration, rather than to limit the scope of the invention, the change of relativeness or tune
It is whole, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of mechanical arm control method, comprising:
S1: target-based coordinate system is established according to target position, and mechanical arm coordinate system is established according to mechanical arm；
S2: obtain the i-th common ground of the target-based coordinate system Yu the mechanical arm coordinate system, i >=1, and i be positive it is whole
Number；
S3: defining the coordinate of i-th common ground under the target-based coordinate system is the i-th one coordinates, and it is total to define described i-th
It is the i-th two coordinates with coordinate of the point under the mechanical arm coordinate system, calculates the i-th one coordinate and the i-th two coordinate
Between mapping relations；
S4: the i-th two coordinates are calculated according to the i-th one coordinates and the mapping relations；
S5: the mechanical arm control is completed.Before practical control process, first determine the target-based coordinate system with it is described
Then i-th common ground of mechanical arm coordinate system obtains i-th common ground corresponding the i-th one under the target-based coordinate system
Coordinate and the i-th common ground corresponding the i-th two coordinate under the mechanical arm coordinate system calculate the i-th one coordinates and the i-th two seats
Mapping relations between mark by the i-th one coordinate transformation of input at the i-th two coordinates, and then are realized mechanical under target-based coordinate system
The real-time control of arm.
Further, the mapping relations mathematical expression are as follows:
Wherein, λ is zoom factor, and R is spin matrix,For the i-th one coordinates matrix,It is sat for described the i-th two
Mark matrix.
Preferably, the mapping relations mathematical expression are as follows:
Wherein, λ is zoom factor, and R is spin matrix,For the i-th one coordinates matrix,It is sat for described the i-th two
Matrix is marked,For the coordinate difference square between the origin of the target-based coordinate system and the origin of the mechanical arm coordinate system
Battle array.
Further, the mathematical expression of the zoom factor are as follows:
Wherein, (Xi, Yi, Zi) is the coordinate value of the i-th one coordinate, and (Xi', Yi', Zi') is the i-th two coordinate
Coordinate value, it is preferable that i >=3, for example, in the specific implementation process, i can be 5.
Obtain the i-th common ground detailed process of the target-based coordinate system Yu the mechanical arm coordinate system are as follows: in the mesh
Mark determined under coordinate system first common ground, second common ground ... and i-th common ground, record the 1st
Coordinate, the 2nd 1 coordinate ... and the i-th one coordinates；The terminal position of the mechanical arm is respectively moved to described first
Common ground, second common ground ... and i-th common ground, the one or two coordinate of record, the two or two coordinate ...,
And the i-th two coordinates, in actual measurement, i.e., the alignment procedures of the terminal position of the described mechanical arm and i-th common ground
In, the coordinate based on same operation object describes it and does not scale, therefore λ should be approximately 1；It is carried out again if deviation is excessive
Correction, for example, λ >=2, then reacquire the i-th common ground of the target-based coordinate system Yu the mechanical arm coordinate system.
Preferably, the mathematical expression of the spin matrix are as follows:
R=(I-S) -1 (I+S) (3)
Wherein, I is unit matrix, and S is antisymmetric matrix, and a is the first rodrigue parameters, and b is the second Rodrigo ginseng
Number, c are third rodrigue parameters, and formula (3) and formula (4) simultaneous can be obtained:
Formula (5) expansion can be obtained:
Further, first rodrigue parameters, second rodrigue parameters and the third Rodri
The mathematical expression of lattice parameter are as follows:
V3nX1=A3nX3X3X1-L3nX1 (6)
X3X1=[a, b, c]T (7)
Formula (6), formula (7), formula (8), formula (9) simultaneous can be obtained:
[a,b,c]T=(A3nX3 TA3nX3)-1A3nX3 TL3nX1 (10)
Can will, first rodrigue parameters expressed in formula 10, second rodrigue parameters and described
Third rodrigue parameters substitutes into formula 3 and obtains spin matrix, and then obtains the mapping relations, the first Rodrigo ginseng
Several, described second rodrigue parameters and the third rodrigue parameters use the expression of matrix solution, what is actually calculated
In the process, first rodrigue parameters, second rodrigue parameters and the third rodrigue parameters can be with
Specific analytic solutions are scaled, however in actual calculating process, the calculating of analytic solutions is easy to produce multiple iteration error,
Therefore first rodrigue parameters, second rodrigue parameters and the third rodrigue parameters use matrix
The expression of solution is not only more convenient for calculating, but also reduces iteration error.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (9)
1. a kind of mechanical arm control method characterized by comprising
Target-based coordinate system is established according to target position, and mechanical arm coordinate system is established according to mechanical arm；
Obtaining the i-th common ground of the target-based coordinate system Yu the mechanical arm coordinate system, i >=1, and i is positive integer；
Defining coordinate of i-th common ground under the target-based coordinate system is the i-th one coordinates, defines i-th common ground and exists
Coordinate under the mechanical arm coordinate system is the i-th two coordinates, is calculated between the i-th one coordinate and the i-th two coordinate
Mapping relations；
The i-th two coordinates are calculated according to the i-th one coordinates and the mapping relations, complete the mechanical arm control.
2. mechanical arm control method according to claim 1, which is characterized in that the mapping relations mathematical expression are as follows:
Wherein, λ is zoom factor, and R is spin matrix,For the i-th one coordinates matrix,For the i-th two coordinate square
Battle array.
3. mechanical arm control method according to claim 2, which is characterized in that the mapping relations mathematical expression are as follows:
Wherein, λ is zoom factor, and R is spin matrix,For the i-th one coordinates matrix,For the i-th two coordinate square
Battle array,For the coordinate matrix of differences between the origin of the target-based coordinate system and the origin of the mechanical arm coordinate system.
4. according to mechanical arm control method described in claim 2 or 3, which is characterized in that the mathematics of the zoom factor
Expression are as follows:
Wherein, (Xi, Yi, Zi) is the coordinate value of the i-th one coordinate, and (Xi', Yi', Zi') is the coordinate of the i-th two coordinate
Value.
5. mechanical arm control method according to claim 4, which is characterized in that i >=3.
6. mechanical arm control method according to claim 4, which is characterized in that if λ >=2, described in reacquisition
I-th common ground of target-based coordinate system and the mechanical arm coordinate system.
7. according to mechanical arm control method described in claim 2 or 3, which is characterized in that the mathematics of the spin matrix
Expression are as follows:
R=(I-S) -1 (I+S)
Wherein, I is unit matrix, and S is antisymmetric matrix, and a is the first rodrigue parameters, and b is the second rodrigue parameters, c
For third rodrigue parameters.
8. mechanical arm control method according to claim 7, which is characterized in that first rodrigue parameters, institute
State the mathematical expression of the second rodrigue parameters and the third rodrigue parameters are as follows:
V3nX1=A3nX3X3X1-L3nX1
X3X1=[a, b, c]T
[a,b,c]T=(A3nX3 T A3nX3)-1A3nX3 T L3nX1。
9. mechanical arm control method according to claim 1, which is characterized in that obtain the target-based coordinate system with it is described
I-th common ground detailed process of mechanical arm coordinate system are as follows:
Determined under the target-based coordinate system first common ground, second common ground ... and described i-th is common
Point, the one one coordinate of record, the 2nd 1 coordinate ... and the i-th one coordinates；
By the terminal position of the mechanical arm be respectively moved to first common ground, second common ground ... and
I-th common ground, the one or two coordinate of record, the two or two coordinate ... and the i-th two coordinates.
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| CN108759665A (en) * | 2018-05-25 | 2018-11-06 | 哈尔滨工业大学 | A kind of extraterrestrial target reconstruction accuracy analysis method based on coordinate conversion |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09128549A (en) * | 1995-11-07 | 1997-05-16 | Meidensha Corp | Relative position attitude detecting method for robot system |
| CN103009392A (en) * | 2011-09-21 | 2013-04-03 | 鸿富锦精密工业（深圳）有限公司 | System and method for correcting coordinate of mechanical arm |
| CN105014667A (en) * | 2015-08-06 | 2015-11-04 | 浙江大学 | Camera and robot relative pose calibration method based on pixel space optimization |
| CN108759665A (en) * | 2018-05-25 | 2018-11-06 | 哈尔滨工业大学 | A kind of extraterrestrial target reconstruction accuracy analysis method based on coordinate conversion |
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Application publication date: 20190510 |