CN109760052A - A kind of method for building up in robot basic program library - Google Patents
A kind of method for building up in robot basic program library Download PDFInfo
- Publication number
- CN109760052A CN109760052A CN201910043620.6A CN201910043620A CN109760052A CN 109760052 A CN109760052 A CN 109760052A CN 201910043620 A CN201910043620 A CN 201910043620A CN 109760052 A CN109760052 A CN 109760052A
- Authority
- CN
- China
- Prior art keywords
- program
- robot
- track
- building
- reference information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot building technical field, the method for building up in a kind of robot basic program library especially set out, to realize a kind of easy to operate, simple and effective programming.By establishing the program library being made of fundamental figure track program, the corresponding reference information of program segment is used to determine the pose of end effector of robot when program starts to execute, after choosing the program body in program library, determine that the reference information of program body, robot can install the track in the program body that needs to pass by.By selecting re-enterable program section, establishing reference information and three steps of program library being added, a kind of easy to operate, simple and effective robotic programming is realized.
Description
Technical field
The present invention relates to robot building technical field, a kind of method for building up in robot basic program library especially set out.
Background technique
With the fast development of robot technology and the extensive application of robot, buying the client of robot, it is generally desirable to energy
Enough control or operation robot, and be programmed relative to the target in robot working environment, the target
Including machine, fixed device, conveyer belt, clothes etc..Traditionally, each robot in face of each task require into
Row programming, and being programmed to robot is a cumbersome and time-consuming job.
Generally, for complicated geometry, is programmed using track and need complicated mathematical computations, using intermediate point
The intermediate point number of programming then rapidly increases with the growth of the complexity of geometry.In the track that robot passes by
In, there are many basic components, such as straight line, circular arc, Bezier, these basic figures constitute parent map again
Shape.
For robot, it is smaller to encounter two identical task probabilities, and robot and work are appointed simultaneously
The configuration of business is also identical, is nearly impossible.But it is identical for having many basic tasks among different tasks
, such as the pictorial trademark on the jacket, cap, underwear of same brand, the buttonhole or some on the clothes of different brands
Simple pattern is then identical.
For each robot trajectory, it can be formed with limited fundamental figure, if these parent maps
Shape preserves, and when robotic programming, according to specific task, calls directly the program of these fundamental figures, then may be used
To save a large amount of time.How these fundamental figure programs to be preserved, establishes the program library for calling, it is necessary to one
Easy to operate, simple effective method is planted to realize.
Summary of the invention
For the deficiency of above-mentioned existing programmed method, the present invention provides a kind of foundation sides in robot basic program library
Method, to realize a kind of easy to operate, simple and effective programming.
By establishing the program library being made of fundamental figure track program, so that between the different task of uniform machinery people,
Between different robots can program in repeated application program library so that mitigating the complexity of programming and saving to a certain extent
Later period debug time.
Each of program library program is all made of program segment and corresponding reference information: program body executes production
Raw corresponding space tracking pattern, reference information describe when the program starts to execute between the actuator and task object of robot
Relative positional relationship.
The selection of program body can be determined according to common space tracking, such as straight line, circular arc, Bezier and space
Curve etc., these curves are all the elements of common complicated track curve.In the complicated track of planning robot
When, these curves can be called directly, simple junction curve is then added between these curves, forms the journey of completion
Sequence.
The corresponding reference information of program body is used to determine the pose of end effector of robot when program starts to execute, selection
After program body in good program library, determine that the reference information of program body, robot can be installed in the program body that needs to pass by
Track.
Establishing program library, there are three steps:
Step 1: re-enterable program section is selected.The figure widely applied in robot trajectory all can serve as program segment
It is stored in program library, including the planar graphs such as simple figure such as straight line, circular arc, spline curve and simple space curve are such as
Helix etc.；It also include that the compositions such as essentially linear, circular arc, spline curve meet figure such as pictorial trademark, five-pointed star etc.；?
The robot newly produced can call used robot program's section.
Step 2: establishing reference information, and the effect that the program in program library executes is that the end of robot is walked in space
The end of the pattern trace crossed, robot can carry different executing agencies, for completing different tasks.
Select suitable reference information.The track of each section of program segment in space can by translation or rotation transformation at
Many attitude, to allow the implementation effect of program is unique track, it is necessary to it is each section of program plus suitable constraint, that is,
Each section of program will have corresponding reference information.
Step 3: establishing reference information, and program segment and corresponding reference information are saved in journey as storage unit
In sequence library.
According to the difference of the corresponding space tracking of program segment, reference information have simply to complexity be segmented into planar obit simulation with
Two kinds of space tracking.
When robot end track is planar obit simulation, end effector is vertical with the plane where track, the benchmark
The position and track that information includes track initial point, can be flat with a point and one vector sum one in the direction of starting point
Face indicates: plane indicates the plane where track, and point indicates that the initial position of track, vector indicate track at initial point
Direction.
When robot end track is space diagram, not in one plane, the reference information is in addition to indicating for track
Outside the information of above-mentioned planar graph, the change information of plane where also indicating end effector of robot.Reference information track
The pose of starting point end effector of robot, the reference planes in direction and track at track initial, these information can be used
One one coordinate system, vector sum plane indicate；Coordinate system indicates that the pose of end effector of robot, vector indicate rail
The direction of mark initial position, plane indicate the reference planes of track.
The reference information of planar obit simulation and space tracking can use a vector, the track of a plane and initial position
It indicates, vector indicates that the direction of motion of end effector of robot when initial position, the plane of planar obit simulation indicate plane rail
Plane where mark, and the plane of space tracking indicates the reference planes of space tracking；Planar obit simulation indicates machine with a point
The initial position of device people's end effector, space tracking indicate the initial position of end effector of robot with a coordinate system
And posture.
Program and reference information are stored in program library according to the classification of track, program library has storage, reading, modification journey
The functions such as sequence, can again insertion in program library, delete program segment and there is visualization window to show in the read functions of program library
The space tracking curve and corresponding reference information that program segment indicates.
Artificially the programmable robot including mechanical arm, end can add not of the same race heretofore described machine
The executing agency of class executes task, in the visual control system of robot, there is foundation, editor and the display window of program library
Mouthful.
Re-enterable program section is selected, reference information is established and three steps of program library are added by above-mentioned, realizes a kind of appearance
Easy to operate, simple and effective programming.
Detailed description of the invention
Fig. 1 is a kind of program library Establishing process figure of the method for building up in robot basic program of the application library；
Fig. 2 is a kind of planar obit simulation visualization schematic diagram of the method for building up in robot basic program of the application library；
Fig. 3 is a kind of space tracking visualization schematic diagram of the method for building up in robot basic program of the application library.
In figure: 10. select reusable program segment；20. establishing reference information；30. program library is added；201. initial poses
One；202. coordinate systems one；203. vectors one；204. coordinate planes one；205. tracks one；206. terminals one；301. initial poses
Two；302. coordinate systems two；303. vectors two；304. coordinate planes two；305. tracks two；306. terminals two
Specific embodiment
In order to make what those skilled in the art more fully understood robot basic program library to establish scheme, below with reference to
Attached drawing further clearly and completely describes the technical solution in the application.
As shown in Figure 1, a kind of flow chart of the method for building up in robot basic program library of the application, method for building up process
Mainly it is made of three steps:
Step 1: selecting reusable program segment 10, and the program segment refers to by bases such as straight line, circular arc, spline curve
The independent track pattern that can not divide again of this curve composition.
Step 2: establishing reference information 20, i.e., adds reference information to each program segment, reference information includes robot
The track patterns information such as the initial pose of end effector, the direction of motion.
Step 3: program library 30 is added, is deposited using select program segment and its corresponding reference information as one
Storage unit is saved in program library.
In Fig. 2 Fig. 3, shown in be above procedure section robot trajectory reference information visualization schematic diagram.
In step 1, during the programing work of robot, track pattern after each use is usually right its
The track pattern answered is stored in program segment；Other robots used journey can be called to new factory robotic programming
Sequence section.In this step, one or several associated re-enterable program sections are picked out, journey corresponding with current track is selected
Track pattern in sequence section is stored in newly-built program segment, is called different track patterns to form complete track in this way and is come
Solve different programing work tasks.The track pattern includes planar obit simulation and space tracking, these planar obit simulations and
Space tracking is to carry out selecting corresponding associated available programs section in used different operating task before robot, carries out this
Secondary recycling available programs section is selected, it is sufficient to complete the task of current procedures；Each programing work establishes program
Library can be carried out selecting re-enterable program section.
Lower mask body makes an explanation to specifically selecting for planar obit simulation, and Fig. 2 is shown with the centroid work of planar obit simulation
Example.
The initial pose 1 of the planar obit simulation of centroid in figure, centroid is in coordinate system 1, should
Initial pose 201 is particularly located on the three-dimensional coordinate [x, y, z] of coordinate system 1, the coordinate plane where centroid track
One 204, initial pose 1 shows the track direction of motion track 1 of closed figure under vector 1, until
Terminate to terminal 1, to realize centroid running.
Lower mask body makes an explanation to specifically selecting for space tracking, and Fig. 3 is to be made with the helix of space tracking into one
Walk explanation.
The helix reference information of above-mentioned space tracking includes coordinate system 2 302, and the origin of coordinate system 2 302 is sat in the overall situation
The position of mark system origin indicates the position [x, y, z] of end effector of robot, and coordinate system 2 302 is sat relative to global coordinate system
The rotation transformation of parameter indicates posture [α, β, γ].Vector 2 303 indicates spiral trajectory in the initial pose two of initial position
301 direction, coordinate plane 2 304 indicate the 2 301 position place of initial pose of spiral trajectory plane, and track two
305 be spiral trajectory practical run trace, eventually arrive at terminal 2 306.
In step 2, reference information includes the trajectory diagrams such as the initial pose of the end effector of robot, the direction of motion
Case information.Addition reference information is to add reference information to initial point, in the initial point information of above-mentioned centroid and helix, really
Set the completion of initial point information meaning programming.The initial pose two of the initial pose 1 and spiral trajectory of above-mentioned centroid
301 in program library in the practical application of program determine, program segment is determining, as long as determine program segment start execute when
Initial pose, robot execute the track determination passed by after the program, indicate the coordinate system and trajectory diagram of initial pose
The relative position of case is constant, therefore in reference information, as long as determining the coordinate system two for indicating initial pose, the track is bent
Line has just uniquely determined.After will be to program library is established when each program segment, which is added to, establishes reference information, retrieval be adjusted
With other equal operations.
Where two track of vector sum indicates coordinate plane in direction of the track at initial point in the program visualization of plane
Therefore the information of track shown in the more specific expression of energy completes the program segment addition of reference information.
Third step is then that useful program segment and its corresponding reference information are saved in program library, to complete to work as
The task of preceding step simultaneously saves program segment in use.
Programmable robot of the method for building up in a kind of robot basic program library including mechanical arm in the present invention,
End can add different types of executing agency to execute task, in the visual control system of robot, have relevant
Software carrys out foundation, editor and the display window in processing routine library, realizes easy to operate, simple and effective programming.
It is used in a kind of method for building up in robot basic program library of the invention or associated with the robot related
The basic software of program library is at least further include:
The basic functions such as the relevant operation software, including addition, retrieval, deletion and modification of program library；
By reference information and the associated software of program segment；
The visualization window software of the reference information of task and program segment that display program segment executes in space.
Program library established by the present invention can be used in conjunction between the different operating task of same robot again, can also
To use between the different serial machine robot arm for possessing entire motion calculating, the program in program library is it is merely meant that robot
The track that end effector is passed by space, it is unrelated with specific robot type.
Application program library is programmed with exclusive feature: programmer or operator can be by combinator library
Program is completed to operate, and passes through the connection of reference information, reduces influence of the robot absolute error to task.
Claims (9)
1. a kind of method for building up in robot basic program library, there is flow chart, which is characterized in that method for building up process mainly by
Three step compositions:
Step 1: selecting reusable program segment 10, and the program segment refers to substantially bent by straight line, circular arc, spline curve etc.
The independent track pattern that can not divide again of line composition.
Step 2: establishing reference information 20, i.e., adds reference information to each program segment, reference information includes the end of robot
The track patterns information such as the initial pose of actuator, the direction of motion.
Step 3: being added program library 30, and select program segment and its corresponding reference information is single as a storage
Member is saved in program library.
2. a kind of method for building up in robot basic program library according to claim 1, which is characterized in that the step
In the one robotic programming course of work, its corresponding track pattern is usually stored in journey by track pattern after each use
In sequence section；Other robots used program segment can be called to new factory robotic programming.
3. a kind of method for building up in robot basic program library according to claim 1, which is characterized in that in step 1
In, one or several associated re-enterable program sections are picked out, the track in program segment corresponding with current track is selected
Pattern is stored in newly-built program segment, and different track patterns is called to form complete track to solve different volumes in this way
Journey task.
4. a kind of method for building up in robot basic program library according to claim 1, which is characterized in that the track
Pattern includes planar obit simulation and space tracking, these planar obit simulations and space tracking are the used difference works before robot
Make to carry out selecting corresponding associated available programs section in task, carries out selecting for this recycling available programs section, every time
Programing work establishes program library and can be carried out selecting re-enterable program section.
5. a kind of method for building up in robot basic program library according to claim 1, which is characterized in that in step 2
In, reference information includes the track patterns information such as the initial pose of the end effector of robot, the direction of motion.The benchmark
In information, as long as determining the coordinate system two for indicating initial pose, which has been uniquely determined.
6. the method for building up in a kind of robot basic program library according to claim 1 or 5, which is characterized in that described
Program segment be added to when establishing reference information will be to program library be established after, retrieval, call etc. other operation.
7. a kind of method for building up in robot basic program library according to claim 1, which is characterized in that the pattern
Track shown in the program representation of plane where two track of vector sum indicates coordinate plane in direction of the track at initial pose
Information.
8. a kind of method for building up in robot basic program library according to claim 1, which is characterized in that the step
In three, completes the task of current procedures and save program segment in use.
9. a kind of method for building up in robot basic program library according to claim 1 or 6, which is characterized in that described
Used in the method for building up in basic program library or the basic software in relevant procedures associated with robot library at least further include:
By reference information and the associated software of program segment；
The visualization window software of the reference information of task and program segment that display program segment executes in space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910043620.6A CN109760052A (en) | 2019-01-17 | 2019-01-17 | A kind of method for building up in robot basic program library |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910043620.6A CN109760052A (en) | 2019-01-17 | 2019-01-17 | A kind of method for building up in robot basic program library |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109760052A true CN109760052A (en) | 2019-05-17 |
Family
ID=66454055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910043620.6A Withdrawn CN109760052A (en) | 2019-01-17 | 2019-01-17 | A kind of method for building up in robot basic program library |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109760052A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6065306A (en) * | 1983-09-19 | 1985-04-15 | Toshiba Corp | Controller of unmanned truck |
| CN103033194A (en) * | 2011-09-28 | 2013-04-10 | 株式会社日立制作所 | Route guidance system |
| CN104023923A (en) * | 2012-03-22 | 2014-09-03 | 丰田自动车株式会社 | Trajectory generation device, moving object, trajectory generation method |
| CN105180945A (en) * | 2015-09-24 | 2015-12-23 | 北京工商大学 | Indoor motion trail reconstructing method and system based on mobile intelligent terminal |
| CN108227694A (en) * | 2016-12-14 | 2018-06-29 | 株式会社久保田 | Driving path generating means |
| CN108875164A (en) * | 2018-06-01 | 2018-11-23 | 南京理工大学 | A kind of method for fast reconstruction of charged for replacement fuse switch working scene |
| CN109033523A (en) * | 2018-06-26 | 2018-12-18 | 首都航天机械公司 | A kind of Assembly process specification generation System and method for based on three-dimensional CAD model |
-
2019
- 2019-01-17 CN CN201910043620.6A patent/CN109760052A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6065306A (en) * | 1983-09-19 | 1985-04-15 | Toshiba Corp | Controller of unmanned truck |
| CN103033194A (en) * | 2011-09-28 | 2013-04-10 | 株式会社日立制作所 | Route guidance system |
| CN104023923A (en) * | 2012-03-22 | 2014-09-03 | 丰田自动车株式会社 | Trajectory generation device, moving object, trajectory generation method |
| CN105180945A (en) * | 2015-09-24 | 2015-12-23 | 北京工商大学 | Indoor motion trail reconstructing method and system based on mobile intelligent terminal |
| CN108227694A (en) * | 2016-12-14 | 2018-06-29 | 株式会社久保田 | Driving path generating means |
| CN108875164A (en) * | 2018-06-01 | 2018-11-23 | 南京理工大学 | A kind of method for fast reconstruction of charged for replacement fuse switch working scene |
| CN109033523A (en) * | 2018-06-26 | 2018-12-18 | 首都航天机械公司 | A kind of Assembly process specification generation System and method for based on three-dimensional CAD model |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11675369B2 (en) | Robot coordination in a shared workspace | |
| US5988855A (en) | Operating method for a working area comprising a robot enslaved to a bending press for working metal sheets | |
| RU2549161C2 (en) | Method for off-line programming of manipulator with digital control | |
| Nagata et al. | Development of CAM system based on industrial robotic servo controller without using robot language | |
| EP2677379B1 (en) | Control method, control program and controller of numerical control machine tool | |
| CN110488781B (en) | Production system scheduling method based on migration reinforcement learning | |
| JP5744117B2 (en) | System for controlling relative movement between packages | |
| US20230173674A1 (en) | Point set interference check | |
| CN109760052A (en) | A kind of method for building up in robot basic program library | |
| CN105867427A (en) | Robot routing on-line control method oriented to dynamic environments | |
| US20220111515A1 (en) | Method and Apparatus for Managing Robot Program | |
| CN110053045A (en) | Workpiece surface contour line acquisition methods, interference detection method and relevant apparatus | |
| CN107632606A (en) | Mobile Robotics Navigation and localization method of the big region based on Slam and Tag labels | |
| CN111168683B (en) | Robot path interference detection method, device, medium and equipment | |
| CN114800523A (en) | Mechanical arm track correction method, system, computer and readable storage medium | |
| Wei et al. | Animated simulation of the robot process capability | |
| Roßgoderer et al. | A concept for automatical layout generation | |
| Freund et al. | A system to automate the generation of program variants for industrial robot applications | |
| CN113459111B (en) | Multi-robot and external shaft control method, system, device and storage medium | |
| KR100246672B1 (en) | Calibration method for robot layout | |
| Cao et al. | Rapid generation of spraying instructions for painting robot basing on automatic programming technology | |
| CN118555472A (en) | VB.NET-based camera motion state monitoring and evaluating method | |
| Blume | Implicit robot programming based on a high-level explicit system and using the robot data base RODABAS | |
| Borangiu | Trends in Service Oriented Architectures for Robot-CNC Manufacturing Control | |
| Bock et al. | Object-oriented planning and controlling-system for a wall construction robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190517 |
|
| WW01 | Invention patent application withdrawn after publication |