CN109773773A - A kind of master-slave control device, the system and method for novel six freedom parallel connection platform - Google Patents
A kind of master-slave control device, the system and method for novel six freedom parallel connection platform Download PDFInfo
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Abstract
The present invention relates to robot master & slave control technical fields, the master-slave control device for specifically disclosing novel six freedom parallel connection platform, including generating the 3D mouse of mouse movement increment information, computer, the motion controller for controlling Six Degree-of-Freedom Parallel Platform of reading and processing mouse movement increment information.The present invention discloses the master & slave control system of novel six freedom parallel connection platform, master-slave control device, acquisition and analyzing subsystem and drive control subsystem as described above again；The present invention discloses the master-slave control method of novel six freedom parallel connection platform again, comprising the following steps: 3D mouse generates mouse movement increment information；It reads and processing mouse movement increment information；Mouse movement increment information is converted into platform's position and pose increment information；Platform's position and pose increment information is resolved as driving instruction.The present invention realizes online path planning of the robot in circumstances not known, keeps development difficulty low, and operation is naturally, long-range real time remote control operation in time, is realized in response.
Description
Technical field
The present invention relates to robot master & slave control technical fields, and in particular to a kind of master of novel six freedom parallel connection platform
From control device, system and method.
Background technique
Six Degree-of-Freedom Parallel Platform has 6 freedom of motion in space, can complete complicated assignment instructions, while its
The characteristics of having both high rigidity, high-precision, heavy load is widely used in the fields such as movement simulation, assembly, detection.Master-slave mode machine
Device people control, i.e., introduce main hand equipment in robot control, and robot is used as from hand, manipulates main hand by people and indirectly control machine
The mode of device people, this control mode take full advantage of the wisdom of people, are the main control modes of robot in circumstances not known.
Currently, there are two types of modes for the control of Six Degree-of-Freedom Parallel Platform, one is be based on offline path planning, i.e. robot
The mode moved according to previously given pose point data；Another kind for based on online path planning, i.e., robot according to
The mode that the pose adjusted in real time is moved, this mode currently mainly pass through human-computer interaction interface or extraordinary movement input
Equipment is realized.
Known operating environment is generally only applicable to using offline path planning, and for circumstances not known, such as according to machine
The entirely autonomous online planning of people needs to introduce the control algolithm of various kinds of sensors and complexity, this undoubtedly increases robot
Cost and development difficulty.Online Six Degree-of-Freedom Parallel Platform control based on human-computer interaction interface, which has, operates unnatural, sound
Should not in time the problem of, that there are development difficulties is big for the Six Degree-of-Freedom Parallel Platform On-line Control based on extraordinary motion input device,
Problem at high cost.And the control of existing Six Degree-of-Freedom Parallel Platform is mostly that scene closely controls, and is unable to reach long-range
Manipulation.
Summary of the invention
In view of this, it is necessary to for above-mentioned problem, propose a kind of master & slave control of novel six freedom parallel connection platform
Device, system and method.
To achieve the above object, the present invention takes technical solution below:
A kind of master-slave control device of novel six freedom parallel connection platform connects and controls Six Degree-of-Freedom Parallel Platform, the master
It include 3D mouse, computer, motion controller from control device；
The computer is connect with 3D mouse, motion controller respectively, and motion controller is again flat with six-freedom parallel
Platform connection；
Master controller of the 3D mouse as master & slave control makes the Six Degree-of-Freedom Parallel Platform in six for generating
The mouse movement increment information of spatial movement is realized in a freedom of motion, and sends the mouse movement increment information to calculating
Machine；Six degrees of freedom of motion is respectively the freedom degree of anterior-posterior translation process, the freedom degree of left and right translation motion, upper and lower translation process
Freedom degree, the freedom degree of rotary course, roll process freedom degree, the freedom degree of pitching process；
The computer is used to read and handle the mouse movement increment information of 3D mouse, according to Rise Map rule
Mouse movement increment information is converted to the platform's position and pose increment information for controlling the Six Degree-of-Freedom Parallel Platform, and by platform position
Appearance increment information is sent to motion controller；
The motion controller is for controlling Six Degree-of-Freedom Parallel Platform in realizing spatial movement in six degrees of freedom of motion.
Further, the Six Degree-of-Freedom Parallel Platform includes moving platform, silent flatform and six servo-driven modules；
The servo-driven module includes driver, servo motor and electric cylinder；Driver respectively with motion controller, watch
Take motor connection；Servo motor drives electric cylinder；
Described electric cylinder one end is connect with moving platform, and the other end is connect with silent flatform, and silent flatform is kept fixed, movement control
Device processed realizes the position of moving platform and the variation of posture by changing the length of six electric cylinders.
Further, the computer is communicatively coupled by USB data line and 3D mouse；The computer passes through
Ethernet is communicatively coupled with motion controller；The motion controller is connected by Ethernet and Six Degree-of-Freedom Parallel Platform
It connects.
Further, the computer is communicated using Ethernet agreement with motion controller；Motion controller is adopted
It is communicated with Ethercat agreement with driver.
A kind of master & slave control system of novel six freedom parallel connection platform connects and controls Six Degree-of-Freedom Parallel Platform, the master
Include the master-slave control device of novel six freedom parallel connection platform as described above, run on adopting in computer from control system
Collection with analyzing subsystem and run on the drive control subsystem in motion controller；
The acquisition is transported with the mouse that analyzing subsystem is used to acquire the corresponding six degrees of freedom of motion with analyzing three-dimensional mouse
Dynamic increment information, and send analysis result to motion controller；
The drive control subsystem is used to receive the platform's position and pose increment information of computer, will according to principle of coordinate transformation
Platform's position and pose increment information resolves to control the driving instruction of six electric cylinder move distances, and is led in real time with driver
Letter.
Further, the acquisition and analyzing subsystem include 3D mouse motion pick module, Rise Map module, the
One communication module；
The 3D mouse motion pick module is used to correspond to the mouse of six degrees of freedom of motion by acquiring 3D mouse
Increment of motion information, and the disposal of gentle filter is carried out to acquisition data；
The Rise Map module is for collected mouse movement increment information to be converted by a Rise Map rule
Control the platform's position and pose increment information of the Six Degree-of-Freedom Parallel Platform；
First communication module is used to send platform's position and pose increment information to motion controller by Ethernet.
Further, the drive control subsystem includes inverse kinematic module, the second communication module；
The inverse kinematic module is used to be resolved platform's position and pose increment information for control six according to principle of coordinate transformation
The driving instruction of a electric cylinder move distance, and real time communication is carried out with driver；
Second communication module is used to receive the platform's position and pose increment information of computer.
A kind of master-slave control method of novel six freedom parallel connection platform the following steps are included:
S1,3D mouse generates mouse movement increment information, and sends the mouse movement increment information to computer；It should
Mouse movement increment information makes the Six Degree-of-Freedom Parallel Platform in realizing spatial movement in six degrees of freedom of motion；
S2, computer read and handle the mouse movement increment information；
Mouse movement increment information is converted to the control six degree of freedom simultaneously according to a Rise Map rule by S3, computer
Join the platform's position and pose increment information of platform, and sends platform's position and pose increment information to motion controller；
S4, motion controller resolve platform's position and pose increment information for six electric cylinder fortune of control according to principle of coordinate transformation
The driving instruction of dynamic distance, and real time communication is carried out with driver to realize that Six Degree-of-Freedom Parallel Platform follows 3D mouse real
Shi Yundong.
Further, in S2, computer carries out mouse movement increment information based on the recursion mean value number of weighting flat
Sliding filtering processing.
Further, in S3, the Rise Map rule be computer according to formula Δ Ps=k Δ Pm in proportion into
Row mapping, wherein Δ Pm is the mouse movement incremental vector of 3D mouse, and Δ Ps is corresponding six fortune of Six Degree-of-Freedom Parallel Platform
The platform's position and pose incremental vector of dynamic freedom degree, k correspond to the mapping ratio of six degrees of freedom of motion between master & slave control, i.e., six certainly
By the ratio between the largest motion range of degree parallel connection platform and the largest motion range of 3D mouse.
The invention has the benefit that
Master-slave control device, the system and method for a kind of novel six freedom parallel connection platform of the invention, are controlled using principal and subordinate
System realizes the control of Six Degree-of-Freedom Parallel Platform, makes full use of the decision-making capability of people, realize robot in circumstances not known
Thread path planning；Movement of the present invention using general three-dimensional mouse as Six Degree-of-Freedom Parallel Platform inputs, and keeps development difficulty low,
Operation is naturally, response is timely；The present invention uses the communication mode based on Ethernet and Ethercat communication protocol, realizes long-range
Real time remote control operation.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the master-slave control device of novel six freedom parallel connection platform of the invention；
Fig. 2 is the structural schematic diagram of Six Degree-of-Freedom Parallel Platform of the present invention；
Fig. 3 is a kind of structural schematic diagram of the master & slave control system of novel six freedom parallel connection platform of the invention；
Fig. 4 is a kind of work flow diagram of the master-slave control method of novel six freedom parallel connection platform of the invention.
Description of symbols:
1, Six Degree-of-Freedom Parallel Platform；2,3D mouse；3, computer；4, motion controller；11, moving platform；12, quiet flat
Platform；13, servo-driven module；131, driver；132, servo motor；133, electric cylinder；31, acquisition and analyzing subsystem；41,
Drive control subsystem；311,3D mouse motion pick module；312, Rise Map module；313, the first communication module；
411, inverse kinematic module；412, the second communication module.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the embodiment of the present invention, to this hair
Bright technical solution work further clearly and completely describes.It should be noted that described embodiment is only the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It is to be appreciated that the orientation or positional relationship of the instructions such as term " on ", "lower", "front", "rear", "left", "right"
To be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description of the present invention and simplification of the description, rather than indicate or
It implies that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as
Limitation of the present invention.
The terms such as " first ", " second " be used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or
Person implicitly indicates the quantity of indicated technical characteristic." first " is defined as a result, " second " feature can be expressed or imply
Ground includes one or more of the features.
Embodiment
As shown in Figure 1, a kind of master-slave control device of novel six freedom parallel connection platform connects and controls six degree of freedom simultaneously
Join platform 1, which includes 3D mouse 2, computer 3, motion controller 4；
The computer 3 is connect with 3D mouse 2, motion controller 4 respectively, motion controller 4 again with six degree of freedom simultaneously
Join platform 1 to connect；
Master controller of the 3D mouse 2 as master & slave control, for generate make the Six Degree-of-Freedom Parallel Platform 1 in
The mouse movement increment information of spatial movement is realized in six degrees of freedom of motion, and sends the mouse movement increment information to meter
Calculation machine 3；Six degrees of freedom of motion is respectively the freedom degree of anterior-posterior translation process, the freedom degree of left and right translation motion, upper and lower translation
The freedom degree of process, the freedom degree of rotary course, freedom degree, the freedom degree of pitching process for rolling process；
The computer 3 is used to read and handle the mouse movement increment information of 3D mouse 2, is advised according to a Rise Map
Mouse movement increment information is then converted to the platform's position and pose increment information for controlling the Six Degree-of-Freedom Parallel Platform 1, and will be put down
Platform pose increment information is sent to motion controller 4；
The motion controller 4 is transported for controlling Six Degree-of-Freedom Parallel Platform 1 in realization space in six degrees of freedom of motion
It is dynamic；The Six Degree-of-Freedom Parallel Platform 1 is classics Stewart structure, and front and rear, left and right, upper and lower translation may be implemented and bow
It faces upward, the freedom degrees movement such as roll and yaw.
As shown in Fig. 2, the Six Degree-of-Freedom Parallel Platform 1 includes moving platform 11, silent flatform 12 and six servo-drive moulds
Block 13；
The servo-driven module 13 includes driver 131, servo motor 132 and electric cylinder 133；Driver 131 is distinguished
It is connect with motion controller 4, servo motor 132；Servo motor 132 drives electric cylinder；
Described 133 one end of electric cylinder is connect with moving platform 11, and the other end is connect with silent flatform 12, and silent flatform 12 keeps solid
Fixed, motion controller 4 realizes the position of moving platform 11 and the variation of posture by changing the length of six electric cylinders 133；
The computer 3 is communicatively coupled by USB data line with 3D mouse 2；The computer 3 passes through Ethernet
It is communicatively coupled with motion controller 4；The motion controller 4 is connect by Ethernet with Six Degree-of-Freedom Parallel Platform 1；
The computer 3 is communicated using Ethernet agreement with motion controller 4；Motion controller 4 uses
Ethercat agreement is communicated with driver 131, has ensured the real-time for following movement.
As shown in figure 3, a kind of master & slave control system of novel six freedom parallel connection platform, connects and controls six degree of freedom simultaneously
Join platform 1, which includes the master-slave control device of novel six freedom parallel connection platform as described above, runs on
Acquisition in computer 3 and analyzing subsystem 31 and run on the drive control subsystem 41 in motion controller 4；
The acquisition is used to acquire the mouse of the corresponding six degrees of freedom of motion with analyzing three-dimensional mouse 2 with analyzing subsystem 31
Increment of motion information, and send analysis result to motion controller 4；
The drive control subsystem 41 is used to receive the platform's position and pose increment information of computer 3, according to coordinate transform original
Reason by platform's position and pose increment information resolve for control six 133 move distances of electric cylinder driving instruction, and with driver 131 into
Row real time communication；
The acquisition includes 3D mouse motion pick module 311, Rise Map module 312, the with analyzing subsystem 31
One communication module 313；
The 3D mouse motion pick module 311 is used for through the corresponding six degrees of freedom of motion of acquisition 3D mouse 2
Mouse movement increment information, and the disposal of gentle filter is carried out to acquisition data；
The Rise Map module 312 is used to convert collected mouse movement increment information by a Rise Map rule
At the platform's position and pose increment information for controlling the Six Degree-of-Freedom Parallel Platform 1；
First communication module 313 is used to send platform's position and pose increment information to motion controller 4 by Ethernet；
The drive control subsystem 41 includes inverse kinematic module 411, the second communication module 412；
The inverse kinematic module 411 is used to be resolved platform's position and pose increment information for control according to principle of coordinate transformation
The driving instruction of six 133 move distances of electric cylinder, and real time communication is carried out with driver 131；
Second communication module 412 is used to receive the platform's position and pose increment information of computer 3.
As shown in figure 4, a kind of master-slave control method of novel six freedom parallel connection platform the following steps are included:
S1,3D mouse 2 generates mouse movement increment information, and sends the mouse movement increment information to computer 3；
The mouse movement increment information makes the Six Degree-of-Freedom Parallel Platform 1 in realizing spatial movement in six degrees of freedom of motion；
S2, computer 3 read and handle the mouse movement increment information；
Mouse movement increment information is converted to the control six degree of freedom according to a Rise Map rule by S3, computer 3
The platform's position and pose increment information of parallel connection platform 1, and send platform's position and pose increment information to motion controller 4；
S4, motion controller 4 resolve platform's position and pose increment information for six electric cylinders of control according to principle of coordinate transformation
The driving instruction of 133 move distances, and real time communication is carried out with driver 131 to realize that Six Degree-of-Freedom Parallel Platform 1 follows
2 real time kinematics of 3D mouse；
In S2, computer 3 carries out at smothing filtering mouse movement increment information based on the recursion mean value number of weighting
Reason, so that parallel connection platform caused by solving the problems, such as because of hand tremor follows movement rough；
In S3, the Rise Map rule is that computer 3 is mapped in proportion according to formula Δ Ps=k Δ Pm,
Wherein, Δ Pm is the mouse movement incremental vector of 3D mouse 2, and Δ Ps is Six Degree-of-Freedom Parallel Platform 1 corresponding six and moves certainly
By the platform's position and pose incremental vector spent, k corresponds to the mapping ratio of six degrees of freedom of motion, i.e. six degree of freedom between master & slave control
Ratio between the largest motion range of parallel connection platform 1 and the largest motion range of 3D mouse 2.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of master-slave control device of novel six freedom parallel connection platform, which is characterized in that connect and control six degree of freedom simultaneously
Join platform, which includes 3D mouse, computer, motion controller；
The computer is connect with 3D mouse, motion controller respectively, and motion controller connects with Six Degree-of-Freedom Parallel Platform again
It connects；
Master controller of the 3D mouse as master & slave control transports the Six Degree-of-Freedom Parallel Platform in six for generating
The mouse movement increment information of spatial movement is realized in dynamic freedom degree, and sends the mouse movement increment information to computer；
Six degrees of freedom of motion is respectively the freedom degree of anterior-posterior translation process, the freedom degree of left and right translation motion, upper and lower translation process
Freedom degree, the freedom degree of rotary course, freedom degree, the freedom degree of pitching process for rolling process；
The computer is used to reading and handling the mouse movement increment information of 3D mouse, according to a Rise Map rule by mouse
Mark increment of motion information is converted to the platform's position and pose increment information for controlling the Six Degree-of-Freedom Parallel Platform, and platform's position and pose is increased
Amount information is sent to motion controller；
The motion controller is for controlling Six Degree-of-Freedom Parallel Platform in realizing spatial movement in six degrees of freedom of motion.
2. the master-slave control device of novel six freedom parallel connection platform according to claim 1, which is characterized in that described six
Freedom degree parallel connection platform includes moving platform, silent flatform and six servo-driven modules；
The servo-driven module includes driver, servo motor and electric cylinder；Driver is electric with motion controller, servo respectively
Machine connection；Servo motor drives electric cylinder；
Described electric cylinder one end is connect with moving platform, and the other end is connect with silent flatform, and silent flatform is kept fixed, motion controller
Length by changing six electric cylinders realizes the position of moving platform and the variation of posture.
3. the master-slave control device of novel six freedom parallel connection platform according to claim 1, which is characterized in that the meter
Calculation machine is communicatively coupled by USB data line and 3D mouse；The computer is carried out by Ethernet and motion controller
Communication connection；The motion controller is connect by Ethernet with Six Degree-of-Freedom Parallel Platform.
4. the master-slave control device of novel six freedom parallel connection platform according to claim 1, which is characterized in that the meter
Calculation machine is communicated using Ethernet agreement with motion controller；Motion controller using Ethercat agreement and driver into
Row communication.
5. a kind of master & slave control system of novel six freedom parallel connection platform, connects and controls Six Degree-of-Freedom Parallel Platform, special
Sign is that the master & slave control system includes the master & slave control dress of novel six freedom parallel connection platform as claimed in claim 2
It sets, run on acquisition in computer and analyzing subsystem and run on the drive control subsystem in motion controller；
The acquisition increases with the mouse movement that analyzing subsystem is used to acquire the corresponding six degrees of freedom of motion with analyzing three-dimensional mouse
Information is measured, and sends analysis result to motion controller；
The drive control subsystem is used to receive the platform's position and pose increment information of computer, according to principle of coordinate transformation by platform
Pose increment information resolves to control the driving instruction of six electric cylinder move distances, and carries out real time communication with driver.
6. the control system of novel six freedom parallel connection platform according to claim 5, which is characterized in that it is described acquisition with
Analyzing subsystem includes 3D mouse motion pick module, Rise Map module, the first communication module；
The 3D mouse motion pick module is used to correspond to the mouse movement of six degrees of freedom of motion by acquiring 3D mouse
Increment information, and the disposal of gentle filter is carried out to acquisition data；
The Rise Map module is for collected mouse movement increment information to be converted into controlling by a Rise Map rule
The platform's position and pose increment information of the Six Degree-of-Freedom Parallel Platform；
First communication module is used to send platform's position and pose increment information to motion controller by Ethernet.
7. the control system of novel six freedom parallel connection platform according to claim 6, which is characterized in that the driving control
Subsystem includes inverse kinematic module, the second communication module；
The inverse kinematic module is used to be resolved platform's position and pose increment information for six electricity of control according to principle of coordinate transformation
The driving instruction of dynamic cylinder move distance, and real time communication is carried out with driver；
Second communication module is used to receive the platform's position and pose increment information of computer.
8. a kind of master-slave control method of novel six freedom parallel connection platform, which comprises the following steps:
S1,3D mouse generates mouse movement increment information, and sends the mouse movement increment information to computer；The mouse
Increment of motion information makes the Six Degree-of-Freedom Parallel Platform in realizing spatial movement in six degrees of freedom of motion；
S2, computer read and handle the mouse movement increment information；
Mouse movement increment information is converted to the control six-freedom parallel according to a Rise Map rule and put down by S3, computer
The platform's position and pose increment information of platform, and send platform's position and pose increment information to motion controller；
S4, motion controller according to principle of coordinate transformation by platform's position and pose increment information resolve for the movement of six electric cylinders of control away from
From driving instruction, and carry out real time communication with driver to realizing that Six Degree-of-Freedom Parallel Platform follows 3D mouse to transport in real time
It is dynamic.
9. the master-slave control method of novel six freedom parallel connection platform according to claim 8, which is characterized in that in S2
In, computer carries out the disposal of gentle filter to mouse movement increment information based on the recursion mean value number of weighting.
10. the master-slave control method of novel six freedom parallel connection platform according to claim 8, which is characterized in that in S3
In, the Rise Map rule is that computer is mapped in proportion according to formula △ Ps=k △ Pm, wherein △ Pm is three
The mouse movement incremental vector of mouse is tieed up, △ Ps is the platform's position and pose increasing that Six Degree-of-Freedom Parallel Platform corresponds to six degrees of freedom of motion
Vector is measured, k corresponds to the mapping ratio of six degrees of freedom of motion, the i.e. maximum fortune of Six Degree-of-Freedom Parallel Platform between master & slave control
Ratio between dynamic range and the largest motion range of 3D mouse.
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| CN114114967A (en) * | 2021-11-19 | 2022-03-01 | 九江精密测试技术研究所 | Distributed six-degree-of-freedom platform synchronous control system based on CAN bus |
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