CN109807891A - Equipment moving processing method and processing device - Google Patents
Equipment moving processing method and processing device Download PDFInfo
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- CN109807891A CN109807891A CN201910101216.XA CN201910101216A CN109807891A CN 109807891 A CN109807891 A CN 109807891A CN 201910101216 A CN201910101216 A CN 201910101216A CN 109807891 A CN109807891 A CN 109807891A
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Abstract
The invention discloses a kind of equipment moving processing method and processing devices.Wherein, this method comprises: obtaining the initial attitude of track axis Z axis corresponding with the mechanical arm of robot and the position of current trace points；Determine the targeted attitude of the position of next tracing point and the Z axis of next tracing point；According to the position of the position of current trace points and next tracing point, the track plane between current trace points and next tracing point is determined；According to initial attitude and targeted attitude, the trajectory angle between current trace points and next tracing point is determined；The mechanical arm of control robot turns to next tracing point along trajectory angle from the position of current trace points on track plane, wherein, when the mechanical arm of robot turns to next tracing point, the Z axis posture of mechanical arm corresponds to the targeted attitude of the Z axis of next tracing point.
Description
Technical field
The present invention relates to the technical fields of equipment control, in particular to a kind of equipment moving processing method and processing device.
Background technique
In the related technology, robot is when carrying out operation, such as polished, polished, laser inscription, stacking work when,
Operation often is carried out along preset track, presets and generally will include multiple points in track, currently, for setting
Desired trajectory, often seek most short travel distance, such that when robot works along tracing point, robot end by
It can be spent around end Z axis rotation angle in the variation of tracing point posture and cause axis to transfinite greatly and can not work on, can led in this way
It causes a large amount of robot to damage, reduces the service life of robot, and machine task efficiency can also be due to maintenance time
Delay and cause efficiency to reduce.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of equipment moving processing method and processing devices, at least to solve equipment in the related technology
When working along trajectory path, equipment end causes axis to transfinite greatly since the variation of posture can be spent around end Z axis rotation angle
And the technical issues of can not working on.
According to an aspect of an embodiment of the present invention, a kind of equipment moving processing method is provided, comprising: acquisition and machine
The initial attitude of the corresponding track axis Z axis of the mechanical arm of people and the position of current trace points；Determine next tracing point position and
The targeted attitude of the Z axis of next tracing point；According to the position of the position of the current trace points and next tracing point, determine
Track plane between the current trace points and next tracing point；According to the initial attitude and the targeted attitude, really
Make the trajectory angle between the current trace points and next tracing point；The mechanical arm of the robot is controlled from described
The position of current trace points turns to next tracing point along the trajectory angle on the track plane, wherein in institute
When stating the mechanical arm of robot and turning to next tracing point, the Z axis posture of the mechanical arm corresponds to next track
The targeted attitude of the Z axis of point.
Further, it is determined that out trajectory angle between the current trace points and next tracing point the step of, packet
It includes: when the targeted attitude of the Z axis of the initial attitude and next tracing point of the Z axis of the current trace points is not identical, leading to
It crosses default rule and determines rotation acute angle, and using the rotation acute angle as between the current trace points and next tracing point
Trajectory angle；Control the mechanical arm of the robot from the position of the current trace points along the trajectory angle described
The step of next tracing point is turned on track plane, comprising: the current trace points Z axis initial attitude with it is described
When the targeted attitude of the Z axis of next tracing point is not identical, the mechanical arm of the robot is controlled from the position of the current trace points
It sets and turns to next tracing point on the track plane along the rotation acute angle.
Further, the default rule is vector right-hand screw rule.
Further, it is determined that out trajectory angle between the current trace points and next tracing point the step of, also
It include: when the initial attitude of the Z axis of the current trace points is identical as the targeted attitude of Z axis of next tracing point, really
Trajectory angle between the fixed current trace points and next tracing point is default value；Control the machinery of the robot
Arm turns to next tracing point along the trajectory angle from the position of the current trace points on the track plane
Step, further includes: in the targeted attitude phase of the initial attitude and the Z axis of next tracing point of the Z axis of the current trace points
Meanwhile keeping the rotation attitude of the mechanical arm of the robot constant, the mechanical arm for controlling the robot works as front rail from described
The position of mark point moves to next tracing point along the trajectory angle on the track plane.
Further, the Track Initiation point when the path of the robot is a closed loop path, in path
Be overlapped with track end point, then in the mechanical arm for controlling the robot from the position of the current trace points along the track
Angle is turned on the track plane after next tracing point, the method also includes: if next tracing point is described
Track end point, the then posture for adjusting the mechanical arm of the robot are identical as the posture of the Track Initiation point.
Further, it includes: complete in robot for obtaining the initial attitude of track axis Z axis corresponding with the mechanical arm of robot
After scale at the current trace points, the angle measurement equipment carried on the mechanical arm by the robot detects described first
Beginning posture, wherein the initial attitude includes the scale direction of attitude angle and mechanical arm.
According to another aspect of an embodiment of the present invention, a kind of equipment moving processing unit is additionally provided, comprising: obtain single
Member, for obtaining the initial attitude of track axis Z axis corresponding with the mechanical arm of robot and the position of current trace points；First really
Order member, for determining the targeted attitude of the position of next tracing point and the Z axis of next tracing point；Second determination unit, is used for
According to the position of the position of the current trace points and next tracing point, the current trace points and next rail are determined
Track plane between mark point；Third determination unit, for according to the initial attitude and the targeted attitude, determining described work as
Trajectory angle between preceding tracing point and next tracing point；Control unit, for control the mechanical arm of the robot from
The position of the current trace points turns to next tracing point along the trajectory angle on the track plane, wherein
When the mechanical arm of the robot turns to next tracing point, the Z axis posture of the mechanical arm corresponds to described next
The targeted attitude of the Z axis of tracing point.
Further, the third determination unit includes: the first determining module, for the Z axis in the current trace points
Initial attitude and next tracing point Z axis targeted attitude it is not identical when, rotation acute angle is determined by default rule, and
Using the rotation acute angle as the trajectory angle between the current trace points and next tracing point；Described control unit packet
It includes: the second determining module, the mesh of the Z axis of the initial attitude and next tracing point for the Z axis in the current trace points
When mark posture is not identical, the mechanical arm for controlling the robot exists from the position of the current trace points along the rotation acute angle
Next tracing point is turned on the track plane.
Further, the default rule is vector right-hand screw rule.
Further, the third determination unit further include: the 4th determining module, for the Z in the current trace points
When the initial attitude of axis is identical as the targeted attitude of Z axis of next tracing point, determine the current trace points and it is described under
Trajectory angle between one tracing point is default value；Described control unit further include: the 5th determining module, for working as described
When the initial attitude of the Z axis of preceding tracing point is identical as the targeted attitude of Z axis of next tracing point, the robot is kept
The rotation attitude of mechanical arm is constant, controls the mechanical arm of the robot from the position of the current trace points along the track
Angle moves to next tracing point on the track plane.
Further, the Track Initiation point when the path of the robot is a closed loop path, in path
It is overlapped with track end point, the equipment moving processing unit further include: adjustment unit, in the machine for controlling the robot
Tool arm turns to next tracing point along the trajectory angle from the position of the current trace points on the track plane
Later, if next tracing point is the track end point, at the beginning of adjusting posture and the track of the mechanical arm of the robot
The posture of initial point is identical.
Further, the acquiring unit includes: acquisition module, for completing the quarter of the current trace points in robot
After degree, the angle measurement equipment carried on the mechanical arm by the robot detects the initial attitude, wherein described initial
Posture includes the scale direction of attitude angle and mechanical arm.
According to another aspect of an embodiment of the present invention, a kind of storage medium is additionally provided, the storage medium is for storing
Program, wherein equipment where described program controls the storage medium when being executed by processor executes above-mentioned any one institute
The equipment moving processing method stated.
According to another aspect of an embodiment of the present invention, a kind of processor is additionally provided, the processor is used to run program,
Wherein, equipment moving processing method described in above-mentioned any one is executed when described program is run.
In embodiments of the present invention, using the initial attitude for obtaining corresponding with the mechanical arm of robot track axis Z axis and
The position of current trace points determines the targeted attitude of the position of next tracing point and the Z axis of next tracing point, according to current track
The position of point and the position of next tracing point, determine the track plane between current trace points and next tracing point, according to initial appearance
State and targeted attitude determine the trajectory angle between current trace points and next tracing point, control the mechanical arm of robot from
The position of current trace points turns to next tracing point along trajectory angle on track plane, wherein in the mechanical arm of robot
When turning to next tracing point, the Z axis posture of mechanical arm corresponds to the targeted attitude of the Z axis of next tracing point.In the embodiment
In, can control robot when moving, keep the Z axis posture of robot between two neighboring tracing point along trajectory angle into
Row rotation, which, which can be, determines the smallest track rotation angle, so solve in the related technology equipment along rail
Mark path work when, equipment end due to the variation of posture can be spent around end Z axis rotation angle greatly cause axis to transfinite and can not
The technical issues of working on.
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 a kind of flow chart of optional equipment moving processing method according to an embodiment of the present invention；
Fig. 2 is a kind of operation schematic diagram of robot according to an embodiment of the present invention
Fig. 3 is the operation schematic diagram of another robot according to an embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of optional equipment moving processing unit 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.
To understand the present invention convenient for user, solution is made to part term or noun involved in various embodiments of the present invention below
It releases:
Tracing point: the data packet comprising three dimensional space coordinate and orientation.
Exist track: when amplitude of variation is identical when corresponding to robot ambulation.
It can be applied to various tracks in the following embodiments of the present invention and generate field, especially for production equipment, education
The fields such as equipment, robot, for example, industrial robot or educational robot, the following embodiments of the present invention can carry out track
When generation, robot is set to change the smallest principle according to end Z axis in work to ensure angle that end rotates about the z axis not
Can be excessive, the service life of robot is improved, and improve machine task efficiency.
Optionally, the range of application of the embodiment of the present invention may include at least one following: trajectory planning software, robot
Control system, industrial production trajectory planning etc..The production range of application includes but is not limited to: welding, polishing, industry polishing or
Person's laser inscription etc..For example, welding part can be realized through the embodiment of the present invention, guaranteeing that the rotation of tracing point Z axis is minimum
In the case where, redefine the posture of tracing point guarantee robot end to tracing point optimum posture.
Illustrate the present invention below by each embodiment.
Optionally, the Z axis in following every embodiments can refer to and the end of robot (direction of mechanical arm instruction)
Corresponding operative orientation.
According to embodiments of the present invention, a kind of equipment moving processing method embodiment is provided, it should be noted that in attached drawing
Process the step of illustrating can execute in a computer system such as a set of computer executable instructions, although also,
Logical order is shown in flow charts, but in some cases, can be executed with the sequence for being different from herein it is shown or
The step of description.
Fig. 1 is a kind of flow chart of optional equipment moving processing method according to an embodiment of the present invention, as shown in Figure 1,
This method comprises the following steps:
Step S102 obtains the initial attitude and current trace points of corresponding with the mechanical arm of robot track axis Z axis
Position；
Step S104 determines the targeted attitude of the position of next tracing point and the Z axis of next tracing point；
Step S106 determines current trace points and next according to the position of the position of current trace points and next tracing point
Track plane between tracing point；
Step S108 determines the rail between current trace points and next tracing point according to initial attitude and targeted attitude
Mark angle；
Step S110, the mechanical arm for controlling robot turn on track plane from the position of current trace points along trajectory angle
Move next tracing point, wherein when the mechanical arm of robot turns to next tracing point, the Z axis posture of mechanical arm corresponds to
The targeted attitude of the Z axis of next tracing point.
Through the above steps, can using the initial attitude for obtaining corresponding with the mechanical arm of robot track axis Z axis and
The position of current trace points determines the targeted attitude of the position of next tracing point and the Z axis of next tracing point, according to current track
The position of point and the position of next tracing point, determine the track plane between current trace points and next tracing point, according to initial appearance
State and targeted attitude determine the trajectory angle between current trace points and next tracing point, control the mechanical arm of robot from
The position of current trace points turns to next tracing point along trajectory angle on track plane, wherein in the mechanical arm of robot
When turning to next tracing point, the Z axis posture of mechanical arm corresponds to the targeted attitude of the Z axis of next tracing point.In the embodiment
In, can control robot when moving, keep the Z axis posture of robot between two neighboring tracing point along trajectory angle into
Row rotation, which, which can be, determines the smallest track rotation angle, so solve in the related technology equipment along rail
Mark path work when, equipment end due to the variation of posture can be spent around end Z axis rotation angle greatly cause axis to transfinite and can not
The technical issues of working on.
Above steps is illustrated below.
In the following embodiments of the present invention, the mechanical arm instruction of robot is the side such as industrial robot or educational robot
The mechanical arm in face, by mechanical arm, it is a series of that robot can execute polishing, polishing, welding, spraying, stacking, laser inscription etc.
Work, to complete corresponding work.
Step S102 obtains the initial attitude and current trace points of corresponding with the mechanical arm of robot track axis Z axis
Position.
Fig. 2 is a kind of operation schematic diagram of robot according to an embodiment of the present invention, as shown in Fig. 2, the robot can be with
For industrial robot, robot carries out operation by the mechanical arm extended in the plane, and optionally, B1 is to mechanical arm in Fig. 2
What one arrow indicated is the Z axis of mechanical arm, i.e., by the Z axis of the arrow instruction immediately ahead of mechanical arm.
It, can be along track one by one if robot carries out operation along path after determining the direction of mechanical arm
Point carries out operation, can determine the position of current trace points, and determine the corresponding Z axis vector of current track, it is however generally that,
The Z axis of current trace points and mechanical arm are to just, in this way, mechanical arm can be directly to current trace points operation.If from current
Tracing point reaches next tracing point, then carries out operation, it is necessary first to it is aligned the Z axis of mechanical arm and tracing point, it then could be into
Row operation.
In an optional embodiment of the invention, the initial attitude of track axis Z axis corresponding with the mechanical arm of robot is obtained
It include: to be detected after the scale that robot completes current trace points by the angle measurement equipment carried on the mechanical arm of robot
To initial attitude, wherein initial attitude includes the scale direction of attitude angle and mechanical arm.
Optionally, initial attitude can indicate the direction (i.e. above-mentioned scale direction) of mechanical arm, coordinate position etc., and posture
Angle can refer to position and the posture of the tracing point of the straight line of mechanical arm.Appoint in many equipment of currently manufactured industry for describing
In the data of business, many critical datas all contain " tracing point " and " track ", for example describe industrial robot end effector
The track of movement；The g code of numerically-controlled machine tool machining path is described；The bonding machine instruction etc. of welding position and posture, institute are described
Some tracing points all include position and the posture in most basic data three-dimensional space, and the quality of these positions and posture directly affects
The work quality of equipment.
Above-mentioned posture indicates the mechanical arm operative orientation and angle of robot.
Each of embodiment of the present invention tracing point can be corresponded to there are three reference axis, X-axis, Y-axis and Z axis, wherein
Plane where X-axis and Y-axis instruction tracing point, and Z axis indicates the scale posture of tracing point.
By the initial attitude of above-mentioned track axis Z axis corresponding with the mechanical arm of robot and the position of current trace points,
The track plane and operating attitude between tracing point can be oriented.
Step S104 determines the targeted attitude of the position of next tracing point and the Z axis of next tracing point.
The position of next tracing point can be determined by trajectory path in the present invention, and then determine next tracing point
Z axis posture.
Fig. 3 is the operation schematic diagram of another robot according to an embodiment of the present invention, as shown in figure 3, for next point
B2 also can be there are three reference axis, and arrow upward in Fig. 3 can indicate the Z axis of next tracing point.
From the B2 point in the B1 in Fig. 2 to the Fig. 3, it is thus necessary to determine that the track plane between B1 and B2, and determine B1 and B2
Between the smallest angle, then turned to along track plane parallel with B2 line by B1 along the smallest angle.
Step S106 determines current trace points and next according to the position of the position of current trace points and next tracing point
Track plane between tracing point.
A track plane can be oriented by two tracing points.
Step S108 determines the rail between current trace points and next tracing point according to initial attitude and targeted attitude
Mark angle.
Since the posture between each tracing point may be different, thus need to change trajectory angle, so that from front rail is worked as
When mark point is to next tracing point, track posture also can be to just, to directly work, the trajectory angle of the embodiment of the present invention refers to
When Shi Liao robot is from current trace points to next tracing point, the smallest rotation angle, so that the rotation angle of robot
Minimum achievees the purpose that rapid operation.
Wherein, in the embodiment of the present invention when determining trajectory angle, it is divided into two kinds of situations, the first, the Z of initial track point
Axis is parallel with the Z axis of next tracing point；Second, the Z axis of the Z axis and next tracing point of initial track point is not parallel.
For the first case, the Z axis of initial track point is parallel with the Z axis of next tracing point, optionally, determines current
The step of trajectory angle between tracing point and next tracing point, further includes: current trace points Z axis initial attitude under
When the targeted attitude of the Z axis of one tracing point is identical, determine that the trajectory angle between current trace points and next tracing point is default
Numerical value determines that the trajectory angle between current trace points and next tracing point is default value.
Optionally, default value can be 0, i.e. may be parallel between two tracing points, and the posture of Z axis is also identical
, it is thus had rotated without carrying out Z axis, it is only necessary to which next tracing point can be reached from current trace points by carrying out translation.
For second situation, the step of determining the trajectory angle between current trace points and next tracing point, comprising:
It is true by default rule when the targeted attitude of the Z axis of the initial attitude and next tracing point of the Z axis of current trace points is not identical
Surely acute angle is rotated, and using rotation acute angle as the trajectory angle between current trace points and next tracing point.
Preferably, presetting rule is vector right-hand screw rule.
I.e. when the targeted attitude of the initial attitude of the Z axis of current trace points and the Z axis of next tracing point is not identical, pass through
Corresponding rule is assured that out the smallest trajectory angle, to realize the smallest Z axis rotation, guarantees the joint angle of robot not
It can mutate, reduce the joint loss of robot.
By above-mentioned two situations, available robot needs the trajectory angle adjusted.
Step S110, the mechanical arm for controlling robot turn on track plane from the position of current trace points along trajectory angle
Move next tracing point, wherein when the mechanical arm of robot turns to next tracing point, the Z axis posture of mechanical arm corresponds to
The targeted attitude of the Z axis of next tracing point.
Corresponding to above-mentioned two situations, the first, control robot mechanical arm from the position of current trace points along
Trajectory angle is the step of turning to next tracing point on track plane, further includes: current trace points Z axis initial attitude with
When the targeted attitude of the Z axis of next tracing point is identical, keeps the rotation attitude of the mechanical arm of robot constant, control robot
Mechanical arm moves to next tracing point along trajectory angle from the position of current trace points on track plane.
Above situation instruction robot can be translated on track plane by way of translation, tracing point before realizing
The track when initial attitude of Z axis is identical as the targeted attitude of the Z axis of next tracing point is mobile.
And for second, control the mechanical arm of robot from the position of current trace points along trajectory angle in track plane
On the step of turning to next tracing point, comprising: in the Z axis of the initial attitude and next tracing point of the Z axis of current trace points
When targeted attitude is not identical, the mechanical arm for controlling robot turns on track plane from the position of current trace points along rotation acute angle
Move next tracing point.
Above situation instruction robot can realize preceding track according to the rotation acute angle found out with the smallest rotation angle
The track when targeted attitude of the Z axis of the initial attitude and next tracing point of the Z axis of point is not identical is mobile.
Optionally, by the above-mentioned means, the moving process between every two tracing point can be determined, so that the angle of rotation
Degree is minimum, and remaining other tracing points can be carried out successively.
In another optional embodiment of the present invention, when the path of robot is a closed loop path, in path
Track Initiation point and track end point be overlapped, then control robot mechanical arm from the position of current trace points along track
Angle is turned on track plane after next tracing point, method further include: if next tracing point is track end point, is adjusted
The posture of the mechanical arm of robot is identical as the posture of Track Initiation point.
For example, the track that robot is walked is a closed loop, and Track Initiation point and track terminate in robot welding part
Point position and Z axis are to be overlapped, but posture is not consistent, in this way when robot passes by a circle path, are occurred around end Z axis
Rotation, welding generally require same path and repeat several times, at this moment will result in transfinite (rotation has been more than 360 degree).It is logical
Z axis rotation minimum is crossed to be handled, so that robot is when going around track, and has been restored to the posture of Track Initiation point,
So as to repeat to go on without transfiniting.
When can be worked along tracing point robot, variation of robot end's (or mechanical arm) due to tracing point posture
Can spend around end Z axis rotation angle causes axis to transfinite and the problem that can not work on greatly, in order to solve this problem,
The present invention through the foregoing embodiment, makes robot change the smallest principle according to end Z axis to ensure mechanical arm in work
The angle rotated about the z axis is not too big.The Z axis of tracing point is usually cannot arbitrarily changing for determination, if then in 1. tracks
The Z axis of tracing point is consistent with track first point Z axis, can guarantee robot from head then the posture of this tracing point is consistent with first point
It is default value (can be 0), namely the movement of translation that end rotates angle about the z axis during point to this point, if 2. rails
The Z axis of mark point and track first point Z axis are not parallel, and the acute angle determined between two Z axis by vector right-hand screw rule is come again
Determine the new posture of tracing point.By above-mentioned two rule, can be redefined in the case where guaranteeing that tracing point Z axis is constant
The posture of tracing point come guarantee robot arm to this tracing point optimum posture.
Illustrate the present invention below by an alternative embodiment.
Fig. 4 is a kind of schematic diagram of optional equipment moving processing unit according to an embodiment of the present invention, as shown in figure 4,
The apparatus may include: acquiring unit 41, the first determination unit 43, the second determination unit 45, third determination unit 47, control are single
Member 49, wherein
Acquiring unit 41, for obtaining the initial attitude of track axis Z axis corresponding with the mechanical arm of robot and working as front rail
The position of mark point；
First determination unit 43, for determining the targeted attitude of the position of next tracing point and the Z axis of next tracing point；
Second determination unit 45, for according to the position of current trace points and the position of next tracing point, front rail to be worked as in determination
Track plane between mark point and next tracing point；
Third determination unit 47, for determining current trace points and next track according to initial attitude and targeted attitude
Trajectory angle between point；
Control unit 49, for control the mechanical arm of robot from the position of current trace points along trajectory angle in track
Next tracing point is turned on face, wherein when the mechanical arm of robot turns to next tracing point, the Z axis posture of mechanical arm
The targeted attitude of Z axis corresponding to next tracing point.
Above equipment motion process device can obtain track corresponding with the mechanical arm of robot by acquiring unit 41
The initial attitude of axis Z axis and the position of current trace points determine the position of next tracing point under by the first determination unit 43
The targeted attitude of the Z axis of one tracing point, by the second determination unit 45 according to the positions of current trace points and next tracing point
Position determines the track plane between current trace points and next tracing point, by third determination unit 47 according to initial attitude and
Targeted attitude determines the trajectory angle between current trace points and next tracing point, controls robot by control unit 49
Mechanical arm next tracing point is turned on track plane along trajectory angle from the position of current trace points, wherein in machine
When the mechanical arm of people turns to next tracing point, the Z axis posture of mechanical arm corresponds to the targeted attitude of the Z axis of next tracing point.
In this embodiment it is possible to control robot when moving, keep the Z axis posture of robot between two neighboring tracing point along
Trajectory angle is rotated, which, which can be, determines the smallest track rotation angle, and then solves in the related technology
When equipment works along trajectory path, axis is caused greatly since the variation of posture can be spent around end Z axis rotation angle in equipment end
The technical issues of transfiniting and can not working on.
Optionally, third determination unit includes: the first determining module, the initial attitude for the Z axis in current trace points
When not identical as the targeted attitude of the Z axis of next tracing point, rotation acute angle is determined by default rule, and acute angle conduct will be rotated
Trajectory angle between current trace points and next tracing point；Control unit includes: the second determining module, in current track
When the targeted attitude of the Z axis of the initial attitude and next tracing point of the Z axis of point is not identical, the mechanical arm of robot is controlled from current
The position of tracing point turns to next tracing point along rotation acute angle on track plane.
Preferably, presetting rule is vector right-hand screw rule.
It is another optionally, third determination unit further include: the 4th determining module, for the Z axis in current trace points
When initial attitude is identical as the targeted attitude of the Z axis of next tracing point, the rail between current trace points and next tracing point is determined
Mark angle is default value；Control unit further include: the 5th determining module, the initial attitude for the Z axis in current trace points
It when identical as the targeted attitude of the Z axis of next tracing point, keeps the rotation attitude of the mechanical arm of robot constant, controls robot
Mechanical arm next tracing point is moved on track plane along trajectory angle from the position of current trace points.
As the optional example of the embodiment of the present invention one, when the path of robot is a closed loop path, path
In Track Initiation point and track end point be overlapped, equipment moving processing unit further include: adjustment unit, for control machine
After the mechanical arm of people turns to next tracing point along trajectory angle from the position of current trace points on track plane, if next
Tracing point is track end point, then the posture for adjusting the mechanical arm of robot is identical as the posture of Track Initiation point.
In embodiments of the present invention, acquiring unit includes: acquisition module, for completing the quarter of current trace points in robot
After degree, initial attitude is detected by the angle measurement equipment carried on the mechanical arm of robot, wherein initial attitude includes posture
The scale direction of angle and mechanical arm.
Above-mentioned equipment moving processing unit can also include processor and memory, and above-mentioned acquiring unit 41, first really
Order member 43, the second determination unit 45, third determination unit 47, control unit 49 is equal to be stored in memory as program unit
In, above procedure unit stored in memory is executed by processor to realize 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 controls the mechanical arm of robot from the position of current trace points along trajectory angle by adjusting kernel parameter
Next tracing point is turned on track plane.
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.
According to another aspect of an embodiment of the present invention, a kind of storage medium is additionally provided, storage medium is used to store program,
Wherein, equipment where program controls storage medium when being executed by processor executes the equipment moving processing side of above-mentioned any one
Method.
According to another aspect of an embodiment of the present invention, a kind of processor is additionally provided, processor is used to run program,
In, program executes the equipment moving processing method of above-mentioned any one when running.
The embodiment of the invention provides a kind of equipment, equipment include processor, memory and storage on a memory and can
The program run on a processor, it is corresponding with the mechanical arm of robot that processor performs the steps of acquisition when executing program
The initial attitude of track axis Z axis and the position of current trace points；Determine the position of next tracing point and the Z axis of next tracing point
Targeted attitude；According to the position of the position of current trace points and next tracing point, determine current trace points and next tracing point it
Between track plane；According to initial attitude and targeted attitude, the trajectory angle between current trace points and next tracing point is determined；
The mechanical arm of control robot turns to next tracing point along trajectory angle from the position of current trace points on track plane,
In, when the mechanical arm of robot turns to next tracing point, the Z axis posture of mechanical arm corresponds to the Z axis of next tracing point
Targeted attitude.
Optionally, above-mentioned processor is when executing program, can also perform the steps of the Z axis in current trace points
When the targeted attitude of the Z axis of initial attitude and next tracing point is not identical, rotation acute angle is determined by default rule, and will rotation
Acute angle is as the trajectory angle between current trace points and next tracing point；The mechanical arm of robot is controlled from current trace points
Position is along trajectory angle the step of turning to next tracing point on track plane, comprising: current trace points Z axis it is initial
When the targeted attitude of the Z axis of posture and next tracing point is not identical, the mechanical arm of robot is controlled from the position of current trace points
Next tracing point is turned on track plane along rotation acute angle.
Optionally, presetting rule is vector right-hand screw rule.
Optionally, above-mentioned processor is when executing program, can also perform the steps of the Z axis in current trace points
When initial attitude is identical as the targeted attitude of the Z axis of next tracing point, the rail between current trace points and next tracing point is determined
Mark angle is default value；The mechanical arm for controlling robot turns on track plane from the position of current trace points along trajectory angle
The step of moving next tracing point, further includes: in the mesh of the Z axis of the initial attitude and next tracing point of the Z axis of current trace points
Mark posture it is identical when, keep the rotation attitude of the mechanical arm of robot constant, control the mechanical arm of robot from current trace points
Position next tracing point is moved on track plane along trajectory angle.
Optionally, Track Initiation point and track when the path of robot is a closed loop path, in path
End point is overlapped, and optionally, above-mentioned processor can also perform the steps of the machine in control robot when executing program
After tool arm turns to next tracing point along trajectory angle from the position of current trace points on track plane, if next tracing point
For track end point, then the posture for adjusting the mechanical arm of robot is identical as the posture of Track Initiation point.
Optionally, above-mentioned processor can also perform the steps of when executing program and complete current track in robot
After the scale of point, initial attitude is detected by the angle measurement equipment carried on the mechanical arm of robot, wherein initial attitude packet
Include the scale direction of attitude angle and mechanical arm.
Present invention also provides a kind of computer program products, when executing on data processing equipment, are adapted for carrying out just
The program of beginningization there are as below methods step: the initial attitude and currently of track axis Z axis corresponding with the mechanical arm of robot is obtained
The position of tracing point；Determine the targeted attitude of the position of next tracing point and the Z axis of next tracing point；According to current trace points
The position of position and next tracing point determines the track plane between current trace points and next tracing point；According to initial attitude and
Targeted attitude determines the trajectory angle between current trace points and next tracing point；The mechanical arm of robot is controlled from current
The position of tracing point turns to next tracing point along trajectory angle on track plane, wherein rotates in the mechanical arm of robot
When to next tracing point, the Z axis posture of mechanical arm corresponds to the targeted attitude of the Z axis of next tracing point.
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 equipment moving processing method characterized by comprising
Obtain the initial attitude of track axis Z axis corresponding with the mechanical arm of robot and the position of current trace points；
Determine the targeted attitude of the position of next tracing point and the Z axis of next tracing point；
According to the position of the position of the current trace points and next tracing point, determine the current trace points and it is described under
Track plane between one tracing point；
According to the initial attitude and the targeted attitude, determine between the current trace points and next tracing point
Trajectory angle；
Control the mechanical arm of the robot from the position of the current trace points along the trajectory angle in the track plane
On turn to next tracing point, wherein when the mechanical arm of the robot turns to next tracing point, the machine
The Z axis posture of tool arm corresponds to the targeted attitude of the Z axis of next tracing point.
2. the method according to claim 1, wherein
The step of determining the trajectory angle between the current trace points and next tracing point, comprising: described current
When the targeted attitude of the Z axis of the initial attitude of the Z axis of tracing point and next tracing point is not identical, determined by default rule
Acute angle is rotated, and using the rotation acute angle as the trajectory angle between the current trace points and next tracing point；
Control the mechanical arm of the robot from the position of the current trace points along the trajectory angle in the track plane
On the step of turning to next tracing point, comprising: in the initial attitude and next rail of the Z axis of the current trace points
When the targeted attitude of the Z axis of mark point is not identical, control the mechanical arm of the robot from the position of the current trace points along
The rotation acute angle turns to next tracing point on the track plane.
3. according to the method described in claim 2, it is characterized in that, the default rule is vector right-hand screw rule.
4. according to the method described in claim 2, it is characterized in that,
The step of determining the trajectory angle between the current trace points and next tracing point, further includes: work as described
When the initial attitude of the Z axis of preceding tracing point is identical as the targeted attitude of Z axis of next tracing point, the current track is determined
Trajectory angle between point and next tracing point is default value；
Control the mechanical arm of the robot from the position of the current trace points along the trajectory angle in the track plane
On the step of turning to next tracing point, further includes: the current trace points Z axis initial attitude with it is described next
It when the targeted attitude of the Z axis of tracing point is identical, keeps the rotation attitude of the mechanical arm of the robot constant, controls the machine
The mechanical arm of people moves on the track plane from the position of the current trace points along the trajectory angle described next
Tracing point.
5. the method according to claim 1, wherein the path in the robot is a closed loop path
When, Track Initiation point and track end point in path are overlapped, then are worked as in the mechanical arm for controlling the robot from described
The position of preceding tracing point turns to after next tracing point along the trajectory angle on the track plane, the method
Further include:
If next tracing point be the track end point, adjust the mechanical arm of the robot posture and the Track Initiation
The posture of point is identical.
6. the method according to claim 1, wherein obtaining track axis Z axis corresponding with the mechanical arm of robot
Initial attitude include:
After the scale that robot completes the current trace points, the angle measurement that is carried on the mechanical arm by the robot
Device detects the initial attitude, wherein the initial attitude includes the scale direction of attitude angle and mechanical arm.
7. a kind of equipment moving processing unit characterized by comprising
Acquiring unit, for obtaining the initial attitude and current trace points of corresponding with the mechanical arm of robot track axis Z axis
Position；
First determination unit, for determining the targeted attitude of the position of next tracing point and the Z axis of next tracing point；
Second determination unit, described in determining according to the position of the current trace points and the position of next tracing point
Track plane between current trace points and next tracing point；
Third determination unit, for determining the current trace points and institute according to the initial attitude and the targeted attitude
State the trajectory angle between next tracing point；
Control unit, for controlling the mechanical arm of the robot from the position of the current trace points along the trajectory angle
Next tracing point is turned on the track plane, wherein turn to next rail in the mechanical arm of the robot
When mark point, the Z axis posture of the mechanical arm corresponds to the targeted attitude of the Z axis of next tracing point.
8. device according to claim 7, which is characterized in that
The third determination unit includes: the first determining module, initial attitude and institute for the Z axis in the current trace points
State the Z axis of next tracing point targeted attitude it is not identical when, rotation acute angle is determined by default rule, and by the rotation acute angle
As the trajectory angle between the current trace points and next tracing point；
Described control unit includes: the second determining module, for the Z axis in the current trace points initial attitude and it is described under
When the targeted attitude of the Z axis of one tracing point is not identical, the mechanical arm of the robot is controlled from the position of the current trace points
Next tracing point is turned on the track plane along the rotation acute angle.
9. a kind of storage medium, which is characterized in that the storage medium is for storing program, wherein described program is processed
Equipment moving processing described in any one of equipment perform claim requirement 1 to 6 device controls the storage medium when executing where
Method.
10. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 6 described in equipment moving processing method.
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| CN115297985A (en) * | 2020-03-25 | 2022-11-04 | 株式会社神户制钢所 | Circumferential welding method |
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