CN109822565A - Robot control method, system and storage medium - Google Patents
Robot control method, system and storage medium Download PDFInfo
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- CN109822565A CN109822565A CN201910037228.0A CN201910037228A CN109822565A CN 109822565 A CN109822565 A CN 109822565A CN 201910037228 A CN201910037228 A CN 201910037228A CN 109822565 A CN109822565 A CN 109822565A
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Abstract
The embodiment provides a kind of robot control method, system and storage mediums.Wherein the robot includes end effector, which comprises obtains the location information of the end effector；User interface is shown, wherein the user interface includes operating area；And it controls the end effector in the operation of the operating area in response to user and executes corresponding, relevant to location information movement.Above-mentioned technical proposal realizes simple, the flexible control to robot in the case where not increasing hardware device, solves the problems, such as the cost and human resources repetition and waste of most of robot controls at present, greatly improves user experience.
Description
Technical field
The present invention relates to robotic technology field, relate more specifically to a kind of robot control method, a kind of robot control
System processed and a kind of storage medium.
Background technique
Currently, user is preparatory by the task according to operation purpose and opposite unification mostly for the control of robot
It measures with fixed program and realizes.This control mode can be only done robot according to set pre-set moving line and/
Or track carries out controling within the scope of single or certain fixed form.In other words, this control mode can only accomplish single machine list
With.Once needing to change the task of robot, generally requires to reprogram and even design, cost and human resources weight
Multiple waste, while it is poor to also result in user experience.
Summary of the invention
The present invention is proposed in view of the above problem.The present invention provides a kind of robot control methods, a kind of machine
People's control system and a kind of storage medium.
One side according to an embodiment of the present invention provides a kind of method of robot control, wherein the robot packet
Include end effector, which comprises
Obtain the location information of the end effector；
User interface is shown, wherein the user interface includes operating area；And
In response to user in the operation of the operating area, controls the end effector and execute corresponding and institute's rheme
Confidence ceases relevant movement.
Illustratively, wherein the location information for obtaining the end effector includes:
Obtain coordinate value of the end effector under cartesian cartesian coordinate system；
The operating area includes first area, and the first area corresponds to the X-axis and Y with cartesian cartesian coordinate system
The coplanar plane of axis is parallel, the first plane where the end effector；
The user interface further include in the first area first can operational controls, for by the user into
Row operation executes the movement to control the end effector in first plane.
Illustratively, wherein the first area is border circular areas, described first can operational controls be located at the circle
The center point in domain, for carrying out drag operation by the user；
It is described in response to user the operation of the operating area control the end effector execute it is corresponding, with it is described
Location information it is relevant movement include:
In first plane, moving direction corresponding with the direction of the drag operation is determined；
The moving distance of the end effector is determined according to the distance of the drag operation；And
The end effector is controlled in the mobile moving distance of the moving direction.
Illustratively, wherein the distance according to the drag operation determines the moving distance of the end effector
Include:
The moving distance: D is determined according to the following formulav=(Df/ R) * δ,
Wherein, DvIndicate the moving distance, DfIndicate the distance of the drag operation, R indicates the half of the border circular areas
Diameter, δ indicate maximum step square.
Illustratively, wherein the user interface further include second can operational controls, for being operated by the user
To adjust the corresponding relationship in the direction in the border circular areas in every radius and first plane.
Illustratively, wherein the user interface further includes the first display area, for showing the end effector
The number axis of current pose and the cartesian cartesian coordinate system based on current pose.
Illustratively, wherein the operating area further includes second area, includes corresponding to flute card in the second area
The line segment of the Z axis of your rectangular coordinate system；
The user interface further include third on the line segment can operational controls, for being dragged by the user
Dynamic operation moves corresponding distance to control the end effector along the Z axis.
Illustratively, wherein
The end effector is clamping jaw；
The operating area includes third region；
The user interface further include in the third region the 4th can operational controls, for by the user into
Row clicking operation is to control the folding angle of the clamping jaw.
Illustratively, wherein the user interface further includes the second display area, for showing the end effector
Location information.
Illustratively, wherein described to be held in response to user in the operation control end effector of the operating area
Row is corresponding, act relevant to the location information includes:
In response to the user in the operation of the operating area, controls the end effector and execute in real time accordingly
, relevant to location information movement；Or
In the user after the completion of operating area operates, controls the end effector and execute corresponding and institute
Rheme confidence ceases relevant movement.
According to another aspect of an embodiment of the present invention, a kind of robot control system, including display and place are additionally provided
Manage device:
The display is for showing user interface, wherein the user interface includes operating area；
The processor is used to obtain the location information of the end effector of robot, and is used in response to user in institute
The operation for stating operating area controls the end effector and executes corresponding, relevant to location information movement.
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, stores on said storage
Program instruction, described program instruction is at runtime for executing above-mentioned robot control method.
Above-mentioned technical proposal realizes simple, the flexible control to robot in the case where not increasing hardware device,
It solves the problems, such as the cost and human resources repetition and waste in most of robot controls at present, greatly improves user
Experience.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
The embodiment of the present invention is described in more detail in conjunction with the accompanying drawings, the above and other purposes of the present invention,
Feature and advantage will be apparent.Attached drawing is used to provide to further understand the embodiment of the present invention, and constitutes explanation
A part of book, is used to explain the present invention together with the embodiment of the present invention, is not construed as limiting the invention.In the accompanying drawings,
Identical reference label typically represents same parts or step.
Fig. 1 shows the schematic flow chart of robot control method according to an embodiment of the invention；
Fig. 2 shows the schematic diagrames of user interface according to an embodiment of the invention.
Specific embodiment
In order to enable the object, technical solutions and advantages of the present invention become apparent, root is described in detail below with reference to accompanying drawings
According to example embodiments of the present invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than this hair
Bright whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.Based on described in the present invention
The embodiment of the present invention, those skilled in the art's obtained all other embodiment in the case where not making the creative labor
It should all fall under the scope of the present invention.
According to an embodiment of the present invention, a kind of robot control method is provided.Robot is automatic execution work
Installations.Robot may include robot body, end effector (or being tool).Ontology may include multiple joints
Such as pedestal, large arm, forearm, wrist.End effector is, for example, the clamping jaw that can be opened and closed, and is also possible to other operative employees
Tool.End effector is moved according to respective routes by robot control system control and completes scheduled movement.Specifically for example, end
It holds actuator by the manipulation of robot, realizes and moved in three-dimensional space, and execute relevant action, example in specified position
Such as crawl, release or other movements.
Fig. 1 shows the schematic flow chart of robot control method 100 according to an embodiment of the invention.Such as Fig. 1
Shown, robot control method 100 includes the following steps:
Step S110 obtains the location information of the end effector of robot.
When manipulating end effector, in order to accurately control the mobile track of end effector in its motion process simultaneously
Relevant action can be executed in designated space position, can establish the coordinate system of robot, to determine the position of the end effector
Confidence breath.The motion profile of end effector can be set or be controlled in this way, and it is made to execute correlation in specified spatial position
Movement.
Optionally, which can be robot body coordinate system, and the central point with the pedestal of robot is
Coordinate origin.Because the pedestal of robot is to maintain motionless during each joint of robot executes operation.By
This, executes robot control using the robot body coordinate system, can simplify calculating to avoid various coordinate system transformations.
It is appreciated that the location information of the end effector of above-mentioned acquisition robot can use encoder or angle sensor
The various suitable sensors such as device obtain.
It is appreciated that end effector is the tool for occupying certain space, rather than a point.For convenience of calculation, benefit
Use the location information of a point in coordinate system as the location information of end effector.Optionally, with end effector certain
The location information of a position point or its location information for occupying some point in space as the end effector.It is specific for example,
End effector is the tool with a similar circular cone, can be using the position of the endpoint of the top of end effector as end
Hold the position of actuator.In another example end effector is the clamping jaw that can be opened and closed, the endpoint composition of several teeth of clamping jaw can be used
Geometrical plane figure central point position of the position as end effector.
Step S120 shows user interface, wherein the user interface includes operating area.
In order to which the motion process and manipulation end effector of the end effector of more convenient, intuitive control robot execute
Relevant action provides the user interface for human-computer interaction.Based on the user interface, user can more intuitive, visualization
Control robot.The user interface includes the operating area for robot control.The operating area is specifically used for receiving
User's operation executes corresponding movement to control the end effector of robot according to user's operation.
Step S130, in response to user the operating area operation, control the end effector execute it is corresponding,
Movement relevant to location information acquired in step S110.
Based on the operating area provided in user interface described in step S120, user can execute in operating area
Relevant operation.In response to user in the operation of operating area, i.e., the operational order of user, control end are received by the user interface
Actuator is held to execute movement corresponding with the operation.It is understood that end effector acquired in the movement and step S110
Location information is relevant.For example, the movement can be from position determined by step S110 to specific direction it is mobile it is specific away from
From.The movement can also be that the position determined by step S110 carries out the operation such as grabbing.
In one example, the above-mentioned mode of operation based on operating area in the user interface may include one or more
Man-machine interaction mode.Specifically for example, can realize the operation in operating area by way of providing and inputting operation instruction,
It can complete to operate by carrying out the dragging of simulation type in operating area, more intuitive, the visual mode such as opening or closing, also
It can be other man-machine interaction modes that can complete operation.
Above-mentioned robot control method overcomes current most of robots according to times of operation purpose and opposite unification
It is the problem of business measurement in advance and fixed program, single without being carried out according to set pre-set moving line and/or track
Or controling within the scope of certain fixed form.It can be according to the different task of robot, the case where not increasing hardware device
Under, simply, robot is neatly controlled, without re-starting programming or design for different task.Thus it not only reduces
Installation cost, and human resources repetition and waste is avoided, greatly improve user experience.
Fig. 2 shows the schematic diagrames of user interface according to an embodiment of the invention.The user interface is used for " work " word
The electrodeless damp type control stick of shape anthroposomatology shape.The clamping jaw that the operating stick can be used for manipulating mechanical arm body is approached and is reached
At object to be handled, clamps object and be transported to target position.The top of the user interface of Fig. 2 is divided into display area, lower part
For operating area.
Illustratively, a cartesian cartesian coordinate system is defined to determine the location information of end effector.In above-mentioned machine
In the step S110 of device people control method 100, coordinate value of the end effector under cartesian cartesian coordinate system is obtained.Descartes
Rectangular coordinate system can be defined according to the installation site of robot.For example, robot installation is on the ground, flute can be defined
The X-axis and Y-axis of karr rectangular coordinate system are in the horizontal plane.In another example robot is mounted on the metope perpendicular to ground, it can
To define X-axis and Y-axis in the vertical plane for being parallel to metope.
User interface as shown in Figure 2 includes that user is related dynamic for the end effector execution for operating or controlling robot
The operating area of work.
Optionally, the operating area includes first area, and the first area corresponds in robot motion space
First plane.First plane is the plane where the end effector, the X-axis of the plane and cartesian cartesian coordinate system
The plane parallel coplanar with Y-axis.It is appreciated that the operation for the first area is mapped as being that control end is held accordingly
Row device executes corresponding movement in the first plane.
Further including in the first area first can operational controls.Described first can operational controls operated by user,
Movement corresponding with the operation of user is executed in first plane for controlling the end effector.End effector
The movement may include that end effector is opened in the first plane from initial position (such as identified position in step S110)
The movement begun to different directions.It is appreciated that above-mentioned steps can be executed again after end effector has executed movement
S110, to update the location information of end effector.The end for understanding while user's more real-time can be allowed in this way robot executes
The position of device.
Above-mentioned technical proposal obtains coordinate value of the end effector under cartesian cartesian coordinate system and provides and is used for
It controls end effector and executes corresponding actions in the first plane, simplify the difficulty of user's operation, be convenient for users to operate.
Illustratively, the first area is border circular areas, described first can operational controls be located at the border circular areas
The center point, for carrying out drag operation by the user.In user interface shown in Fig. 2, first can operational controls be shown as one
It is a compared with the smaller round block in first area.
User can be dragged in the first area first can operational controls, to control the end effector first
It is moved in plane.For example, user can choose first can operational controls, then do not drag releasably its according to some direction move
It is dynamic, the control chosen is unclamped after reaching target position.
Optionally, the step S130 in above-mentioned robot control method 100 in response to user the operating area behaviour
The work control end effector executes corresponding, relevant to location information movement and may comprise steps of.
Firstly, in this first plane, it is determining can the corresponding shifting in the direction of drag operation of operational controls to first with user
Dynamic direction.Then, the moving distance of the end effector is determined according to the distance of the drag operation.Finally, described in control
End effector is in the mobile moving distance of the moving direction.Illustratively, end effector can be led by electrodeless variable-speed
Draw, with the movement moving distance.
User will to first can operational controls execute drag operation when, the current location of end effector (such as passes through
Step S110 determine position) correspond to first area the center of circle.User to first can operational controls execute drag operation when,
The direction of the drag operation of user corresponds to the direction moved of end effector, user's dragging first can operational controls distance
The distance moved corresponding to end effector.In short, the direction that end effector is dragged according to the first operational controls is first
Mobile corresponding distance in plane.
Above-mentioned robot control method uses similar handle operation mode, and mode of operation, which is shown, uses similar instrumentation disk
Mode real-time display realizes simple, the flexible control of the robot under multioperation dimension.
Illustratively, it is above-mentioned according to first can operational controls distance of drag operation in first area determine the end
Moving distance of the actuator in the first plane is according to the following formula: Dv=(Df/R)*δ.Wherein, DvIndicate that the end is held
The moving distance of row device, DfIndicate the distance of the drag operation, R indicates that the radius of the border circular areas, δ indicate maximum step
Square.The maximum step pitch indicates the moving distance of end effector when the distance of drag operation is the radius R of border circular areas.
Optionally, first can operational controls after being released, automatically return to the center point of first area, it is next to execute
Secondary operation.
Illustratively, when control end effector is mobile more remote, can repeatedly drag first can operational controls.This
When the operation that execute choosing above repeatedly, not unclamp dragging, then unclamp, until end effector reaches target position.
User has found the direction of sitting posture and manipulation habit and robot coordinate system at this time when operating machine people sometimes
It is inconsistent, be easy to cause user by operate in first area first can operational controls control the end effector of robot
It malfunctions when executing corresponding actions or feels awkward.Specifically for example, user may be accustomed to thinking that the top of first area is machine
The front of people, the left of first area are the left of robot.If user is at this moment under sitting posture state, robot coordinate system with
Above-mentioned user's habit is consistent, then user's operation, which is got up, does not just have to be concerned about the transformation in direction, will not feel awkward.
Specifically, for example user it is expected that the end effector of robot moves forwards.If in the current sitting posture shape of user
Under state, robot coordinate system meets user's habit, then user's dragging first can operational controls it is mobile i.e. controllable to surface
The end effector of robot moves forwards.If under the current sitting posture state of user, the direction of robot coordinate system and use
The direction of family habit differs 180 °, then user's dragging first can operational controls be moved upward the end effector of then robot
Rearward move.In other words, at this time if control end effector moves forwards, user must drag downwards first
Can operational controls be just able to achieve above-mentioned control.It thus may require that user considers the above problem when executing drag operation, no
It only makes troubles to user and is easy to cause maloperation.
Can also include in order to solve with the problems in foregoing description, in user interface second can operational controls.Such as Fig. 2 institute
Show, first area draw above is designated as second can operational controls.Described second can operational controls be used for by user operated with
Adjust the corresponding relationship of every radius and the direction in the first plane in the border circular areas of first area.
Illustratively, a radius or two vertical radiuses can be identified in border circular areas, for identifying circle
The direction of radius in domain.As shown in the border circular areas in Fig. 2, wherein identifying 2 vertical radiuses.It will be marked in border circular areas
The direction for the two radiuses known corresponds respectively to the X-axis and Y-axis of above-mentioned cartesian cartesian coordinate system.In response to user to second
Can operational controls operation, two radiuses identified in border circular areas can be rotated, to indicate to change border circular areas
The corresponding relationship of interior radius and the direction in the first plane.
Second can operational controls can be button.User can click the button, to adjust border circular areas inside radius and
The corresponding relationship in the direction in one plane.Second can operational controls can also be slider bar.User can slide the slider bar, with
Adjust the corresponding relationship of border circular areas inside radius and the direction in the first plane.Second can operational controls can also be input frame.
User can input specific rotation angle to rotate two radiuses in border circular areas.Those of ordinary skill in the art can manage
Solution, above-mentioned second can the specific implementations of operational controls be example, be not construed as limiting the invention.
By provide second can operational controls adjust the corresponding relationship in the direction in border circular areas in radius and the first plane,
On the one hand the angle that deliberately placement machine people puts can not be had to.Still further aspect, the operation for being also adapted to different user are practised
It is used.The conversion difficulty that user carries out the direction of motion in operation is not only simplified, situation easy to operate by mistake is also avoided.
Illustratively, it as shown in Fig. 2, the operating area of user interface further includes second area, is wrapped in the second area
Include the line segment of the Z axis corresponding to cartesian cartesian coordinate system, i.e. vertical line part in Fig. 2.The user interface further includes being located at
Third on the line segment can operational controls, for carrying out drag operation by user to control the end effector along the Z axis
Mobile corresponding distance.Dragged up and down along Z axis the third can operational controls, i.e., controllable end effector is in Z-direction
Upper movement, for example, being raised and lowered along the vertical direction.
Based on third can operational controls provide operating function, user, can when operational tip actuator is raised and lowered
With without measurement and fixed program in advance, operating process is simple, visualizes, the experience of user is greatly improved.
Illustratively, the end effector of the robot is clamping jaw, can be used for grabbing or clamping object.Such as
In one application scenarios, some object is moved to B point from A point by the clamping jaw for controlling robot.Clamping jaw can be firstly moved to A
Point.Then the clamping jaw of opening is placed on object by the folding of control clamping jaw to certain angle, then clamping jaw is closed until that can grab
Object.The mobile clamping jaw finally opens clamping jaw and discharges object to B point to B point.In above process, the movement of clamping jaw includes grabbing
It takes and discharges, need to control the folding angle of clamping jaw in crawl and release.User interface as shown in Figure 2, user circle
In face be located at third region in the 4th can operational controls i.e. for by the user carry out clicking operation to control the clamping jaw
Folding angle.4th can the "+" buttons of operational controls be used to control the angle of clamping jaw and become larger, "-" button is for controlling clamping jaw
Angle become smaller.Thus accomplished by the 4th can operational controls control fourth dimension degree robot except 3 d space coordinate
End effector incremental mode folding angle, i.e. the folding of clamping jaw.User is facilitated as a result, carries out robot control.
Illustratively, as shown in the upper left corner of Fig. 2, the user interface further includes the first display area, for showing machine
The number axis of the current pose of the end effector of device people and the cartesian cartesian coordinate system based on current pose.First display area
It shows the current pose of the electrodeless damp type control stick of I-shaped anthroposomatology shape and the Descartes right angle where it is sat
Mark system.By the first display area, user can intuitively understand the direction of the cartesian cartesian coordinate system where robot, just
In the end effector for more desirably controlling robot.
Illustratively, the user interface further includes the second display area, for showing that the end of the robot executes
The location information of device.The location information can be the coordinate value of three-dimensional cartesian rectangular coordinate system.For example, as shown in Fig. 2,
Coordinate value of the clamping jaw of robot shown in second display area under some state: X=231.362；Y=0.38932；Z
=512.263.It is appreciated that the coordinate value can be the coordinate value of the central point of clamping jaw.For the clamping jaw of four teeth, clamping jaw
Central point is the rectangular or square center that the top of four teeth is constituted.
The location information that second display area is shown can help user to understand position in end effector motion process in real time
Variation is set, the operation for preferably controlling end effector is conducive to.
Illustratively, the control mode of robot can use a variety of different modes.
In one example, the end effector is controlled in real time in the operation of the operating area in response to user
Execute movement corresponding with the operation, relevant with the current location information of end effector.Specifically for example, if setting behaviour
Make first can operational controls and robot end effector movement real time correlation, then dragging first can operational controls fortune
When dynamic, while the end effector of robot also real time kinematics, i.e., once dragging first can operational controls movement, the end of robot
End actuator simultaneously according to first can the direction of operational controls movement follow and moved.The robot of control in real time can allow use
Family understands control effect at any time, in order to which it determines the control program of next step.
In another example, the end effector is controlled after the completion of the operating area operates in the user
Execute movement corresponding with the operation, relevant with the current location information of end effector.In which, operation first can
The non real-time association of the movement of the end effector of operational controls and robot.For example, dragging first can operational controls to some position
After setting release, the end effector ability setting in motion of robot, rather than follow in real time.
Illustratively, the operating area of the user interface additionally provides the operation stopped for robot emergency, such as Fig. 2
The button in the upper right corner represents emergency and stops operation.
According to a further embodiment of the invention, a kind of robot control system is additionally provided.The robot control system packet
Include display and processor.The display is for showing user interface, wherein the user interface includes operating area；It is described
Processor is used to obtain the location information of the end effector of robot, and is used in response to user in the operating area
Operation controls the end effector and executes corresponding, relevant to location information movement.The processor can be specific
For executing the corresponding steps of above-mentioned robot control method according to an embodiment of the present invention.
In addition, another aspect according to the present invention, additionally provides a kind of storage medium, stores journey on said storage
Sequence instruction makes the computer or processor execute the present invention real when described program instruction is run by computer or processor
Apply the corresponding steps of the above-mentioned robot control method of example.The storage medium for example may include the storage unit of tablet computer
It is part, the hard disk of personal computer, read-only memory (ROM), Erasable Programmable Read Only Memory EPROM (EPROM), portable compact
Disk read-only memory (CD-ROM), any combination of USB storage or above-mentioned storage medium.The computer-readable storage
Medium can be any combination of one or more computer readable storage mediums.
Those of ordinary skill in the art are by reading the associated description above for robot control method, it is possible to understand that on
The specific implementation of robot control system and storage medium is stated, for sake of simplicity, details are not described herein.
Robot control method, system and storage medium according to an embodiment of the present invention, in the feelings for not increasing hardware device
Under condition, similar handle operation mode is used, mode of operation show using similar instrumentation disk mode real-time display, is realized pair
Simple, the flexible control of robot solves the cost of most of robot controls and human resources at present and repeats wave
The problem of taking greatly improve user experience.
Although describing example embodiment by reference to attached drawing here, it should be understood that above example embodiment are only exemplary
, and be not intended to limit the scope of the invention to this.Those of ordinary skill in the art can carry out various changes wherein
And modification, it is made without departing from the scope of the present invention and spiritual.All such changes and modifications are intended to be included in appended claims
Within required the scope of the present invention.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, apparatus embodiments described above are merely indicative, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another equipment is closed or is desirably integrated into, or some features can be ignored or not executed.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the present invention and help to understand one or more of the various inventive aspects,
To in the description of exemplary embodiment of the present invention, each feature of the invention be grouped together into sometimes single embodiment, figure,
Or in descriptions thereof.However, the method for the invention should not be construed to reflect an intention that i.e. claimed
The present invention claims features more more than feature expressly recited in each claim.More precisely, such as corresponding power
As sharp claim reflects, inventive point is that the spy of all features less than some disclosed single embodiment can be used
Sign is to solve corresponding technical problem.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in this specific
Embodiment, wherein each, the claims themselves are regarded as separate embodiments of the invention.
It will be understood to those skilled in the art that any combination pair can be used other than mutually exclusive between feature
All features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed any method
Or all process or units of equipment are combined.Unless expressly stated otherwise, this specification (is wanted including adjoint right
Ask, make a summary and attached drawing) disclosed in each feature can be replaced with an alternative feature that provides the same, equivalent, or similar purpose.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) are some in robot control system according to an embodiment of the present invention to realize
The some or all functions of module.The present invention be also implemented as a part for executing method as described herein or
Whole program of device (for example, computer program and computer program product).It is such to realize that program of the invention deposit
Storage on a computer-readable medium, or may be in the form of one or more signals.Such signal can be from because of spy
It downloads and obtains on net website, be perhaps provided on the carrier signal or be provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
The above description is merely a specific embodiment or to the explanation of specific embodiment, protection of the invention
Range is not limited thereto, and anyone skilled in the art in the technical scope disclosed by the present invention, can be easily
Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim
Subject to protection scope.
Claims (12)
1. a kind of robot control method, wherein the robot includes end effector, which comprises
Obtain the location information of the end effector；
User interface is shown, wherein the user interface includes operating area；And
In response to user in the operation of the operating area, controls the end effector and execute corresponding and position letter
Cease relevant movement.
2. the method for claim 1, wherein the location information for obtaining the end effector includes:
Obtain coordinate value of the end effector under cartesian cartesian coordinate system；
The operating area includes first area, and the first area corresponds to total with the X-axis and Y-axis of cartesian cartesian coordinate system
The plane in face is parallel, the first plane where the end effector；
The user interface further include in the first area first can operational controls, for being grasped by the user
Make to execute the movement to control the end effector in first plane.
3. method according to claim 2, wherein the first area is border circular areas, and described first can operational controls position
In the center point of the border circular areas, for carrying out drag operation by the user；
It is described to execute the corresponding and position in the operation control end effector of the operating area in response to user
Information it is relevant movement include:
In first plane, moving direction corresponding with the direction of the drag operation is determined；
The moving distance of the end effector is determined according to the distance of the drag operation；And
The end effector is controlled in the mobile moving distance of the moving direction.
4. method as claimed in claim 3, wherein the distance according to the drag operation determines the end effector
Moving distance include:
The moving distance: D is determined according to the following formulav=(Df/ R) * δ,
Wherein, DvIndicate the moving distance, DfIndicate the distance of the drag operation, R indicates the radius of the border circular areas, δ
Indicate maximum step square.
5. the method as claimed in claim 3 or 4, wherein the user interface further include second can operational controls, for by institute
User is stated to be operated to adjust the corresponding relationship in the direction in the border circular areas in every radius and first plane.
6. such as the described in any item methods of claim 2 to 4, wherein the user interface further includes the first display area, is used for
Show the current pose of the end effector and the number axis of the cartesian cartesian coordinate system based on current pose.
7. such as the described in any item methods of claim 2 to 4, wherein the operating area further includes second area, and described second
It include the line segment of the Z axis corresponding to cartesian cartesian coordinate system in region；
The user interface further include third on the line segment can operational controls, for carrying out dragging behaviour by the user
Make to move corresponding distance to control the end effector along the Z axis.
8. such as the described in any item methods of Claims 1-4, wherein
The end effector is clamping jaw；
The operating area includes third region；
The user interface further include in the third region the 4th can operational controls, for being carried out a little by the user
Operation is hit to control the folding angle of the clamping jaw.
9. such as the described in any item methods of Claims 1-4, wherein the user interface further includes the second display area, is used for
Show the location information of the end effector.
10. such as the described in any item methods of Claims 1-4, wherein it is described in response to user the operating area operation
It controls the end effector and executes corresponding, relevant to the location information act and include:
In response to the user the operating area operation, control the end effector execute in real time it is corresponding, with
The relevant movement of the location information；Or
In the user after the completion of operating area operates, controls the end effector and execute corresponding and institute's rheme
Confidence ceases relevant movement.
11. a kind of robot control system, including display and processor:
The display is for showing user interface, wherein the user interface includes operating area；
The processor is used to obtain the location information of the end effector of robot, and is used in response to user in the behaviour
The operation for making region controls the end effector and executes corresponding, relevant to location information movement.
12. a kind of storage medium stores program instruction on said storage, described program instruction is at runtime for holding
Row robot control method as described in any one of claim 1 to 10.
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Cited By (1)
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