CN109986565A - A kind of control system and precision compensation method of industrial robot - Google Patents
A kind of control system and precision compensation method of industrial robot Download PDFInfo
- Publication number
- CN109986565A CN109986565A CN201910427459.2A CN201910427459A CN109986565A CN 109986565 A CN109986565 A CN 109986565A CN 201910427459 A CN201910427459 A CN 201910427459A CN 109986565 A CN109986565 A CN 109986565A
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- CN
- China
- Prior art keywords
- industrial robot
- controlling terminal
- plc module
- robot
- control system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of control system of industrial robot and precision compensation methods, and the system comprises controlling terminal, PLC module, laser tracker and industrial robots；PLC module is communicated to connect with controlling terminal and industrial robot respectively, and laser tracker and controlling terminal communicate to connect.Control instruction is generated by the host computer configuration software in controlling terminal and is sent to PLC module；PLC module executes corresponding actions for controlling industrial robot；Industrial robot attained pose information is acquired by laser tracker, and compared with object pose, carries out accuracy compensation using the algorithm in controlling terminal to reach higher position precision.The present invention realizes the communication between controlling terminal and industrial robot by PLC module and completes corresponding accuracy compensation, and whole system energy reasonable distribution data processing task and movement execution task improve industrial machine task efficiency and positioning accuracy.
Description
Technical field
The invention belongs to Industrial Automation Software control technology fields, and in particular to a kind of control system of industrial robot
System.
Background technique
With the development of economy and society, the requirement to plant produced efficiency and product quality is higher and higher.And currently, with
Industry further upgrades, and plant produced line introduces robot and manual operation is replaced to have great realistic price.However existing reality
In existing mode, PC and when robot direct communication exists and occupies asking for excessive robot processor calculation resources and memory source
Topic, causes the decline of whole system efficiency and product quality.For this main problem, the invention proposes --- a kind of industry
The control system and precision compensation method of robot, to improve industrial machine task efficiency and positioning accuracy.
Summary of the invention
The present invention devises the control system and precision compensation method of a kind of industrial robot, and its purpose is to improve work
Industry machine task efficiency and positioning accuracy, to solve problems of the prior art.
The first aspect of the embodiment of the present invention provides a kind of control system of industrial robot, the control system packet
Include controlling terminal, PLC module, laser tracker and industrial robot；PLC module is logical with controlling terminal and industrial robot respectively
Letter connection, laser tracker and controlling terminal communicate to connect；Controlling terminal, which is used to generate control by host computer configuration software, to be referred to
It enables, and control instruction is sent to PLC module；PLC module executes corresponding actions for controlling industrial robot；Laser tracking is surveyed
Amount system is used to acquire the attained pose of industrial robot and feeds back to controlling terminal, and controlling terminal is also used to compare attained pose
With object pose, accuracy compensation is carried out to reach higher position precision using control algolithm.
Further, it is communicated between the controlling terminal and PLC module by Transmission Control Protocol；The controlling terminal with
It is communicated between laser tracker by RJ45 cable (cable)；Pass through between the PLC module and industrial robot
Profibus-DP agreement is communicated.
Further, the PLC module is also used to modify the data value of register according to control instruction, for industrial machine
People reads data value from register, and data value executes corresponding actions for controlling industrial robot.
Further, the laser tracking measurement system includes laser tracker, controller, reflector (target mirror) and measurement
Attachment.
Further, the accuracy compensation be by laser tracker acquire industrial machine human action after attained pose with
Object pose compares, and compensated joint angle is calculated using control algolithm, is transmitted by host computer configuration Soft- ware programme
To PLC module and industrial robot is acted on to reach higher positioning accuracy.
Further, the control algolithm uses N-R iterative algorithm.
The second aspect of the embodiment of the present invention provides a kind of precision compensation method of industrial robot, the method packet
It includes: selecting one group of object pose pm, corresponding nominal joint angle, which is obtained, against solution method using robot kinematics combines,
It is denoted as θm；
With robot localization error model, the position acquired, angu-lar deviation are combined with nominal joint parameter, are obtained
Robot attained pose p of the industrial robot under actual parameter effectn, p is solved using Inverse Kinematics Solution method againnRelatively
The joint angle variable θ answeredn；
If the initial estimate of joint angle is Δ θi, and Δ θi=θn-θm, enable Δ p=pm-pn, it is available:
Using N-R iterative algorithm, operation is iterated to above formula, final iteration precision value ε is set, joint angle is all mended
It repays, it may be assumed that
θ=θ+Δ θi+δθi
The normal solution formula that θ is brought into industrial robot again obtains the correct location of instruction, the as target position of robot.
Beneficial effects of the present invention
For a kind of control system of industrial robot, its maximum effect is led between controlling terminal and industrial robot
It crosses PLC module to be communicated, and further realizes the control to industrial robot, whole system energy reasonable distribution data processing is appointed
Business and movement execution task, play maximal efficiency, reduce the burden of robot, improve industrial machine task efficiency, simultaneously
Feedback mechanism is introduced, system effectiveness is improved；The attained pose of industrial robot is acquired by laser tracker, and in target position
Appearance compares, and analyses whether to reach expected locating effect, otherwise will carry out precision using pose of the control algolithm to robot
Compensation, to reach higher positioning accuracy.
Detailed description of the invention
Fig. 1 is the control system architecture figure of industrial robot；
Fig. 2 is industrial robot accuracy compensation algorithm principle figure.
Specific embodiment
As shown in Figure 1, the control system of a kind of industrial robot of the invention, the control system packet of the industrial robot
Include control system 5, laser tracking measurement system 6 and industrial robot 4.
The control system 5 includes controlling terminal 1 and PLC module 2.Laser tracking measurement system 6 includes laser tracker
3, for acquiring the attained pose after industrial robot 4 acts, and it is sent to controlling terminal 1；
It is communicated between controlling terminal 5 and PLC module 2 by Transmission Control Protocol, is passed through between controlling terminal 5 and laser tracker 3
RJ45 cable (cable) is communicated, and is communicated between PLC module 2 and industrial robot 4 by Profibus-DP agreement；
After controlling terminal 5 receives the attained pose information after the movement of the collected robot 4 of laser tracker 3, according to internal N-R
Iterative algorithm calculates compensated joint angle and rewrites PLC module control program and then control industrial robot to reach
Higher working efficiency and positioning accuracy.
The step of N-R iterative algorithm compensation industrial robot position error, is briefly outlined below:
1) one group of object pose p is selectedm, corresponding nominal joint angle is obtained using the method for the inverse solution of robot kinematics
Combination, is denoted as θm；
2) robot localization error model is used, the position acquired, angu-lar deviation are combined with nominal joint parameter, obtained
To robot end pose p of the industrial robot under actual parameter effectn, solved again using the method for inverse kinematics
And pnCorresponding joint angle variable θn；
3) initial estimate of joint angle is set as Δ θi, and Δ θi=θn-θm, enable Δ p=pm-pn, it is available:
4) N-R iterative algorithm is used, operation is iterated to above formula, sets final iteration precision value ε, joint angle is all carried out
Compensation, it may be assumed that
θ=θ+Δ θi+δθi
5) θ is brought into the normal solution formula of industrial robot again, the correct location of instruction, the as target of robot can be acquired
Position.
Claims (7)
1. a kind of control system of industrial robot, which is characterized in that the control system include controlling terminal, PLC module,
Laser tracker and industrial robot；PLC module is communicated to connect with controlling terminal and industrial robot respectively, laser tracker with
Controlling terminal communication connection；Controlling terminal is used to generate control instruction by host computer configuration software, and control instruction is sent
To PLC module；PLC module executes corresponding actions for controlling industrial robot；Laser tracking measurement system is for acquiring industry
The attained pose of robot simultaneously feeds back to controlling terminal, and controlling terminal is also used to compare attained pose and object pose, utilizes control
Algorithm processed carries out accuracy compensation to reach higher position precision.
2. the control system of industrial robot according to claim 1, it is characterised in that: the controlling terminal and PLC mould
It is communicated between block by Transmission Control Protocol；It is carried out between the controlling terminal and laser tracker by RJ45 cable (cable)
Communication；It is communicated between the PLC module and industrial robot by Profibus-DP agreement.
3. the control system of industrial robot according to claim 1, it is characterised in that: the PLC module is also used to root
According to the data value of control instruction modification register, so that industrial robot reads data value from register, data value is for controlling
Industrial robot processed executes corresponding actions.
4. the control system of industrial robot according to claim 1, it is characterised in that: the laser tracking measurement system
Including laser tracker, controller, reflector (target mirror) and measurement attachment.
5. the control system of industrial robot according to claim 1, it is characterised in that: the accuracy compensation is by swashing
Benefit is calculated using control algolithm compared with object pose in attained pose after optical tracker system acquisition industrial machine human action
Joint angle after repaying is transmitted to PLC module by host computer configuration Soft- ware programme and acts on industrial robot to reach higher
Positioning accuracy.
6. the control system of industrial robot according to claim 1, it is characterised in that: the control algolithm uses N-R
Iterative algorithm.
7. a kind of precision compensation method of industrial robot, which is characterized in that the described method includes:
Select one group of object pose, corresponding nominal joint angle group is obtained against solution method using robot kinematics
It closes, is denoted as；
With robot localization error model, the position acquired, angu-lar deviation are combined with nominal joint parameter, are obtained
Robot attained pose of the industrial robot under actual parameter effect, solved again using the method for Inverse Kinematics Solution
Corresponding joint angle variable；
If the initial estimate of joint angle is, and = - , enable = - , it is available:
= - = +
Using N-R iterative algorithm, operation is iterated to above formula, sets final iteration precision value, joint angle is all mended
It repays, it may be assumed that
= + +
It willAgain the normal solution formula for bringing industrial robot into can acquire the correct location of instruction, as the target position of robot
It sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910427459.2A CN109986565A (en) | 2019-05-22 | 2019-05-22 | A kind of control system and precision compensation method of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910427459.2A CN109986565A (en) | 2019-05-22 | 2019-05-22 | A kind of control system and precision compensation method of industrial robot |
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| CN109986565A true CN109986565A (en) | 2019-07-09 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480609A (en) * | 2019-08-20 | 2019-11-22 | 南京博约智能科技有限公司 | A kind of self-compensating robot palletizer of position and attitude error and its palletizing method |
| CN110537981A (en) * | 2019-09-25 | 2019-12-06 | 重庆博仕康科技有限公司 | Photo-magnetic integrated operation navigation terminal |
| CN110893619A (en) * | 2019-11-25 | 2020-03-20 | 上海精密计量测试研究所 | Industrial robot position appearance calibrating device based on laser tracker |
| CN111272166A (en) * | 2020-02-27 | 2020-06-12 | 中国重汽集团济南动力有限公司 | Space positioning method and system based on laser ranging guiding robot |
-
2019
- 2019-05-22 CN CN201910427459.2A patent/CN109986565A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480609A (en) * | 2019-08-20 | 2019-11-22 | 南京博约智能科技有限公司 | A kind of self-compensating robot palletizer of position and attitude error and its palletizing method |
| CN110480609B (en) * | 2019-08-20 | 2021-07-30 | 南京涵铭置智能科技有限公司 | Pose error self-compensation stacking robot and stacking method thereof |
| CN110537981A (en) * | 2019-09-25 | 2019-12-06 | 重庆博仕康科技有限公司 | Photo-magnetic integrated operation navigation terminal |
| CN110893619A (en) * | 2019-11-25 | 2020-03-20 | 上海精密计量测试研究所 | Industrial robot position appearance calibrating device based on laser tracker |
| CN111272166A (en) * | 2020-02-27 | 2020-06-12 | 中国重汽集团济南动力有限公司 | Space positioning method and system based on laser ranging guiding robot |
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Application publication date: 20190709 |
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