CN110026980A - A kind of control method of mechanical arm controlling terminal - Google Patents
A kind of control method of mechanical arm controlling terminal Download PDFInfo
- Publication number
- CN110026980A CN110026980A CN201910269654.7A CN201910269654A CN110026980A CN 110026980 A CN110026980 A CN 110026980A CN 201910269654 A CN201910269654 A CN 201910269654A CN 110026980 A CN110026980 A CN 110026980A
- Authority
- CN
- China
- Prior art keywords
- interaction screen
- user
- mechanical arm
- location information
- control method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The present invention provides a kind of control methods of mechanical arm controlling terminal, the mechanical arm is placed on working face and its end is removable, the controlling terminal includes interaction screen, the control method includes: to establish three-axis reference according to the original state of mechanical arm, the three-axis reference forms three viewing planes, and the viewing plane includes xoy plane, xoz plane, yoz plane, wherein xoy plane and working face are overlapped or parallel；Interaction screen display manipulator model and three-axis reference model；Select a viewing plane, view of the interaction screen display manipulator model under the viewing plane；Interaction screen display mobile range；Obtain first location information of the user on interaction screen；Obtain second location information of the user on interaction screen；Calculate the primary vector between second location information and first location information；According to the mobile secondary vector of primary vector information computer tool arm；Mechanical arm mobile secondary vector on the viewing plane.
Description
Technical field
The invention belongs to a kind of control method of mechanical arm controlling terminal, especially a kind of mechanical arm control based on interaction screen
The control method of terminal processed.
Background technique
Robot demonstrator is usually connected with the control terminal of robot, thus to robot carry out manually handle,
Programming, parameter configuration and monitoring.Usually there is a display screen, to show the mould of robot on the teaching machine of robot
Type, and robot can be controlled by teaching machine.
Function in the teaching machine that existing mechanical arm manufacturer provides usually with mechanical arm tail end control, by teaching
Mobile mechanical arm end in device can also manipulate mechanical arm accordingly.Mechanical arm usually have upper and lower, left and right, it is preceding,
Six moving directions afterwards lead to correspondingly, also usually only providing the button (as shown in Figure 1) of six direction in existing teaching machine
It crosses user and clicks button to control the position of mechanical arm tail end.
But the movement of six direction is only provided, seem especially stiff to the manipulation of mechanical arm in teaching machine, user's sense
By also not intuitive；Also, the user poor for spatial impression is difficult quickly to determine the moving direction of mechanical arm, to cause
Maloperation.
Therefore, it is necessary to design a kind of new mechanical arm teaching machine, the i.e. control method of mechanical arm controlling terminal.
Summary of the invention
One of in order to solve the above problem, the present invention provides a kind of control method of mechanical arm controlling terminal, the mechanical arms
It is placed on working face and its end is removable, the controlling terminal includes interaction screen, and the control method includes: according to machine
The original state of tool arm establishes three-axis reference, which forms three viewing planes, and the viewing plane includes xoy
Plane, xoz plane, yoz plane, wherein xoy plane and working face are overlapped or parallel；Interaction screen display manipulator model
With three-axis reference model；Select a viewing plane, view of the interaction screen display manipulator model under the viewing plane；
Interaction screen display mobile range；Obtain first location information of the user on interaction screen；User is obtained on interaction screen
Second location information；Calculate the primary vector between second location information and first location information；According to primary vector information meter
Calculate the mobile secondary vector of mechanical arm；Mechanical arm mobile secondary vector on the viewing plane.
As a further improvement of the present invention, the mobile range is formed around mechanical arm tail end.
As a further improvement of the present invention, the mobile range is rounded.
As a further improvement of the present invention, the step " interaction screen display mobile range " specifically includes: interaction
Mobile range and irremovable range are shown simultaneously on screen, are formed and are separated between the mobile range and irremovable range
Line.
As a further improvement of the present invention, described " obtaining first location information of the user on interaction screen " the specific packet
It includes: obtaining first contact information of the user on interaction screen, and first contact information is corresponding into three-axis reference, calculate
Obtain first location information.
As a further improvement of the present invention, described " obtaining first contact information of the user in interactive screen " the specific packet
It includes: obtaining user in interaction and shield the touch residence time t of upper first position, and judge to touch residence time t and activationary time t1
Size；If t >=t1, which is corresponded into three-axis reference to obtain first location information.
As a further improvement of the present invention, step " obtaining first location information of the user on interaction screen " and step
It include: interactive screen display pointer pattern between " obtaining user in the second location information on interaction screen ", and the pointer pattern
Positioned at mechanical arm tail end.
As a further improvement of the present invention, described " obtaining second location information of the user on interaction screen " the specific packet
It includes: obtaining second contact information of the user on interaction screen, and second contact information is corresponding into three-axis reference, calculate
Obtain second location information.
As a further improvement of the present invention, " obtaining second contact information of the user on interaction screen " includes: to obtain to use
The sliding trace of the clicking operation or user of the upper second position on interaction screen is shielded in interaction in family, to obtain the second contact information.
As a further improvement of the present invention, step " according to the mobile secondary vector of primary vector information computer tool arm "
In: primary vector is identical with the direction of secondary vector, and the ratio between the length of primary vector and the length of secondary vector is one
Fixed value.
Compared with prior art, family can be used by pre-establishing three-axis reference and three viewing planes in the present invention
Manipulator model is rotated to a suitable angle, with user-friendly in advance；Screen display mobile range is being interacted again,
To may make user to judge that mechanical arm is moved always in suitable range, maloperation is prevented.Finally, passing through first
The acquisition of confidence breath and second location information can determine whether size and the side of the mobile primary vector of operation of the user on interaction screen
To, and then can also further control the movement of mechanical arm so that operation is more intuitive, conveniently, and do not have to other side to size into
The moving operation of row repeatedly.
Detailed description of the invention
Fig. 1 is the control button schematic diagram of teaching machine in the prior art；
Fig. 2 is the flow chart of the control method of mechanical arm controlling terminal of the present invention.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
As shown in Fig. 2, the present invention provides a kind of control methods of mechanical arm controlling terminal.In the present embodiment, institute
It states controlling terminal and refers to robot demonstrator.Mechanical arm at work, is placed on working face, and its end is removable, with
It is lower to be placed on horizontal plane for the convenience of description, setting the mechanical arm, certainly, if the mechanical arm is placed in other planes,
It then also can reach the purpose of the present invention.In the present embodiment, the mechanical arm have six-freedom degree, can front-rear direction,
It can be moved and be rotated on left and right directions, vertical direction.
The controlling terminal includes interaction screen, can show model and other information of mechanical arm etc. on interaction screen.The interaction screen
It can be touch screens, can also be capacitance plate, in the present embodiment, using the touch screens that can directly carry out touch control with finger.
Specifically, the control method includes:
Three-axis reference is established according to the original state of mechanical arm, which forms three viewing planes, described
Viewing plane includes xoy plane, xoz plane, yoz plane, and wherein xoy plane is overlapped or parallel with working face；
Interaction screen display manipulator model and three-axis reference model；
Select a viewing plane, view of the interaction screen display manipulator model under the viewing plane；
Interaction screen display mobile range；
Obtain first location information of the user on interaction screen；
Obtain second location information of the user on interaction screen；
Calculate the primary vector between second location information and first location information；
According to the mobile secondary vector of primary vector information computer tool arm；
Mechanical arm mobile secondary vector on the viewing plane.
It therefore, can be directly by the rotation of manipulator model to the view for facilitating operation, Jin Er by selecting viewing plane
The end of mechanical arm is operated, it is more efficient.It, can also be flat by selection observation for the not strong user of sense of direction
Face rotates manipulator model to the direction for facilitating observation, and then carries out the control of mechanical arm tail end again, user-friendly.
Moreover, determining the mobile direction of mechanical arm tail end and distance by obtaining first location information and second location information, compare
The prior art, it is possible to provide the direction of more multioperation, the step of operation are also more convenient.
Specifically, since three-axis reference is x-y-z coordinate system, so that three viewing planes are xoy plane, xoz plane,
Yoz plane.The button for representing three viewing planes, in the present embodiment, interaction are provided on teaching machine or interaction screen
There are three the buttons for screen display.Also, specifically, G button represents yoz plane, R represents xoy plane, and it is flat that C represents xoz
Face.
Therefore, in the present embodiment, since wherein xoy plane is overlapped with working face or parallel, thus, selection
Button G, then manipulator model switches to its front display；Button R is selected, then manipulator model switches to its side and shows；
Button C is selected, then manipulator model switches to its top surface and shows.
After having selected a viewing plane, interaction screen is upper and then shows mobile range.The mobile range is machinery
The moveable range in arm end, the range are determined by the structure feature of mechanical arm.It is common, in the present embodiment, due to
The mechanical arm is the mechanical arm with six-freedom degree, therefore the mobile range of mechanical arm tail end is one in three-axis reference
A spherical shape.Thus, on interaction screen, due to having determined that the screen shown, the removable model of interaction screen display before
It encloses for a circle, and the mobile range is formed around mechanical arm tail end.
Certainly, in order to distinguish with mobile range, irremovable range, the removable model are also shown on interaction screen
It encloses and forms separator bar between irremovable range.In the present embodiment, the mobile range and irremovable range are adopted
With different color markings.
Further, it " obtains first location information of the user on interaction screen " to specifically include: obtaining user and shield in interaction
On the first contact information, and it is first contact information is corresponding into three-axis reference, calculate and obtain first location information.Tool
Body, " obtaining first contact information of the user in interactive screen " specifically includes:
When obtaining user and shield the touch residence time t of upper first position in interaction, and judging to touch residence time t and activation
Between t1 size；
If t >=t1, which is corresponded into three-axis reference to obtain first location information.
That is, residence time t of the user at first position is calculated when user touches at the first position of interaction screen,
When residence time t is more considerable to be got at up to activationary time t1, then confirm that the first position be the start bit operated, and calculate
Obtain the first location information.Certainly, which can be any position on interaction screen.
Also, user in the present embodiment, is being obtained in the first location information on interaction screen, can also on interaction screen
Show pointer pattern, and the pointer pattern is located at the end of mechanical arm.The pointer pattern signifies the gesture operation of user, certainly,
The pointer pattern can be with the end synchronizing moving of mechanical arm.Specifically, touching simultaneously residence time t at first position in user
After activationary time t1, then the pointer pattern can be shown in the end of mechanical arm.Also, the pointer pattern with
Family interaction screen on operation, also can accordingly interaction screen on move, so as to facilitate user observe pointer pattern whether
It is moved in mobile range, prevents mobile range excessive.
Likewise, " obtaining second location information of the user on interaction screen " specifically includes:
Second contact information of the user on interaction screen is obtained, and second contact information is corresponding to three-axis reference
In, it calculates and obtains second location information.
Then, specifically, " obtaining second contact information of the user on interaction screen " includes:
It obtains user and shields the sliding trace of the clicking operation or user of the upper second position on interaction screen in interaction, to obtain
Second contact information.
The second position is the end position that user is operated from section start.But mobile mode can be for the
Clicking operation at two positions or since the slide first position to the second position.In the present embodiment, it uses
Slide.Specifically, user slides on interaction screen from first position to the second position, meanwhile, above-mentioned pointer pattern
And mechanical arm tail end is also moved from initial position, and mobile distance and direction and first position to the second position the
One vector is identical, so as to directly judge that the movement of manipulator model whether in mobile range, and then also can determine whether machinery
Whether the movement of arm is in mobile range.
Finally, between primary vector and the secondary vector of mechanical arm movement, there are direct relationships, specifically, primary vector
It is identical with the direction of secondary vector, and the ratio between length is a fixed value.To which the operation of upper user is shielded in interaction, can also
It is pointing directly at and shields the movement of upper manipulator model in interaction, the movement in mechanical arm can also be pointing directly at.Therefore, user can be passed through
Operation on interaction screen, controls the movement of mechanical arm tail end.
In conclusion the present invention family can be used in advance will by pre-establishing three-axis reference and three viewing planes
Manipulator model is rotated to a suitable angle, with user-friendly.Screen display mobile range is being interacted again, so as to
So that user judges that mechanical arm is moved always in suitable range, maloperation is prevented.Finally, passing through first location information
With the acquisition of second location information, the size and Orientation of the mobile primary vector of operation of the user on interaction screen can determine whether, into
And the movement of mechanical arm can also be further controlled, so that operation is more intuitively, conveniently, and does not have to other side and carried out repeatedly to size
Moving operation.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art
The other embodiments that member is understood that.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope that is bright, being not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention or change
More it should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of control method of mechanical arm controlling terminal, which is placed on working face and its end is removable, institute
Stating controlling terminal includes interaction screen, which is characterized in that the control method includes:
Three-axis reference is established according to the original state of mechanical arm, which forms three viewing planes, the observation
Plane includes xoy plane, xoz plane, yoz plane, and wherein xoy plane is overlapped or parallel with working face；
Interaction screen display manipulator model and three-axis reference model；
Select a viewing plane, view of the interaction screen display manipulator model under the viewing plane；
Interaction screen display mobile range；Obtain first location information of the user on interaction screen；
Obtain second location information of the user on interaction screen；
Calculate the primary vector between second location information and first location information；
According to the mobile secondary vector of primary vector information computer tool arm；
Mechanical arm mobile secondary vector on the viewing plane.
2. control method according to claim 1, which is characterized in that the mobile range surrounds mechanical arm tail end shape
At.
3. control method according to claim 2, which is characterized in that the mobile range is rounded.
4. control method according to claim 1, which is characterized in that the step " interaction screen display mobile range "
It specifically includes:
Interaction screen is upper while showing mobile range and irremovable range, between the mobile range and irremovable range
Form separator bar.
5. control method according to claim 1, which is characterized in that described " to obtain first of user on interaction screen
Confidence breath " specifically includes:
First contact information of the user on interaction screen is obtained, and first contact information is corresponding into three-axis reference, meter
It calculates and obtains first location information.
6. control method according to claim 5, which is characterized in that described " to obtain first of user in interactive screen
Contact information " specifically includes:
It obtains user and shields the touch residence time t of upper first position in interaction, and judge to touch residence time t and activationary time t1
Size；
If t >=t1, which is corresponded into three-axis reference to obtain first location information.
7. control method according to claim 1, which is characterized in that step " obtains first of user on interaction screen
Include: between confidence breath " and step " obtaining user in the second location information on interaction screen "
Interaction screen display pointer pattern, and the pointer pattern is located at mechanical arm tail end.
8. control method according to claim 1, which is characterized in that described " to obtain second of the user on interaction screen
Confidence breath " specifically includes:
Second contact information of the user on interaction screen is obtained, and second contact information is corresponding into three-axis reference, meter
It calculates and obtains second location information.
9. control method according to claim 8, which is characterized in that " obtain second contact of the user on interaction screen to believe
Cease " include:
It obtains user and shields the sliding trace of the clicking operation or user of the upper second position on interaction screen in interaction, to obtain second
Contact information.
10. control method according to claim 1, which is characterized in that step is " according to primary vector information computer tool arm
In mobile secondary vector ": primary vector is identical with the direction of secondary vector, the length of primary vector and the length of secondary vector
Between ratio be a fixed value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910269654.7A CN110026980A (en) | 2019-04-04 | 2019-04-04 | A kind of control method of mechanical arm controlling terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910269654.7A CN110026980A (en) | 2019-04-04 | 2019-04-04 | A kind of control method of mechanical arm controlling terminal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110026980A true CN110026980A (en) | 2019-07-19 |
Family
ID=67237492
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910269654.7A Withdrawn CN110026980A (en) | 2019-04-04 | 2019-04-04 | A kind of control method of mechanical arm controlling terminal |
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| CN108789403A (en) * | 2017-04-26 | 2018-11-13 | 发那科株式会社 | Operating device, robot system and operating method |
| CN108789457A (en) * | 2017-04-28 | 2018-11-13 | 欧姆龙株式会社 | Industrial robot, controller and control method |
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2019
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Patent Citations (10)
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|---|---|---|---|---|
| EP1512499A2 (en) * | 2003-09-02 | 2005-03-09 | Fanuc Ltd | Robot having a camera mounted at the distal end of its arm and method for operating such a robot |
| CN101101529A (en) * | 2006-05-23 | 2008-01-09 | Lg电子株式会社 | Controlling pointer movements on a touch sensitive screen of a mobile terminal |
| US20120013534A1 (en) * | 2010-07-19 | 2012-01-19 | Samsung Electronics Co., Ltd. | Display apparatus and control method thereof |
| CN103150045A (en) * | 2011-12-07 | 2013-06-12 | 义隆电子股份有限公司 | Method for improving function of preventing touch of touch panel from error touch |
| CN103142248A (en) * | 2013-03-22 | 2013-06-12 | 飞依诺科技(苏州)有限公司 | Measuring method for touch screen ultrasonic diagnosis instrument and touch screen ultrasonic diagnosis instrument |
| CN104102336A (en) * | 2013-04-09 | 2014-10-15 | 三星电子株式会社 | Portable device and method for providing non-contact interface |
| CN104123046A (en) * | 2013-04-29 | 2014-10-29 | 纬创资通股份有限公司 | Method for judging touch gesture by touch system and touch system |
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Application publication date: 20190719 |