CN110065063A - A kind of robot servo motors control method - Google Patents
A kind of robot servo motors control method Download PDFInfo
- Publication number
- CN110065063A CN110065063A CN201810068922.4A CN201810068922A CN110065063A CN 110065063 A CN110065063 A CN 110065063A CN 201810068922 A CN201810068922 A CN 201810068922A CN 110065063 A CN110065063 A CN 110065063A
- Authority
- CN
- China
- Prior art keywords
- robot
- servo motor
- tracker
- classifier
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000001133 acceleration Effects 0.000 claims abstract description 15
- 230000001105 regulatory effect Effects 0.000 claims abstract description 12
- 238000000611 regression analysis Methods 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- B25J9/1692—Calibration of manipulator
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40005—Vision, analyse image at one station during manipulation at next station
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot servo motors control methods, it include: the video of the environment in front of camera shooting robot, each frame image of the video is sent to image analyzing unit by image identification unit, and image analyzing unit calculates the spatial position of robot；The position and direction of gyroscope calculating robot, judge whether the position and direction of robot deviate preset operating path；The current speed of service and acceleration of velocity sensor acquisition robot；According to the spatial position and the departure of the preset path and the current speed of service and acceleration of the robot, the velocity and acceleration that the direction and needs for calculating machine human needs operation are run, servo motor regulating command is generated, servo motor regulating command is sent to servo motor；The servo motor regulating command is generated into corresponding electric voltage frequency, exports the electric voltage frequency by variable frequency drives, servo motor adjusts the revolving speed of servo motor according to the electric voltage frequency.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of robot servo motors control methods.
Background technique
With the continuous development of robot technology, more and more robots start to substitute the various tasks of mankind's execution.Machine
Device people is to automatically control being commonly called as machine (Robot), and automatically controlling machine includes all simulation human behaviors or thought and simulation
The machinery (such as robot dog, Doraemon etc.) of other biological.Have in the narrow sense to the definition of robot there are also many classification and dispute
A little computer programs or even also referred to as robot.In contemporary industry, robot refers to the man-made machine dress that can execute task automatically
It sets, to replace or assist human work.Highly emulated robot in ideal is advanced integral traffic control opinion, mechano-electronic, calculating
Machine and artificial intelligence, materialogy and bionic product, scientific circles research and develop to this direction at present, but robot is remote
Process control is still not perfect, and the application of big data is universal not yet, and also in off-line state, robot is deep for the data acquisition of robot
Degree study is also from the storage of native data.
Servo drive system (Servo System) abbreviation servo-system, be it is a kind of using mechanical location or angle as controlling
The automatic control system of object allows the robot to realize automatic control.Tool is required using the driving motor in servo-system
Have fast response time, accurate positioning, rotary inertia (it is larger using servo motor rotary inertia in electric system, in order to
The mechanical parts such as enough and lead screw are connected directly.
Existing robot, due to calculating the influence of error or environment, be easy to cause machine when preset path is walked
Device people deviates the path being set to, if robot not being corrected and being adjusted, it is more and more remoter that robot will deviate from preset path.
Therefore, how by controlling robot servo motors, robot ambulation direction and speed are corrected in time, is made
Robot is obtained without departing from preset path, becomes those skilled in the art's technical problem urgently to be resolved.
Summary of the invention
The object of the present invention is to provide a kind of robot servo motors control methods, can control excessively to robot servo motors
System corrects robot ambulation direction and speed, so that robot is without departing from preset path in time.
To achieve the goals above, the present invention provides a kind of robot servo motors control methods, comprising the following steps:
1), the video of the environment in front of camera shooting robot, image identification unit send out each frame image of the video
Image analyzing unit is given, image analyzing unit calculates the spatial position of robot；
2), the position and direction of gyroscope calculating robot, judge whether the position and direction of robot deviate preset operation
Path；
3), velocity sensor obtains the current speed of service and acceleration of robot；
If 4), the robot deviates preset path, according to the departure and institute of the spatial position and the preset path
The current speed of service and acceleration for stating robot, calculate machine human needs operation direction and the speed that runs of needs and
Acceleration generates servo motor regulating command, servo motor regulating command is sent to servo motor；
5) the servo motor regulating command, is generated into corresponding electric voltage frequency, exports the voltage frequency by variable frequency drives
Rate, servo motor adjust the revolving speed of servo motor according to the electric voltage frequency.
Preferably, described image recognition unit includes tracker, classifier, integrator, the tracker and classifier
The video information of camera shooting is separately connected and received with camera, and the integrator is separately connected tracker and classifier, described
Integrator is also connected with training set, and the training set is connect with tracker, classifier respectively.
Preferably, the video flowing of the camera output is input to the tracker and the classifier frame by frame, described whole
Clutch analyzes the output of the tracker and the classifier as a result, determining the output result and whether to the training set
Sample is added, resetting is responsible for by classifier when the tracker is with losing, the high degree of belief target that the tracker tracks out is also used
To update classifier.
Preferably, the camera is Miniature high-definition digital camera.
Preferably, whether the position and direction for judging robot deviate preset operating path, comprising: described in judgement
When position and direction are without departing from preset operating path, the node of next operating path interior joint and current location node is calculated
Length calculates current run time based on the current speed of service, acceleration and node's length.
Preferably, described image analytical unit includes video converter, and the video converter is for believing analog video
Number it is converted into digital video signal.
Preferably, the camera includes camera shooting correcting unit, and the camera shooting correcting unit is to acquired image data
Regression analysis is carried out, the data after regression analysis are fitted using polynomial of lower degree.
Robot servo motors control method provided by the invention, by controlling robot servo motors, in time
Robot ambulation direction and speed are corrected, so that robot is without departing from preset path.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of specific embodiment of robot servo motors control method provided by the invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application is carried out clearly and completely
Description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Based on this Shen
Please in embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall in the protection scope of this application.
Fig. 1 is please referred to, Fig. 1 is a kind of specific embodiment of robot servo motors control method provided by the invention
Flow diagram.
As shown in Figure 1, including the following steps the present invention provides a kind of robot servo motors control method.
The video of environment in front of step 1, camera shooting robot, image identification unit is by each frame of the video
Image is sent to image analyzing unit, and image analyzing unit calculates the spatial position of robot；
Step 2, the position and direction of gyroscope calculating robot, judge whether the position and direction of robot deviate preset fortune
Walking along the street diameter；
Step 3, velocity sensor obtain the current speed of service and acceleration of robot；
If step 4, the robot deviate preset path, according to the departure of the spatial position and the preset path and
The current speed of service and acceleration of the robot, the speed that the direction and needs for calculating machine human needs operation are run
And acceleration, servo motor regulating command is generated, servo motor regulating command is sent to servo motor；
The servo motor regulating command is generated corresponding electric voltage frequency by step 5, exports the voltage by variable frequency drives
Frequency, servo motor adjust the revolving speed of servo motor according to the electric voltage frequency.
Robot servo motors control method provided by the invention, by controlling robot servo motors, in time
Robot ambulation direction and speed are corrected, so that robot is without departing from preset path.
In preferred scheme, described image recognition unit includes tracker, classifier, integrator, the tracker and
Classifier and camera are separately connected and receive the video information of camera shooting, and the integrator is separately connected tracker and classification
Device, the integrator are also connected with training set, and the training set is connect with tracker, classifier respectively.
In preferred scheme, the video flowing of the camera output is input to the tracker and the classifier frame by frame,
The integrator analyzes the output of the tracker and the classifier as a result, determining the output result and whether to described
Training set adds sample, is responsible for resetting, the high degree of belief mesh that the tracker tracks out by classifier when the tracker is with losing
Mark is also used to update classifier.
In preferred scheme, the camera is Miniature high-definition digital camera.
In preferred scheme, whether the position and direction for judging robot deviate preset operating path, comprising: sentence
When breaking the position and direction without departing from preset operating path, next operating path interior joint and current location node are calculated
Node's length, current run time is calculated based on the current speed of service, acceleration and node's length.
In preferred scheme, described image analytical unit includes video converter, and the video converter will be for that will simulate
Vision signal is converted into digital video signal.
In preferred scheme, the camera includes camera shooting correcting unit, and the camera shooting correcting unit is to collected figure
As data progress regression analysis, the data after regression analysis are fitted using polynomial of lower degree.It can by camera shooting correcting unit
To substantially reduce the influence of noise in ambient image, available more accurate location information.
Structure, feature and effect of the invention, the above institute are described in detail based on the embodiments shown in the drawings
Only presently preferred embodiments of the present invention is stated, but the present invention does not limit the scope of implementation as shown in the drawings, it is all according to structure of the invention
Think made change or equivalent example modified to equivalent change, when not going beyond the spirit of the description and the drawings,
It should all be within the scope of the present invention.
Claims (7)
1. a kind of robot servo motors control method, which comprises the following steps:
1), the video of the environment in front of camera shooting robot, image identification unit send out each frame image of the video
Image analyzing unit is given, image analyzing unit calculates the spatial position of robot；
2), the position and direction of gyroscope calculating robot, judge whether the position and direction of robot deviate preset operation
Path；
3), velocity sensor obtains the current speed of service and acceleration of robot；
If 4), the robot deviates preset path, according to the departure and institute of the spatial position and the preset path
The current speed of service and acceleration for stating robot, calculate machine human needs operation direction and the speed that runs of needs and
Acceleration generates servo motor regulating command, servo motor regulating command is sent to servo motor；
5) the servo motor regulating command, is generated into corresponding electric voltage frequency, exports the voltage frequency by variable frequency drives
Rate, servo motor adjust the revolving speed of servo motor according to the electric voltage frequency.
2. robot servo motors control method according to claim 1, which is characterized in that described image recognition unit packet
Tracker, classifier, integrator are included, the tracker and classifier and camera are separately connected and receive the video letter of camera shooting
Breath, the integrator are separately connected tracker and classifier, and the integrator is also connected with training set, the training set respectively with
Tracker, classifier connection.
3. robot servo motors control method according to claim 2, which is characterized in that the view of the camera output
Frequency stream is input to the tracker and the classifier frame by frame, and the integrator analyzes the defeated of the tracker and the classifier
Out as a result, determining the output result and whether to training set addition sample, by classifier when the tracker is with losing
It is responsible for resetting, the high degree of belief target that the tracker tracks out is also used to update classifier.
4. robot servo motors control method according to claim 1, which is characterized in that the camera is miniature
High-definition digital camera.
5. robot servo motors control method according to claim 1, which is characterized in that the position of the judgement robot
It sets with whether direction deviates preset operating path, comprising: judge the position and direction without departing from preset operating path
When, the node's length of next operating path interior joint and current location node is calculated, the current speed of service, acceleration and section are based on
Point length computation current run time.
6. robot servo motors control method according to claim 1, which is characterized in that described image analytical unit packet
Video converter is included, the video converter is used to analog video signal being converted into digital video signal.
7. robot servo motors control method according to claim 1, which is characterized in that the camera includes camera shooting
Correcting unit, the camera shooting correcting unit carry out regression analysis to acquired image data, and the data after regression analysis use
Polynomial of lower degree is fitted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068922.4A CN110065063A (en) | 2018-01-24 | 2018-01-24 | A kind of robot servo motors control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810068922.4A CN110065063A (en) | 2018-01-24 | 2018-01-24 | A kind of robot servo motors control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110065063A true CN110065063A (en) | 2019-07-30 |
Family
ID=67365570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810068922.4A Pending CN110065063A (en) | 2018-01-24 | 2018-01-24 | A kind of robot servo motors control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110065063A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040062038A (en) * | 2002-12-31 | 2004-07-07 | 엘지전자 주식회사 | Gyro offset compensation method of robot cleaner |
| CN102514011A (en) * | 2011-12-28 | 2012-06-27 | 王鹏勃 | Multi-degree-of-freedom robot controlled by accurate organism sensing and achieving method thereof |
| CN102581445A (en) * | 2012-02-08 | 2012-07-18 | 中国科学院自动化研究所 | Visual real-time deviation rectifying system and visual real-time deviation rectifying method for robot |
| CN103335652A (en) * | 2013-06-24 | 2013-10-02 | 陕西科技大学 | Dining room path navigation system and method of robot |
| CN106569499A (en) * | 2016-11-11 | 2017-04-19 | 华南智能机器人创新研究院 | Robot adaptive control servo driving method and system |
| CN107030693A (en) * | 2016-12-09 | 2017-08-11 | 南京理工大学 | A kind of hot line robot method for tracking target based on binocular vision |
-
2018
- 2018-01-24 CN CN201810068922.4A patent/CN110065063A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040062038A (en) * | 2002-12-31 | 2004-07-07 | 엘지전자 주식회사 | Gyro offset compensation method of robot cleaner |
| CN102514011A (en) * | 2011-12-28 | 2012-06-27 | 王鹏勃 | Multi-degree-of-freedom robot controlled by accurate organism sensing and achieving method thereof |
| CN102581445A (en) * | 2012-02-08 | 2012-07-18 | 中国科学院自动化研究所 | Visual real-time deviation rectifying system and visual real-time deviation rectifying method for robot |
| CN103335652A (en) * | 2013-06-24 | 2013-10-02 | 陕西科技大学 | Dining room path navigation system and method of robot |
| CN106569499A (en) * | 2016-11-11 | 2017-04-19 | 华南智能机器人创新研究院 | Robot adaptive control servo driving method and system |
| CN107030693A (en) * | 2016-12-09 | 2017-08-11 | 南京理工大学 | A kind of hot line robot method for tracking target based on binocular vision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110573308B (en) | Computer-based method and system for spatial programming of robotic devices | |
| CN110355751B (en) | Control device and machine learning device | |
| Galvane et al. | Automated cinematography with unmanned aerial vehicles | |
| US11429854B2 (en) | Method and device for a computerized mechanical device | |
| CN113412178B (en) | Robot control device, robot system, and robot control method | |
| CN110561430B (en) | Robot assembly track optimization method and device for offline example learning | |
| EP3442755A1 (en) | Programming a robot by demonstration | |
| CN115026835B (en) | A method for overall performance tuning of a robot manipulator servo system | |
| JP2022060201A (en) | Robot camera control via motion capture | |
| CN112638596A (en) | Autonomous learning robot device and method for generating operation of autonomous learning robot device | |
| US20170039671A1 (en) | Robotic self-filming system | |
| Baldini et al. | Learning pose estimation for UAV autonomous navigation and landing using visual-inertial sensor data | |
| Zein et al. | Deep learning and mixed reality to autocomplete teleoperation | |
| Lee et al. | Incremental motion primitive learning by physical coaching using impedance control | |
| Jankowski et al. | From key positions to optimal basis functions for probabilistic adaptive control | |
| Kim et al. | Dynamic modeling and motion control of a three-link robotic manipulator | |
| CN110065063A (en) | A kind of robot servo motors control method | |
| CN112757273A (en) | Method, system and device for editing and visualizing track of mechanical arm and storage medium | |
| US11712804B2 (en) | Systems and methods for adaptive robotic motion control | |
| US20220324116A1 (en) | Systems and Methods for Automated Tuning of Robotics Systems | |
| Gloye et al. | Predicting away robot control latency | |
| WO2023092720A1 (en) | Collaborative robot control system and method | |
| Cheng et al. | Tracking control design and implementation of multiaxial controller for social robotic devices | |
| Bai et al. | Strategy with machine learning models for precise assembly using programming by demonstration | |
| Arsenopoulos et al. | A human-robot interface for industrial robot programming using RGB-D sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190730 |
|
| RJ01 | Rejection of invention patent application after publication |