CN110181520A - Multi-axis robot control system and its control method - Google Patents
Multi-axis robot control system and its control method Download PDFInfo
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- CN110181520A CN110181520A CN201910571722.5A CN201910571722A CN110181520A CN 110181520 A CN110181520 A CN 110181520A CN 201910571722 A CN201910571722 A CN 201910571722A CN 110181520 A CN110181520 A CN 110181520A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
Multi-axis robot control system and its control method, the control system include master board, and master board includes: operator interface, for connecting multiaxis manual synchronization operator, to transmit the control information that multiaxis manual synchronization operator is sent；Memory, for storing the track data of control information and optimization that multiaxis manual synchronization operator is sent；Controller, for calculating the control information of storage, coordinate information, the optimization running track of transition point and target point are obtained, and by the track data optimized storage into memory, and it is sent to servo-driver, control multi-axis robot is run according to the track optimized；Servo-driver interface, for connecting servo-driver.The invention also includes multi-axis robot control methods.The present invention is without hysteresis quality, precision height, calculating simply, it can be achieved that robot truly is used without programming.
Description
Technical field
The present invention relates to multi-axis robot control field, especially a kind of multi-axis robot control system and its controlling party
Method.
Background technique
Multi-axis robot is the custom manufactured devices of industrial automation, and multi-axis robot is usually four to six axis machines
People is able to carry out the tasks such as carrying, stacking, welding, spraying, assembly.Multi-axis robot generally includes " arm " and " wrist "
Multiple rotatable axis are arranged in arm and wrist joint in joint, and by its rotation of motor control at each axis, to be formed more
Axis robot.
The mode of operation of existing multi-axis robot control system is primarily present following defect: (1) needing to obtain sensor
The detection information obtained is then forwarded to motor driver after pre-processing by controller, significantly generation hysteresis quality；(2) existing is all logical
The various decomposition of various algorithms are crossed to obtain the running track of robot, a kind of utilizes virtual reality as CN107214702A is disclosed
Handle determines the method and system for planning of robot trajectory, is to obtain each discrete point to be linked to be broken line, and obtain by way of interpolation
The running track of robot is obtained, this mode can make to calculate complexity, and need to consider the peace of the entire stationarity in operating process
Slip；(3) running track of robot needs usually is set by writing operation program, this mode is to the special of operator
Industry skill requirement is higher, inefficient, popularizes more difficult；(4) human body attitude variation is scanned by camera to control robot
Technology so that technical difficulty is big, at high cost, precision is low, there is biggish hysteresis quality.
Summary of the invention
A kind of no hysteresis quality is provided the purpose of the present invention is overcoming the above-mentioned insufficient of the prior art, precision is high, calculates letter
It is single, multi-axis robot control system and its control method without programming.
The technical scheme is that
The multiaxis robot control system of the present invention, including master board, the master board include:
Operator interface, for connecting multiaxis manual synchronization operator, to transmit the control that multiaxis manual synchronization operator is sent
Information processed, operation pulse, direction, aiming spot and transition dot position information including detection multi-axis robot rotation；Wherein,
Transition point be multi-axis robot needed in running track by position；Target point is the position that multi-axis robot executes task
It sets；
Memory completes track to be run for storing control information that multiaxis manual synchronization operator is sent and optimization
Data；
Controller obtains coordinate information, the optimization operation of transition point and target point for calculating the control information of storage
Track, by the track data optimized storage into memory；Extract the track data optimized when operation into memory again,
It is sent to servo-driver under the control of the controller again, control multi-axis robot is run according to the track optimized；
Servo-driver interface, for connecting servo-driver, to be sent out to servo-driver transmission multiaxis manual synchronization operator
The control information sent extracts the track data optimized from memory；The quantity and each axis of multi-axis robot of servo-driver
The quantity of motor is corresponding.
Further, the master board further include:
Remote communication interface realizes remote operation for accessing network；
Video interface monitors the posture of robot in real time, and collected vision signal is passed through network for connecting camera
To operation distal end, the information of multiaxis manual synchronization operator is passed through network transmission to controller by operation distal end for synchronous driving.
Further, the master board further includes following at least one interface:
USB interface, for realizing being connected and communicate with for control system and external equipment；
Man-machine collaboration safe interface, for connecting safety sensor, once detect that multi-axis robot touches barrier, safety
Sensor sends information to controller, and controller control servo-driver acts multi-axis robot stopping, eliminating in barrier
Afterwards, multi-axis robot will continue unfinished operation program since rest position；
Robot limit and safe interface for connecting limit sensors it is each to limit multi-axis robot by limit sensors
The amplitude peak that axis is swung；
Man-machine interface communication interface realizes human-computer interaction for carrying out the relative parameters setting of multi-axis robot；
Encoder feedback interface, for feeding back rotation angle/position of the motor on multi-axis robot, then after being handled by controller
Servo-driver is sent control signals to control motor status or position；
General purpose I/O Interface controls external status for receiving external attitude and output, and in the linkage of You Duotai robot
Coordinate.
Further, the multiaxis manual synchronization operator connects controller, under control of the controller by the control
Information processed
It is sent to controller and servo-driver simultaneously, the servo-drive output end of controller is connected to through servo-driver interface
Servo-driver.
The multiaxis robot control method of the present invention, comprising the following steps:
In the state of multiaxis manual synchronization operator typing running track, the input port of multiaxis manual synchronization operator is beaten
It opens, the corresponding operator interface of controller is in reception state, corresponding servo-driver interface in an ON state；Multiaxis hand
Dynamic simultaneously operating device is simultaneously, the synchronous control information that sends is to controller and multiple servo-drivers；The control information includes inspection
Survey operation pulse, direction, aiming spot and the transition dot position information of multi-axis robot rotation；Controller is deposited by memory
Store up the control information；Multiple servo-drivers then remove the motor at each axis of control multi-axis robot according to the control information
Make；
Under calculating state, controller calculates the control information of storage, the coordinate information of acquisition transition point and target point,
Optimize running track；The information calculated stores stand-by to memory again；
In the state that multi-axis robot is run according to setting track, the port shutdown of multiaxis manual synchronization operator, controller
Corresponding port is in output state, and controller takes out track data in memory, is sent to servo-driver, in conjunction with coding
Device feedback, forms closed-loop control, runs to control multi-axis robot according to the track of setting.
Further, under remote operation state, controller monitors machine in real time by access camera and network, camera
The posture of people, and by collected vision signal, operation distal end is transmitted to by Network Synchronization, while will be manual in operation distal end
The signal of operating control handle realizes remote visualization operation by network transmission to controller.
Further, in the state of the multiaxis manual synchronization operator typing running track, when multiaxis manual synchronization is grasped
When having at least two as device, then the input port of one of multiaxis manual synchronization operator is selected to open, other multiaxises are manual
The input port of simultaneously operating device is closed.
Further, the coordinate information acquisition methods of the transition point and target point are as follows:
The pulse of each axis and directional information are segmented using the position of target point and transition point as node respectively；
Calculate each every section of axis effective impulse number and total direction；
Using the origin of multi-axis robot as starting point coordinate, calculates multi-axis robot and be moved to after transition point or target point relative to original
The coordinate and angle step of point or previous transition point (or target point).
Further, the method for the optimization running track are as follows:
The pulse of each axis and directional information are segmented using the position of target point and transition point as node respectively, and by every section point
For accelerating sections, at the uniform velocity section, braking section；
It is foundation by the bulk velocity of setting, calculates the speed of the at the uniform velocity section of each axis, is calculated and added again on the basis of this speed
The effective impulse number of fast curve, deceleration curve and each every section of axis；
Data after optimization store in memory；
Controller presses certain I/O mouthful transmission running track data of rate, goes to control servo-driver, makes multi-axis robot by setting
The track operation set.
It further, further include setting, calculating state, the port of only man-machine interface communication input is opened, remaining port
All close.
Beneficial effects of the present invention:
(1) master board connects by setting operator interface, servo-driver interface, and by multiaxis manual synchronization operator
Operator interface is connect, servo goes driver to connect servo-driver interface, so that multiaxis manual synchronization operator can be sent simultaneously
Information is controlled to controller and servo-driver, rather than is then forwarded to servo-driver after controller is handled, to have
Imitate the hysteresis quality of elimination system；
(2) by multiaxis manual synchronization operator simultaneously, it is synchronous to controller and servo-driver transmission operation pulse, direction,
Aiming spot and transition dot position information, the robot that can be realized real meaning are used without programming, only need to be according to target point
Track is confirmed with transition point, it is whether steady not in limit of consideration in the process, only ensure target point and transition point position accurately i.e.
Can, without complicated calculation formula, greatly simplify program, it is ensured that operation real-time；
(3) due to without programming, on the one hand, the training without profession just will use: in the operation difficulty of all robots,
Robot operation be it is simplest, usual short-term cultivation robot manipulation generally requires 3 months, and robot training on operation
Only need 1 hour；On the other hand, no matter change or newly-increased robot operation program, all used time are most short: is for example skilled with one
Robot operator compiles the work of 2 hours operation programs, and with this system, due to not having to programming, common employee just finishes for 5 minutes；
Furthermore due to simple, programming is not had to, and intuitive, this system can change current recruitment mode (including system to a certain extent
Make industry and service trade), on some posies, the same day for introducing this system robot can upper post work；
(4) by setting video interface, for connecting camera, the posture of robot is monitored in real time, and by collected video
Signal is transmitted to operation distal end by Network Synchronization, and multiaxis manual synchronization operator is also communicated with operation distal end, is being grasped
Make distal end for the information of multiaxis manual synchronization operator by network transmission to controller, realizes remote visualization simultaneously operating；
Field personnel can be reduced in this way, improve working environment；It requires to be super-clean environment and gnotobasis at the scene, without live people
The probability of cross contamination can be greatly lowered in the intervention of member.There is the occasion of security risk at the scene, operation can not ensure at the scene
Personal safety.In the case where needing ultraprecise to operate, robot, which carries camera, can not only approach operation object, also variable
Coke, the resolution ratio of the image generated in this way can be much higher than the resolution ratio of people's naked eyes, to realize the operation of ultraprecise；
(5) multiaxis manual synchronization operator is connected by setting operator interface, sensing is installed on the arm of people compared to existing
Device controls multi-axis machine human action or is directly gone for moving robotic arm by manpower, not only time saving and energy saving, but also
Also precision is high, high reliablity, no hysteresis quality；And setting target point key and transition point are pressed on multiaxis manual synchronization operator
Key accurately can quickly confirm the trace information of robot.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of master board of the embodiment of the present invention；
Fig. 2 is control method flow chart of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram that the present invention implements six-joint robot；
Fig. 4 is the structural schematic diagram that the present invention implements six axis simultaneously operating devices；
Fig. 5 is the structural schematic diagram of electronic hand wheel of the embodiment of the present invention；
Fig. 6 is the schematic diagram of internal structure of embodiment illustrated in fig. 5 electronic hand wheel.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
Multi-axis robot control system of the invention as shown in Figure 1:, including master board, the master board include: behaviour
Make device interface, for connecting multiaxis manual synchronization operator, to transmit the control information that multiaxis manual synchronization operator is sent,
The control information includes detecting the operation pulse of multi-axis robot rotation, direction, aiming spot and transition point position letter
Breath；Wherein, transition point be multi-axis robot needed in running track by position；Target point is that multi-axis robot execution is appointed
The position of business.The multiaxis manual synchronization operator of the present embodiment can be one, be also possible to multiple, and the present embodiment preferably includes
Two operators of multi-axial Simultaneous operator and electronic hand wheel, therefore two interfaces, i.e. multi-axial Simultaneous operator interface and electricity are set
Sub- handwheel interface.
Memory, the control information sent for storing multiaxis manual synchronization operator, and the track number optimized
According to；
Controller obtains coordinate information, the optimization operation of transition point and target point for calculating the control information of storage
Track, by the track data optimized storage into memory；Extract the track data optimized when operation into memory again,
It is sent to servo-driver under the control of the controller again, control multi-axis robot is run according to the track optimized；
Servo-driver interface, for connecting servo-driver, to be sent out to servo-driver transmission multiaxis manual synchronization operator
The control information sent extracts the track data optimized from memory；The quantity and each axis of multi-axis robot of servo-driver
The quantity of motor is corresponding.
Remote communication interface realizes remote operation for accessing network；Remote communication interface can be ethernet communication and connect
Mouth or wireless communication interface；
Video interface monitors the posture of robot in real time, and collected vision signal is passed through network for connecting camera
To operation distal end, the information of multiaxis manual synchronization operator is passed through network transmission to controller by operation distal end for synchronous driving.
USB interface, for realizing being connected and communicate with for control system and external equipment；
Man-machine collaboration safe interface, for connecting safety sensor, once detect that multi-axis robot touches barrier, safety
Sensor sends information to controller, and controller control servo-driver acts multi-axis robot stopping, eliminating in barrier
Afterwards, multi-axis robot will continue unfinished operation program since rest position；
Robot limit and safe interface for connecting limit sensors it is each to limit multi-axis robot by limit sensors
The amplitude peak that axis is swung；
Man-machine interface communication interface realizes human-computer interaction for carrying out the relative parameters setting of multi-axis robot；
Encoder feedback interface, for feeding back rotation angle/position of the motor on multi-axis robot, then after being handled by controller
Servo-driver is sent control signals to control motor status or position；
General purpose I/O Interface controls external status for receiving external attitude and output, and in the linkage of You Duotai robot
Coordinate；
Serial communication interface, for carrying out serial communication with external equipment.
In addition, data switch shown in Fig. 1 can be the switch of chip class, it is also possible to the logic by software realization
Switch in meaning.By data switch, the ON/OFF in the corresponding interface channel may be implemented.Such as: it is recorded in multi-axial Simultaneous operator
Enter under state, when needing typing running track, the input port of multi-axial Simultaneous operator is opened, electronic hand wheel port shutdown；?
Under electronic hand wheel typing state, electronic hand wheel port is opened, and the input port of multi-axial Simultaneous operator is closed.
Above scheme has the advantage that (1) master board passes through setting operator interface, servo-driver interface, with
And by multiaxis manual synchronization operator attended operation device interface, servo goes driver to connect servo-driver interface, multiaxis hand
Dynamic simultaneously operating device can send control information to controller and servo-driver simultaneously, rather than send out again after controller is handled
Servo-driver is given, to effectively eliminate the hysteresis quality of system；(2) it to controller and is watched by multiaxis manual synchronization operator
Driver transmission operation pulse, direction, aiming spot and transition dot position information are taken, can be realized the robot of real meaning
It is used without programming, only need to confirm track according to target point and transition point, it is whether steady not in limit of consideration in the process, only ensure
Target point and transition point position are accurate, greatly simplify calculating, realize the real-time of operation.
It is as shown in Figure 2: multi-axis robot control method of the invention, comprising the following steps:
S101: in the state of multiaxis manual synchronization operator typing running track, the input terminal of multiaxis manual synchronization operator
Mouth is opened, and the corresponding operator interface state of controller, corresponding servo-driver interface are in an ON state；Multiaxis hand
Dynamic simultaneously operating device is simultaneously, the synchronous control information that sends (bridged by controller and sent to controller and multiple servo-drivers
To servo-driver)；It is described control information include detect multi-axis robot rotation operation pulse, direction, aiming spot and
Transition dot position information；Controller stores the control information by memory；Multiple servo-drivers are then according to the control information
The motor action at each axis of control multi-axis robot is gone, trace information is obtained.
When needing multi-axial Simultaneous operator to operate, by the operator interface of multi-axial Simultaneous operator 1 and master board into
The wired or wireless connection of row；The Mechanics of Machinery structure of multi-axial Simultaneous operator is similar with operated multi-axis robot, may make
Manpower moves operational motion and robot run action synchronous coordination, and multiaxis described in the present embodiment is preferably six axis hereinafter, more excellent
Choosing is 4 ~ 6 axis.
As shown in Figures 2 and 3: the following are one that the present embodiment controls six-joint robot using six axis simultaneously operating devices
Preferred embodiment:
Six-joint robot 2 passes through its movement of Serve Motor Control at designed six joints, 21 position, that is, includes six tunnels
Servo motor；Six road servo-driver of Shi is connect with No. six servo motors.The output end of the controller of robot control system
It is connect respectively with six road servo-drivers.It is equipped with encoder on each servo motor, for the angle of feedback servo motor rotation
It spends (position), encoded signal is sent to servo-driver, form real-time closed-loop, while encoded signal is sent to controller, then by
Controller handle by certain, then sends control signals to servo-driver to control servo motor state or position
It sets, forms two close cycles, to reach position, the speed of accurate control servo motor rotation.Six axis simultaneously operating devices are equipped with six tunnels
Independent angular transducer, to detect six axis angle changes on operator ontology, and the independent angular transducer in six tunnels can be same
Step, the variation for exporting generation simultaneously.
Six axis simultaneously operating devices 1 include first axle 11 ~ the 6th axis 16, wherein the company of rotation between first axle 11 and pedestal 17
It connects, is rotatablely connected between the second axis 12 and first axle 11 by the first connector 111；Pass through between third axis 13 and the second axis 12
The rotation connection of second connector 112；Third connector 113 and the 4th connector 114, and the are equipped between third axis and the 5th axis
It is rotatablely connected between three connectors 113 and the 4th connector 114, forms the 4th axis 14；5th axis 15 and the 4th connector 114 it
Between be rotatablely connected；5th axis 15 also connects the 6th axis 16 by the 5th connector 115.Wherein, first axle 11, the 4th axis 14 and
Six axis 16 can all rotate within the scope of 360 °, and the rotational angle of the second axis 12 is preferably 0 ~ 180 °；The rotational angle of third axis 13
Preferably -90 ° ~ 180 °；The rotational angle of 5th axis 15 is preferably -90 ° ~ 90 °.
In the present embodiment, it regarding the 5th connector 115 as handle, pedestal 17 can be fixed on a place convenient for operation,
One is held handle of stopping, and controls each axis rotation.Another hand is used for operation suspension key 173 and speed control knob 171；It can also be by grasping
Make personnel and hold pedestal 17 on the other hand, another holds handle of stopping, and controls each axis rotation.5th connector 115 is equipped with described
Target point key 18 and transition point key 19, in this way, can conveniently press 18 He of target point key when holding five connectors 115
Transition point key 19.
In six axis of six axis simultaneously operating device 1 of the present embodiment, the mobile axis that will not influence front side of the axis of rear side, but front side
The mobile axis that will affect rear side of axis.When acting such as first axle 11,12 to the 6th axis 16 of the second axis can all act together；4th axis
When 14 movement, first axle 11 to third axis 13 can not be affected, and the 5th axis 15 and the 6th axis 16 can follow the 4th axis 14
It is mobile.
In the present embodiment, angular transducer, angular transducer are equipped at the position of each axis of six axis simultaneously operating devices 1
With axis connection, operation pulse is sent to controller and servo-driver for the angle of detection axis rotation, and by control chip
And directional information obtains the angle of each axis rotation by calculating.
The pedestal 17 of six axis simultaneously operating devices 1 is equipped with speed control 171 and power switch 172, the first connector 111
Top be equipped with Pause key 173.Wherein, speed control 171 is used for the multiplying power of adjustment speed, and speed magnification information is sent to
Chip is controlled, the frequency that the speed operated on each axis is converted into sends to controller multiplied by multiplying power and passes through controller
Bridge joint, synchronizes and is sent to servo-driver；It is the speed of multi-axis robot movement multiplied by the corresponding speed of frequency after multiplying power.
10 degree of 10 degree of corresponding axis of corresponding six-joint robot turn are rotated as six axis simultaneously operating devices operate certain axis, are 100% speed control of revolving speed
Position processed；It is just 50% speed control position if the corresponding corresponding axis of six-joint robot only turns 5 degree.And so on, same operation
Output frequency of the speed under different location is different.It can be said that the angle of rotation of each axis body of multi-axial Simultaneous operator of the present invention
The linear ratio of rotational angle of degree and each joint of multi-axis robot, can be adjusted according to speed control position.The present embodiment
Speed control can be gear adjust or electrodeless variable-speed adjust.171 power switches 172 are for promptly deactivating；Pause key 173
Start or suspend transmission pulse for controlling six axis simultaneously operating devices.
By six axis simultaneously operating devices 1, the fuzzy running track of six-joint robot, then via controller optimization can be obtained,
Hereafter six-joint robot directly can directly work according to the running track of optimization, no longer need to through six axis simultaneously operating device controls
System.Specifically:
Operator holds the 5th axis connecting rod 151 of six axis simultaneously operating devices, to control each axis movement.When operator holds six
It, can be by operator after each angular transducer detects the angle change of each axis when axis simultaneously operating device controls the movement of each axis
Control chip processing after send operation pulse and directional information to controller and each servo-driver, controller at this time without
Signal processing is only stored, and servo-driver then controls motor action according to operation pulse and directional information, makes robot
With six axis simultaneously operating device synchronization actions.
Operator executes the target position of a certain task according to six-joint robot 2, to control each axis movement, makes six axis machines
Device people advances towards target direction.At this point, target position is set to target point, i.e., when six-joint robot reaches target position, behaviour
The target point key 18 on six axis simultaneously operating devices is pressed as personnel.Six-joint robot initial position (i.e. origin) to target
In this route of point, transition point can be freely defined, operator can press at origin to some position between target point
Transition point key 19 on six axis simultaneously operating devices.When robot, which has executed task, is back to origin, can be returned according to the path
It returns.When operator presses target point key or transition point key, signal can be transmitted directly to controller, and controller is through target
Point and transition point data storage are in memory.Wherein, target point and transition point can be freely arranged, and limit without quantity.
And six-joint robot needs to leave this position and is conditional after target point execution task.Such as: setting timing
It leaving, six-joint robot is when target position works, once setting time is reached, with regard to actively leaving this position；Or in mesh
The completed feedback signal of work sent after the completion of the work of punctuate by outside, receives signal and just leaves；Also or it is arranged
It is just left after the workflow of target point.
For the present invention when machine people is manually operated with six axis simultaneously operating devices, the signal of multi-axial Simultaneous operator output is quasi-
True aiming spot and fuzzy running track, the running track after via controller optimization are only steady, smooth.The present invention
By setting target point and transition point, the robot that can be realized real meaning is used without programming；And only result is responsible for, i.e.,
Only the coordinate of target point and transition point is responsible for, it is whether steady not in limit of consideration in the process, it thus greatly reduces to system
The requirement of software and hardware simplifies calculating, reduces calculation amount.
S102: under calculating state, controller calculates the control information of storage, obtains transition point and target point
Coordinate information, optimization running track；The information calculated stores stand-by to memory again.
Specifically, or by taking six axis simultaneously operating devices as an example it is illustrated.
The Coordinate calculation method of target point and transition point of the present invention are as follows: respectively by the pulse of each axis and directional information with target
The position of point and transition point is that node is segmented；Calculate each every section of axis effective impulse number and total direction；Such as: in target
Run 100 pulses between point and transition point, 90 be it is positive, 10 are negative senses, calculating the result is that effective arteries and veins of operation
Rushing number is 80, and direction is forward direction.Using the origin of multi-axis robot as starting point coordinate, calculates multi-axis robot and be moved to transition point
Or relative to origin or the coordinate and angle step of previous transition point (or target point) after target point.Every kind of robot is come
It says, inputs a pulse to the servo-driver of each axis, until the angle for rotating the axis is certain.With the origin of robot
For starting point coordinate, the movement angle of all axis is calculated, so that it may obtain it is that robot is moved to, relative to robot origin or
The coordinate and angle step of previous transition point (or target point).After robot is installed, its origin physics side
Formula is determining and stable.
Coordinate calculated example is illustrated below:
Process, origin --- transition point --- target point.
The robot origin of setting is defined as: six axis are all zero degree.
After being operated by multi-axial Simultaneous operator, from origin to transition point, it is assumed that the increment of every axis is respectively as follows: first axle and is
15 °, the second axis be 10 °, third axis is 45 °, the 4th axis is -15 °, the 5th axis is 8 °, the 6th axis is -120 °.This six axis
Angle is exactly the coordinate of transition point.Again from transition point to target point, it is -5 °, the second axis that the increment of every axis, which is respectively as follows: first axle,
For 5 °, third axis be -15 °, the 4th axis is 20 °, the 5th axis is 12 °, the 6th axis is 90 °, then seat of the target point relative to origin
Be designated as: first axle is 10 °, the second axis is 15 °, third axis is 30 °, the 4th axis is 5 °, the 5th axis is 20 °, the 6th axis be-
30°.That is, calculation is exactly that be respectively added six axis origin coordinates with incremental value tape symbol be exactly the latter point
Coordinate.
After controller obtains the coordinate information of target point and transition point, meter can be optimized to the running track of robot
It calculates.A preferred optimal way of the invention are as follows: respectively by the pulse of each axis and directional information with the position of target point and transition point
It is set to node to be segmented, is divided into accelerating sections, at the uniform velocity section, braking section for every section.The overall pulse number of operation is effective impulse number.Fortune
Scanning frequency degree (frequency of corresponding hair pulse) calculates at the uniform velocity section by the speed control position (percentage at full throttle) of setting
Speed, the umber of pulse of acceleration curve, deceleration curve and every channel is calculated on the basis of this speed.This optimal way is not
There are when typing shake, pause the problems such as, when operation every section all will be it is steady, smooth, to achieve the purpose that optimization.
S103: in the state that multi-axis robot is run according to setting track, the port of multiaxis manual synchronization operator is closed
It closes, the corresponding port of controller is in output state, and controller takes out track data in memory, is sent to servo-drive
Device forms closed-loop control in conjunction with encoder feedback, runs to control multi-axis robot according to the track of setting.
Specifically, the data after optimization store in memory.Controller runs rail in I/O mouthfuls of transmissions by certain rate
Mark data remove control servo-driver, so that it may so that track operation of the robot by setting.The volume of encoder for servo motor simultaneously
Code signal is sent to controller, then handle by certain by controller, sends control signals to servo-driver
To control servo motor state or position, formation two close cycles, to reach position, the speed of accurate control servo motor rotation.
The above method has the advantage that (1) usually setting multi-axial Simultaneous operator to determine the accurate target of robot
Point position and fuzzy running track, operator need to only use hand operation handle, time saving and energy saving；It is grasped by setting multi-axial Simultaneous
Make device, so that the operating attitude of people is synchronous with actual robot operation posture, then by the visual feedback of people, synchronization can be formed
The closed loop feedback of coordination can not only be such that service speed is promoted in this way, and can also make operation precisely reaches very high level；(2) lead to
Cross operator and manually control multi-axial Simultaneous operator, the synchronous coordination movement of Lai Shixian robot, by setting target point and
Transition point, and the coordinate of target point and transition point is obtained, the operation of task is executed to obtain robot from origin to target position
Track, and by optimizing the running track, so that track of the robot in operation later all by setting is run, it can not only
Enough realize the smooth and accurate of operation；And whole process calculates simply, and it only need to be by carrying out coordinate to target point and transition point
It calculates, so that it may acquire running track, without considering the smoothness during running track, need to only consider target point and transition point
, go out robot running track without by decomposition computation, the resource of required embedded system is minimum；(3) it realizes
The robot of real meaning is used without programming.
In the present invention, above-mentioned multi-axial Simultaneous operator can also be replaced by electronic hand wheel.
It is as shown in Figure 4 and Figure 5: when needing electronic hand wheel 3 to operate, by the electronic hand wheel of electronic hand wheel 3 and master board
Interface connection；Controller is sent a signal to by electronic hand wheel 3, controller will directly control information to controller and servo-drive
Device, controller store control information by memory, and servo-driver then controls each spindle motor on multi-axis robot
Movement.
Specifically, the electronic hand wheel 3 of the present embodiment includes:
Force snesor 31: in the shell of electronic hand wheel 3, for detecting the direction of power, to correspond to the rotation of multi-axis robot
Direction；
One power switch 32: for promptly deactivating；
One enabled switch 33: it starts to work for notification controller electronic hand wheel；
Two pulses send keys: to the both direction of strain gauge, respectively representing two steering, i.e. rotating forward key 34 and instead
Turn key 35；Key is briquette structure, incudes dynamics and direction convenient for force snesor 31.The side for the power that force snesor 31 senses
To the direction of rotation of corresponding robot；The dynamics that force snesor 31 detects corresponds to pulse frequency (speed) by A/D conversion,
And the controller of master control borad is sent to by the control chip on electronic hand wheel control panel.
Two band switches: including speed threshold band switch 36 and channel selecting band switch 37；Wherein, channel selecting wave
Duan Kaiguan 37 is for selecting which axis needed to operate；Speed threshold band switch 36 is used for the multiplying power of adjustment speed, is similar to multiaxis
The speed control of simultaneously operating device；Speed threshold band switch 36 is directly linked the range for sending frequency, opens in speed threshold wave band
It closes under the frequency range being arranged, then specific frequency values are controlled by force snesor；
Two location point keys: including target point key 38 and transition point key 39.
The working principle of electronic hand wheel of the present invention are as follows: electronic hand wheel is passed through to the electronics of cable line interface 30 and master board
The connection of handwheel interface.Enabled switch is opened, notification controller electronic hand wheel is started to work.It is selected by channel selecting band switch
The axis for needing to operate, such as the first axle movement of selection control robot, select adjustment speed by speed threshold band switch
Multiplying power, such as selecting revolving speed is 100% speed threshold；After parameter setting, operator starts to press pulse transmission key, such as presses
Positive pressure turns key, and the dynamics and Impact direction of induction can be converted to pulse signal and be sent to controller and servo by force snesor
Driver, servo-driver control motor action corresponding with first axle, thus make positive (as the clockwise) rotation of first axle,
It is 100% speed threshold due to selecting revolving speed, robot first axle rotational angle presses the dynamics phase for rotating forward key with operator
Together.Behind first axle rotating object position, other gears can be arranged by channel selecting band switch again.And target point key and
The operating principle of transition point key, controller are equal to the calculating of target point and transition point coordinate and track optimizing aforementioned more
The operation control principle of axis simultaneously operating device, details are not described herein again.
Above-mentioned electronic hand wheel can replace existing rotary encoder by using force snesor, Lai Shixian robot
Synchronous coordination movement, structure is simple, and one-handed performance can be used in operator, to liberate another hand.It is understood that this
The electronic hand wheel of invention can also be used rotary encoder control handwheel and replace, but rotary encoder control handwheel needs both hands to carry out
Operation.
In the present invention, under multi-axial Simultaneous operator typing state, when needing typing running track, multi-axial Simultaneous operator
Input port open, electronic hand wheel port shutdown, the corresponding multi-axial Simultaneous operator interface of control system is in reception state,
The control chip of multi-axial Simultaneous operator will control information guide controller and servo-driver simultaneously.In electronic hand wheel typing shape
Under state, electronic hand wheel port is opened, and the input port of multi-axial Simultaneous operator is closed, the corresponding electronic hand wheel interface of control system
In reception state, the control chip of electronic hand wheel is sent to controller and servo-driver for information is controlled.
In step S103, after with the running track of multi-axial Simultaneous operator or electronic hand wheel typing robot, further include
The step of selecting robot operational mode, specifically:
Robot operational mode includes extremely simple three kinds of mode, simple normal mode and a variety of running track programming modes main moulds
Formula.Wherein, a variety of running track programming modes are the modes based on conventional algorithm driving, are transported with the running track of existing robot
Calculation mode is similar, does not repeat specifically herein.
A. extremely simple mode: with multi-axial Simultaneous operator or the running track of electronic hand wheel typing robot, reselection operation
Mode is extremely simple mode (being selected in man-machine interface), and robot can start to work.The extremely simple mode of the present embodiment,
There is no line code in whole process, without parameter setting, robot can complete conventional work.Such as be arranged timing from
It opening, robot is when target position works, once setting time is reached, with regard to actively leaving this position；Or it is arranged in target
It is just left after the workflow of point.
B. simple normal mode: typing running track is recorded with multi-axial Simultaneous operator or electronic hand wheel, in man-machine interface
The movement of target point is set, a kind of simple running parameter set content are as follows: reach entry condition --- output switch shape
--- --- reaching entry condition, --- output switch state --- delay --- so recycles, is set as tying with the last item state for delay
Beam.Reselection operational mode is simple normal mode, and robot can start to work.Such as: one, robot is given by outside
Start-up operation signal after the completion of work, then by controller leaves signal for one to robot, and multi-axis robot will leave.This
The simple normal mode of embodiment, in the whole process without line code, only simple parameter setting, robot can
Complete conventional work.
Further include following several modes after multi-axis robot is run according to the track of setting in step S103:
(1) machine person to person security cooperation mode: being equipped with safety sensor on robot body, once robot touches
Barrier (people or object), will be detected by safety sensor, and safety sensor connects the man-machine collaboration safe interface of master control borad,
In robot operation, once safety sensor detects that multi-axis robot touches barrier, controller will be signaled to,
Controller sends instructions to servo-driver, to control the quick stop motion of robot；After touching is eliminated, can manually it press
Key is continued to run, robot will continue unfinished operation program since the point of stopping；It is also possible to safety sensor detection
To controller when not having barrier, is sent a signal to, controller controls servo-driver, robot is made to work on.
(2) robot limit and secure mode of operation: multi-axis robot is equipped with limit sensing in the extreme position of swing
Device, such as limit switch.It can be respectively provided with limit switch at each axis of robot, can also be arranged at the axis of part；Work as robot
When touching limit switch, limit switch will send a signal to controller, and controller will send a signal to servo-driver,
Servo-driver will control robot stopping at the mechanical location of swing and act.Alternatively, passing through each axis electricity of multi-axis robot
Encoder at machine is limited.By limit, on the one hand it can prevent multi-axis robot from causing damages to surrounding people, separately
On the one hand, the components of multi-axis robot can be protected not damaged.
(3) teleoperation mode: by by master control borad utilizing camera interface and Ethernet interface be separately connected camera
And network, camera monitor the posture of robot in real time, and by collected vision signal, are transmitted to operation by Network Synchronization
Distally, while in operation distal end the signal of manual operation control handle is realized into remote visible by network transmission to controller
Change operation.
Claims (10)
1. multi-axis robot control system, including master board, which is characterized in that the master board includes:
Operator interface, for connecting multiaxis manual synchronization operator, to transmit the control that multiaxis manual synchronization operator is sent
Information processed, operation pulse, direction, aiming spot and transition dot position information including detection multi-axis robot rotation；Wherein,
Transition point be multi-axis robot needed in running track by position；Target point is the position that multi-axis robot executes task
It sets；
Memory completes track number to be run with optimization for storing the control information that multiaxis manual synchronization operator is sent
According to；
Controller obtains coordinate information, the optimization operation of transition point and target point for calculating the control information of storage
Track, and by the track data optimized storage into memory；The track data optimized is sent to servo-driver,
Control multi-axis robot is run according to the track optimized；
Servo-driver interface, for connecting servo-driver, to be sent out to servo-driver transmission multiaxis manual synchronization operator
The control information sent extracts the track data optimized from memory；The quantity and each axis of multi-axis robot of servo-driver
The quantity of motor is corresponding.
2. multi-axis robot control system according to claim 1, which is characterized in that the master board further include:
Remote communication interface realizes remote operation for accessing network；
Video interface monitors the posture of robot in real time, and collected vision signal is passed through network for connecting camera
To operation distal end, the information of multiaxis manual synchronization operator is passed through network transmission to controller by operation distal end for synchronous driving.
3. multi-axis robot control system according to claim 1 or 2, which is characterized in that the master board further includes
Following at least one interface:
USB interface, for realizing being connected and communicate with for control system and external equipment；
Man-machine collaboration safe interface, for connecting safety sensor, once detect that multi-axis robot touches barrier, safety
Sensor sends information to controller, and controller control servo-driver acts multi-axis robot stopping, eliminating in barrier
Afterwards, multi-axis robot will continue unfinished operation program since rest position；
Robot limit and safe interface for connecting limit sensors it is each to limit multi-axis robot by limit sensors
The amplitude peak that axis is swung；
Man-machine interface communication interface realizes human-computer interaction for carrying out the relative parameters setting of multi-axis robot；
Encoder feedback interface, for feeding back rotation angle/position of the motor on multi-axis robot, then after being handled by controller
Servo-driver is sent control signals to control motor status or position；
General purpose I/O Interface controls external status for receiving external attitude and output, and in the linkage of You Duotai robot
Coordinate.
4. multi-axis robot control system according to claim 1 or 2, which is characterized in that the multiaxis manual synchronization behaviour
Make device connection controller, for the control information to be sent to controller and servo-drive simultaneously under control of the controller
Device；The servo-drive output end of controller is connected to servo-driver through servo-driver interface.
5. multi-axis robot control method, which comprises the following steps:
In the state of multiaxis manual synchronization operator typing running track, the input port of multiaxis manual synchronization operator is beaten
It opens, the corresponding operator interface of controller is in reception state, corresponding servo-driver interface in an ON state；Multiaxis hand
Dynamic simultaneously operating device is simultaneously, the synchronous control information that sends is to controller and multiple servo-drivers；The control information includes inspection
Survey operation pulse, direction, aiming spot and the transition dot position information of multi-axis robot rotation；Controller is deposited by memory
Store up the control information；Multiple servo-drivers then remove the motor at each axis of control multi-axis robot according to the control information
Make；
Under calculating state, controller calculates the control information of storage, the coordinate information of acquisition transition point and target point,
Optimize running track；The information calculated stores stand-by to memory again；
In the state that multi-axis robot is run according to setting track, the port shutdown of multiaxis manual synchronization operator, controller
Corresponding port is in output state, and controller takes out track data in memory, is sent to servo-driver, in conjunction with coding
Device feedback, forms closed-loop control, runs to control multi-axis robot according to the track of setting.
6. multi-axis robot control method according to claim 5, which is characterized in that under remote operation state, control
Device monitors the posture of robot in real time by access camera and network, camera, and by collected vision signal, passes through net
The signal of manual operation control handle is passed through network transmission to control to operation distal end, while in operation distal end by network synchronous driving
Device processed realizes remote visualization operation.
7. multi-axis robot control method according to claim 5 or 6, which is characterized in that in the multiaxis manual synchronization
In the state of operator typing running track, when multiaxis manual synchronization operator has at least two, then select one of them more
The input port of axis manual synchronization operator is opened, and the input port of other multiaxis manual synchronization operators is closed.
8. multi-axis robot control method according to claim 5 or 6, which is characterized in that the transition point and target point
Coordinate information acquisition methods are as follows:
The pulse of each axis and directional information are segmented using the position of target point and transition point as node respectively；
Calculate each every section of axis effective impulse number and total direction；
Using the origin of multi-axis robot as starting point coordinate, calculates multi-axis robot and be moved to after transition point or target point relative to original
The coordinate and angle step of point or previous transition point/target point.
9. multi-axis robot control method according to claim 5 or 6, which is characterized in that the optimization running track
Method are as follows:
The pulse of each axis and directional information are segmented using the position of target point and transition point as node respectively, and by every section point
For accelerating sections, at the uniform velocity section, braking section；
It is foundation by the bulk velocity of setting, calculates the speed of the at the uniform velocity section of each axis, is calculated and added again on the basis of this speed
The effective impulse number of fast curve, deceleration curve and each every section of axis；
Data after optimization store in memory；
Controller sends running track data by certain rate I/O, removes control servo-driver, makes multi-axis robot by setting
Track operation.
10. multi-axis robot control method according to claim 5 or 6, which is characterized in that further include: in setting state
Lower and during calculating, the port of only man-machine interface communication input is opened, remaining port is all closed.
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Application publication date: 20190830 |