CN110253538A - Exercise data storage and robot control method, equipment, system and storage medium - Google Patents
Exercise data storage and robot control method, equipment, system and storage medium Download PDFInfo
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- CN110253538A CN110253538A CN201910432698.7A CN201910432698A CN110253538A CN 110253538 A CN110253538 A CN 110253538A CN 201910432698 A CN201910432698 A CN 201910432698A CN 110253538 A CN110253538 A CN 110253538A
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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
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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
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Abstract
The embodiment of the invention provides exercise data storage method, robot control method, Robert controller, storage medium and robot control systems.Exercise data storage method is used for Robert controller, and Robert controller is used to control the kinetic control system of robot, and kinetic control system includes memory, and memory includes multiple storage regions.Exercise data storage method includes: the index identifier obtained for determining target storage domain；Obtain the sector marker for determining kinematic parameter；Information about index identifier is transmitted to kinetic control system；The kinematic parameter of respective segments is determined according to the sector marker；Exercise data is stored in the target storage domain in the multiple storage region according to the information by control kinetic control system.Above-mentioned technical proposal can be by complicated exercise data fragmented storage.Kinematic parameter is repeatedly edited without user as a result, improves user experience.
Description
Technical field
The present invention relates to robotic technology field, relate more specifically to a kind of exercise data storage method, a kind of robot
Control method, a kind of Robert controller, a kind of robot control system and a kind of storage medium.
Background technique
Currently, Robert controller can will be used to control when user controls robot motion by Robert controller
The kinematic parameter of robot motion processed is sent to kinetic control system.Resolved by kinetic control system is what motor can execute
Wavetable data.In current kinetic control system, robot control is usually stored using a fixed buffer zone and is set
The kinematic parameter that preparation is sent, to control robot motion accordingly for kinetic control system.This results in the task of robot to be
Serially execute.In application scenes, such as on flow line production line, user may need robot to execute different move
Make.In the prior art, can only repeatedly operate this storage region, cause circulation action need user participate in (such as repeatedly
Input motion parameter) under execute.It is unable to satisfy the demand of user, while it is poor to also result in user experience.
Summary of the invention
The present invention is proposed in view of the above problem.The present invention provides a kind of exercise data storage methods, Yi Zhongji
Device people control method, a kind of Robert controller, a kind of robot control system and a kind of storage medium.
One side according to an embodiment of the present invention provides a kind of exercise data storage method, the exercise data storage
Method is used for Robert controller, and the Robert controller is used to control the kinetic control system of robot, the fortune
For autocontrol system for controlling the robot motion, the kinetic control system includes memory, and the memory includes more
A storage region, the exercise data storage method include:
Obtain the index identifier for determining target storage domain；
Obtain the sector marker for determining kinematic parameter；
Information about the index identifier is transmitted to the kinetic control system；
The kinematic parameter of respective segments is determined according to the sector marker；
It controls the kinetic control system and exercise data is stored in the multiple storage region according to the information
Target storage domain, wherein the exercise data is obtained according to the kinematic parameter of the respective segments.
Illustratively, exercise data is stored in the multiple by the control kinetic control system according to the information
Target storage domain in storage region includes:
The kinetic control system is controlled according to the information using the kinematic parameter of the respective segments as the movement
Data are stored in the target storage domain in the multiple storage region.
Illustratively, the kinetic control system includes master control unit and control parts of motion, and the master control unit is used for
The Robert controller and the control parts of motion are connected, the control parts of motion is used for according to the kinematic parameter
The robot motion is controled, the memory is integrated in the master control unit.
The control kinetic control system according to the information using the kinematic parameter of the respective segments as described in
The target storage domain that exercise data is stored in the multiple storage region includes:
The master control unit is controlled according to the information using the kinematic parameter of the respective segments as the exercise data
It is stored in the target storage domain in the multiple storage region.
Illustratively, the kinetic control system includes control parts of motion, and the control parts of motion is used for according to institute
It states kinematic parameter and controls the robot motion, the memory is integrated in the control parts of motion,
The control kinetic control system according to the information using the kinematic parameter of the respective segments as described in
The target storage domain that exercise data is stored in the multiple storage region includes:
The control parts of motion is controlled according to the information using the kinematic parameter of the respective segments as the movement
Data are stored in the target storage domain in the multiple storage region, are transported with controling the robot according to the exercise data
It is dynamic.
Illustratively, the exercise data includes: the position data, speed data and time in each joint of the robot
It is one or more in data.
Illustratively, the kinetic control system includes control parts of motion, and the control parts of motion is used for according to institute
It states kinematic parameter and controls the robot motion, the memory is integrated in the control parts of motion,
Exercise data is stored in the multiple storage region according to the information by the control kinetic control system
In target storage domain include controlling the control parts of motion to perform the following operations:
The kinematic parameter of the respective segments is resolved as wavetable data, using as the exercise data；
The exercise data is stored in the target storage domain in the multiple storage region according to the information, with root
The robot motion is controled according to the exercise data.
Illustratively, exercise data is stored according to the information in the control kinetic control system described more
Before target storage domain in a storage region, the exercise data storage method further include:
Control the data in the target storage domain that the kinetic control system is removed in the multiple storage region.
Illustratively, exercise data is stored in the multiple by the control kinetic control system according to the information
Target storage domain in storage region further include:
Send the opening flag of the kinematic parameter of the respective segments；And/or
Send the end mark of the kinematic parameter of the respective segments.
Illustratively, the index identifier obtained for determining target storage domain and/or described obtain are used for really
The sector marker for determining kinematic parameter is realized by man-machine interactive interface.
Illustratively, exercise data is stored according to the information in the control kinetic control system described more
Before target storage domain in a storage region, the exercise data storage method further include:
Interpolation is carried out to initial motion parameter, to generate kinematic parameter to be sent.
It is according to an embodiment of the present invention in another aspect, additionally provide a kind of robot control method, the robot control
Method is used for Robert controller, and the Robert controller is used to control the kinetic control system of robot, the fortune
For autocontrol system for controlling the robot motion, the kinetic control system includes memory, and the memory includes using
In multiple storage regions of storage different motion data, the robot control method includes:
Obtain control command；
According to the control command, controls the correspondence that the kinetic control system is handled in the multiple storage region and store
The exercise data in region executes corresponding sports to control the moving component of the robot.
Another aspect according to an embodiment of the present invention additionally provides a kind of Robert controller, the robot control
Equipment is used to control the kinetic control system of robot, and the kinetic control system is described for controlling the robot motion
Kinetic control system includes memory, and the memory includes multiple storage regions, and the Robert controller includes: processing
Device and memory, wherein computer program instructions are stored in the memory, the computer program instructions are by the processing
For executing above-mentioned exercise data storage method and/or above-mentioned robot control method when device is run.
According to another aspect of an embodiment of the present invention, a kind of storage medium is additionally provided, is stored on said storage
Program instruction, described program instruction is at runtime for executing above-mentioned exercise data storage method and/or above-mentioned machine
People's control method.
Other one side according to an embodiment of the present invention, additionally provide a kind of robot control system, including motion control
System and above-mentioned Robert controller.
Technical solution according to an embodiment of the present invention, the memory in kinetic control system includes multiple storage regions, can
With by complicated exercise data fragmented storage.Thus, it is possible to control robot more flexiblely, meeting the different of user is needed
It asks, improves user experience.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
The embodiment of the present invention is described in more detail in conjunction with the accompanying drawings, the above and other purposes of the present invention,
Feature and advantage will be apparent.Attached drawing is used to provide to further understand the embodiment of the present invention, and constitutes explanation
A part of book, is used to explain the present invention together with the embodiment of the present invention, is not construed as limiting the invention.In the accompanying drawings,
Identical reference label typically represents same parts or step.
Fig. 1 shows the schematic diagram of the kinetic control system of the prior art；
Fig. 2 shows the schematic flow charts of exercise data storage method according to an embodiment of the invention；
Fig. 3 shows the schematic diagram of kinetic control system according to an embodiment of the invention；
Fig. 4 shows the schematic diagram of the kinetic control system of further embodiment according to the present invention；
Fig. 5 shows the schematic diagram of the kinetic control system of another embodiment according to the present invention.
Specific embodiment
In order to enable the object, technical solutions and advantages of the present invention become apparent, root is described in detail below with reference to accompanying drawings
According to example embodiments of the present invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than this hair
Bright whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.Based on described in the present invention
The embodiment of the present invention, those skilled in the art's obtained all other embodiment in the case where not making the creative labor
It should all fall under the scope of the present invention.
Robert controller (such as computer, teaching machine) can receive and process the fortune for controlling robot from user
Dynamic parameter.Kinematic parameter is the various parameters data for controlling the moving component of robot (such as motor) movement.It is exemplary
Ground, kinematic parameter may include one or more in the position data, speed data and time data in each joint of robot.
The position data can be the coordinate data in rectangular coordinate system in space, is also possible to rotate angle or other are related to position
Data.After Robert controller receives and processes kinematic parameter, the kinetic control system for sending it to robot (can be wrapped
Include the control parts of motion of driving controller etc.).Kinetic control system controls machine after resolving to the kinematic parameter received
Device people movement.
Fig. 1 shows the robot control system 100 of the prior art, includes Robert controller 110, for controlling
The control parts of motion 130 of motor 150.Control parts of motion 130 includes solving unit 132, wave table 133, pulsewidth modulation
(Pulse Width Modulation, hereinafter referred to as PWM) waveform generator 134, electric-motor drive unit 135.
The Robert controller 110 can be teaching machine, can also be the computer for being equipped with upper computer software, may be used also
To be to be equipped with mobile phone/Pad etc. of APP to match user by Robert controller 110 to realize human-computer interaction
Set kinematic parameter, the operating status for controlling motor, display curve movement etc..The kinematic parameter may include that moving component is (i.e. electric
Machine 150) position data, one or more in speed data and time data, to be precisely controlled the moving component of robot
Execute corresponding movement.
The control parts of motion 130 realizes the resolving of the kinematic parameter sent to Robert controller 110, obtains
Actual control data (such as PWM wave).The operation of motor 150 can be adjusted by adjusting the period of PWM wave and duty ratio etc.
State.Control parts of motion 130 includes solving unit 132, wave table 133, PWM waveform generator 134, electric-motor drive unit 135.
Solving unit 132 realizes the resolving to kinematic parameter, and kinematic parameter can be resolved becomes corresponding generation PWM wave
The wavetable data of shape.
Wave table 133 is for storing wavetable data.Wave table can be realized with pushup storage.
PWM waveform generator 134 is the device that PWM waveform generates, such as by field programmable gate array (Field-
Programmable Gate Array, hereinafter referred to as FPGA) chip realize PWM waveform generator, can be according to solving unit
132 wavetable datas generated generate corresponding PWM wave graphic data.
Solving unit 132 and PWM waveform generator 134 are also possible to a component, such as by that can be embedded with height by a piece of
The fpga chip of grade RISC processor (Advanced RISC Machines, hereinafter referred to as ARM) kernel is real
Existing, which not only may be implemented the function of solving unit 132, simultaneously but also the function of PWM waveform generator 134 may be implemented.
Electric-motor drive unit 135 is the driving unit of motor 150, the PWM that can be generated according to PWM waveform generator 134
Wave data driving motor 150 moves.
Above-mentioned robot control system 100 can by edited on Robert controller a series of kinematic parameter come
Control robot motion.In one example, user edits a system according to self-demand first on Robert controller 110
Then the kinematic parameter of column is successively carried out the range of motion parameter by data line to the control parts of motion 130
It sends, solving unit 132 resolves kinematic parameter after receiving kinematic parameter and stores (the usually advanced elder generation of wave table 133
Memory out) in.PWM waveform generator 134 successively obtains wavetable data from the wave table 133, and electric-motor drive unit 135
Then moved according to PWM waveform data-driven motor 150.
According to one embodiment of present invention, a kind of exercise data storage method is provided.The exercise data storage method
For above-mentioned Robert controller.The Robert controller is used to control the kinetic control system of robot.The fortune
Autocontrol system is for controlling robot motion.The kinetic control system includes memory, which includes multiple storages
Region.In the exercise data storage method, the kinematic parameter that basis is used to control robot motion, each section is obtained
Corresponding exercise data is stored in the memory of kinetic control system in each storage region.Movement number is stored by subregion
According to, can be realized compound action decomposition.When kinetic control system controls robot motion, robot is controled while resolving
Movement is executed, to realize real-time control.In addition, memory is divided into after multiple storage regions, task can execute parallel,
It does not interfere with each other, the control of robot cycle movement is also solved perfectly, is improved work efficiency.
Fig. 2 shows the schematic flow charts of exercise data storage method 200 according to an embodiment of the invention.Such as figure
Shown in 2, exercise data storage method 200 includes the following steps.
Step S210 obtains the index identifier for determining target storage domain.
It is appreciated that the memory of kinetic control system includes multiple storage regions.Each storage region can pass through rope
Draw identifier unique identification.It is expected that by the exercise data that Robert controller will be used to control robot execution different task
It is stored in the different storage zone of memory.In this step S210, obtain target storage domain index identifier, with
In the specific storage location for determining storage exercise data corresponding with particular task, i.e. certain in multiple storage regions of memory
A specific storage region, referred to as target storage domain.
Step S220 obtains the sector marker for determining kinematic parameter.
Robert controller controls the movement of robot by sending kinematic parameter to kinetic control system.The fortune
Dynamic parameter is corresponding with the specific psychomotor task of robot.According to an embodiment of the invention, in order to preferably control robot
Execution task can set the kinematic parameter for executing different task to belonging to different sections.The kinematic parameter of each section
There is one-to-one sector marker therewith.Sector marker is determined for corresponding kinematic parameter.
Information about index identifier is transmitted to kinetic control system by step S230.
It is appreciated that the exercise data for controlling robot motion can store in kinetic control system.In order to true
The fixed exercise data is in the target storage domain of kinetic control system, the target storage that can will be obtained based on step S210
The information of the index identifier in domain is transmitted to kinetic control system, to determine exercise data according to the information of the index identifier
Storage location.
Step S240 determines the kinematic parameter of respective segments according to sector marker.
It is appreciated that the kinematic parameter of each section has one-to-one sector marker therewith.It can be according to step
The sector marker for the kinematic parameter that S220 is obtained determines the kinematic parameter of respective segments.
Step S250 controls kinetic control system according to the information of index identifier and exercise data is stored in multiple storages
Target storage domain in region.The kinematic parameter of exercise data respective segments according to determined by step S240 obtains.
It is appreciated that can determine the storage location of the index identifier mark in multiple storage regions and then determine
Target storage domain.Step S240 can be obtained determining kinematic parameter and be transmitted to motion control system by Robert controller
System.After the kinetic control system receives kinematic parameter, the exercise data of control robot motion is obtained based on kinematic parameter, so
The exercise data is stored in the domain of target storage afterwards.
Above-mentioned technical proposal can deposit multiple and different in kinetic control system of complicated exercise data fragmented storage
In storage area domain.Kinematic parameter is repeatedly edited without user as a result, the different demands of user is met, improves user experience.This
Outside, the parallel execution of task may be implemented, and robot can be controlled more flexiblely.
Illustratively, above-mentioned steps S210 obtains the index identifier and/or step for determining target storage domain
S220 is obtained for determining that the sector marker of kinematic parameter is realized by man-machine interactive interface.
The index identifier for determining target storage domain is obtained from user using man-machine interactive interface and/or is used for true
The sector marker for determining kinematic parameter facilitates user flexibility storage and setting kinematic parameter, and the user experience is improved.
Illustratively, before above-mentioned steps S250, the exercise data storage method further include to initial motion parameter into
Row interpolation, to generate kinematic parameter to be sent.
It is appreciated that the motion process of the moving component of robot can be made by carrying out interpolation to initial motion parameter
It is more steady, it is conducive to control.
Illustratively, above-mentioned steps S250 includes step S251, controls kinetic control system according to target storage domain
The information of index identifier deposits the target that the kinematic parameter of respective segments is stored in multiple storage regions as exercise data
Storage area domain.
It is appreciated that can set belonging to not same district for the kinematic parameter for being used to control robot execution different task
Section.The kinematic parameter of each section has one-to-one sector marker therewith.Robert controller will be according to section mark
Know the determining kinematic parameter of symbol and be transmitted to kinetic control system, and control kinetic control system by received respective segments fortune
Dynamic parameter is stored in the target storage domain determined by index identifier as exercise data.It is appreciated that exercise data exists
Extra process is carried out without above-mentioned kinetic control system before storage.
The kinematic parameter of the direct fragmented storage complexity of above-mentioned technical proposal, enhances the ability of flexible expansion memory space.
Illustratively, exercise data includes: one or more in position data, speed data and time data.
For Robert controller control robot exercise data may include have position data P, speed data V,
Time data T.Exercise data can be indicated with PVT as a result, and which defines the joint of robot, T may need to reach at a certain moment
Movement velocity V, the movement position P arrived.It is specific for example, robot end effector carry an object, from position A with certain speed
Degree moves to position B, then waits and discharges object in position B after a certain period of time.
It is appreciated that the exercise data may include one or more in position data, speed data and time data
?.Exercise data can only include speed data, specific for example, the end effector of robot rotates execution in the original location twists spiral shell
The task of silk.
Exercise data includes that one or more in position data, speed data and time data enable to utilize
The moving component that exercise data is precisely controlled robot carries out different movements, to execute different tasks.
Illustratively, kinetic control system includes master control unit and control parts of motion, and the master control unit is for connecting
Robert controller and the control parts of motion, the control parts of motion are used to control the machine according to kinematic parameter
People's movement, memory are integrated in the master control unit.
Above-mentioned steps S251 may include: to control master control unit according to the information of index identifier for the movement of respective segments
Parameter is stored in the target storage domain in the multiple storage region as the exercise data.
Fig. 3 shows the schematic diagram of robot control system 300 according to an embodiment of the invention.The machine
People's control system 300 includes Robert controller 310, master control unit 320, the motion control portion for controlling motor 350
Part 330.The master control unit 320 includes memory, and the memory includes multiple storage regions.Control parts of motion 330 is wrapped
Include solving unit 332, wave table 333, PWM waveform generator 334 and electric-motor drive unit 335.Wherein Robert controller
310, control parts of motion 330, solving unit 332, wave table 333, PWM waveform generator 334, electric-motor drive unit 335 and electricity
The function of machine 350, position are similar with the corresponding component in the above robot control system 100 respectively with structure.For sake of simplicity,
This is repeated no more.
As shown in figure 3, the memory in master control unit 320 includes storage region 1, storage region 2... storage region n etc.
Multiple storage regions.Each storage region can be used to control the exercise data that the motor 350 of robot moves with separate storage.
In one example, kinematic parameter is edited on Robert controller 310 according to application demand first (for example to transport
Dynamic parameter includes the kinematic parameter of two sections, respectively the first section movement parameter and the second section movement parameter), and determine
The index identifier in the respective target storage domain of the kinematic parameter of above-mentioned two section.Then by the movement of above-mentioned two section
Parameter and the information of the index identifier about its corresponding target storage domain are respectively sent to motion control by data line
System.The kinematic parameter of the two sections is respectively stored in its corresponding target storage domain by control kinetic control system.
For example, the first section movement parameter is stored in storage region 1 as the first exercise data, the second section movement parameter is as second
Exercise data is stored in storage region 2.Master control unit 320 can send the exercise data that each storage region is stored respectively
To control parts of motion 330.Control parts of motion 330 can control robot motion according to the received exercise data of institute.
Master control unit 320 can connect one or more control parts of motion 330.Master control unit 320 can use gateway reality
It is existing.Optionally, the data from Robert controller 310 can be converted to controller local area network by master control unit 320
(Controller Area Network, CAN) bus data, is sent respectively to connected control parts of motion 330.Such as
Robert controller 310 can realize that computer has USB interface to be communicated using computer.Master control unit 320 can be used
Universal serial bus (Universal Serial Bus, USB)-CAN gateway is realized.Master control unit 320 can pass through computer
The data that USB interface is sent are converted to CAN bus data, are then sent to each control parts of motion by CAN data line
330.Therefore, master control unit 320 is the host node in CAN communication network, and control parts of motion 330 is in CAN communication network
From node.
By the way that memory is integrated in master control unit, can flexible extension storage space, reduce to motion control portion
The requirement of part internal storage space can be adapted to the control parts of motion of existing plurality of specifications.
Alternatively, kinetic control system includes control parts of motion, and the control parts of motion is used for according to kinematic parameter
The robot motion is controled, memory is integrated in the control parts of motion.
Above-mentioned steps S251 include: control control parts of motion according to the information about index identifier by received fortune
Dynamic parameter is stored in the target storage domain in the multiple storage region as exercise data, to be driven according to the exercise data
Control the robot motion.
Fig. 4 shows the schematic diagram of the robot control system 400 of further embodiment according to the present invention.The machine
Device people control system 400 includes the control parts of motion of Robert controller 410, motor 450 for controlling robot
430.Control parts of motion 430 includes that memory 431, solving unit 432, wave table 433, PWM waveform generator 434 and motor drive
Moving cell 435.Memory 431 is integrated in control parts of motion 430.Robert controller 410, control parts of motion 430
Solving unit 432, wave table 433, PWM waveform generator 434, the function of electric-motor drive unit 435 and motor 450, position with
Structure is similar with the corresponding component in the above robot control system 300 respectively.For sake of simplicity, details are not described herein.
As shown in figure 4, the memory 431 of control parts of motion 430 includes storage region 1, the memory block storage region 2...
Multiple storage regions such as domain n.Each storage region can be used to control the movement number that the motor 450 of robot moves with separate storage
According to.
In one example, kinematic parameter is edited on Robert controller 410 according to application demand first, and will
The kinematic parameter is configured according to section.Then by the kinematic parameter of some section and its index mark in target storage domain
The information for knowing symbol is sent to control parts of motion 430 by data line, to control control parts of motion 430 according to index identifier
Information the target storage domain of memory 431 is stored in using the kinematic parameter of the section as exercise data.Motion control portion
Part 430 can control robot motion according to the exercise data that target storage domain in memory 431 stores.
Robot control system 400 shown in Fig. 4 is similar with robot control system 300 shown in Fig. 3.Difference is, in machine
In device people control system 300, Robert controller 310 controls 320 fragmented storage kinematic parameter of master control unit.And in robot
In control system 400, Robert controller 410 controls 430 fragmented storage kinematic parameter of control parts of motion.It is appreciated that
It also may include master control unit (not shown) in kinetic control system shown in Fig. 4.Master control unit is for connecting robot control
Control equipment and control parts of motion.
Increase memory in control parts of motion, and memory is divided into multiple storage regions.It in this way can root
Flexibly expand memory space according to user demand, the user experience is improved.In addition, reducing the operating pressure of master control unit, allow each
A control parts of motion respectively undertakes calculating task, effectively increases system effectiveness.
Illustratively, the memory in control parts of motion may be located on the position different from shown in Fig. 4.
Fig. 5 shows the schematic diagram of the robot control system 500 of another embodiment according to the present invention.The machine
Device people control system 500 includes the control parts of motion of Robert controller 510, motor 550 for controlling robot
530.Control parts of motion 530 includes solving unit 532, wave table 533, PWM waveform generator 534, electric-motor drive unit 535.
Wave table 533 is integrated in control parts of motion as memory.Wherein Robert controller 510, control parts of motion 530
Solving unit 532, PWM waveform generator 534, electric-motor drive unit 535 and motor 550 function, position and structure respectively with
Corresponding component in the above robot control system 400 is similar.For sake of simplicity, details are not described herein.
As shown in figure 5, the wave table 533 of control parts of motion 530 includes multiple memory blocks such as wave table 1, wave table 2... wave table n
Domain.Each storage region can be used to control the exercise data that the motor 550 of robot moves with separate storage.
In one example, kinematic parameter is edited on Robert controller 510 according to application demand first, and will
The kinematic parameter is configured according to section.Then according to sector marker by the kinematic parameter of particular section and about its mesh
The information for marking the index identifier of storage region is sent to control parts of motion by data line and sends.Transmission operation can be through
By master control unit (not shown).
Above-mentioned steps S250 includes that control control parts of motion performs the following operations.First by the kinematic parameter of respective segments
Resolving is wavetable data, using as exercise data.Then exercise data is stored in by institute according to the information about index identifier
The target storage domain in multiple storage regions is stated, to control robot motion according to the exercise data.Specifically, according to rope
Exercise data is stored in target storage domain (such as wave table 1) in wave table 533 by the information for drawing identifier.According to wave table
The exercise data of target storage domain storage in 533 controls robot motion.
Wave table in control parts of motion is divided into multiple storage regions, the exercise data after storage resolves respectively.This
The exercise data that sample can use this control parts of motion is stored in the domain of target storage, is reduced the content of storage, is mentioned
High storage efficiency.Simultaneously without increasing external storage, cost has been saved.
Illustratively, before above-mentioned steps S250, which further includes control kinetic control system
Remove the data in the target storage domain in multiple storage regions.
It is appreciated that target storage domain stores in order to prevent before storing new exercise data in target storage domain
Available data disturbed motion data correct storage, can exercise data store to before the domain of target storage by existing number
According to being purged.Thus, it is ensured that the correctness of exercise data storage.
Illustratively, above-mentioned steps S250 further includes the opening flag for sending the kinematic parameter of respective segments；And/or it sends
The end mark of the kinematic parameter of the respective segments.
It is appreciated that Robert controller is when sending the kinematic parameter of respective segments to kinetic control system, it can be with
Opening flag is being sent at first to kinetic control system, and such kinetic control system can confirm according to opening flag should
The starting position of section movement parameter.Likewise, Robert controller can send end mark to fortune when terminating
Autocontrol system, such kinetic control system can confirm the end position of the section movement parameter according to end mark.
By sending the beginning and/or end mark of kinematic parameter, kinetic control system can accurately obtain movement ginseng
Number, avoids the loss of kinematic parameter.
It is according to an embodiment of the present invention in another aspect, additionally providing a kind of robot control method.The robot controlling party
Method is used for Robert controller, and the Robert controller is used to control the kinetic control system of robot, the movement
For control system for controlling the robot motion, the kinetic control system includes memory, and the memory includes being used for
Multiple storage regions of different motion data are stored, the robot control method includes the following steps.
Firstly, obtaining control command.The step can be realized by man-machine interactive interface.The control command may include mesh
Mark the index identifier of memory block and/or the sector marker for determining kinematic parameter.It is appreciated that both has one by one
Corresponding relationship.It can store the relation table of the two in Robert controller.Using the relation table, one therein can be based on
Search it is corresponding another.
Then, according to the control command, control the kinetic control system handle in the multiple storage region with
The exercise data of the corresponding storage region of the control command executes corresponding sports to control the moving component of the robot.
Another aspect according to an embodiment of the present invention, additionally provides a kind of Robert controller.Robot control is set
It is ready for use on the kinetic control system of control robot, the kinetic control system is for controlling the robot motion, the fortune
Autocontrol system includes memory, and the memory includes multiple storage regions, and the Robert controller includes: processor
And memory, wherein computer program instructions are stored in the memory, the computer program instructions are by the processor
For executing above-mentioned exercise data storage method and/or above-mentioned robot control method when operation.
According to another aspect of an embodiment of the present invention, a kind of robot control system is additionally provided.Control system, the robot
System includes kinetic control system and above-mentioned Robert controller.
Other aspects according to an embodiment of the present invention, additionally provide a kind of storage medium, store on said storage
Program instruction makes the computer or processor to execute this hair when described program instruction is run by computer or processor
The exercise data storage method of bright embodiment and/or the corresponding steps of above-mentioned robot control method, and for realizing root
According to the embodiment of the present invention for the corresponding module in Robert controller.The storage medium for example may include intelligent electricity
The storage card of words, the storage unit of tablet computer, the hard disk of personal computer, read-only memory (ROM), erasable programmable are only
Read appointing for memory (EPROM), portable compact disc read-only memory (CD-ROM), USB storage or above-mentioned storage medium
Meaning combination.The computer readable storage medium can be any combination of one or more computer readable storage mediums.
In one embodiment, when the computer program instructions are run by computer or processor, make the calculating
Machine or processor execute following steps:
Obtain the index identifier for determining target storage domain；
Obtain the sector marker for determining kinematic parameter；
Information about the index identifier is transmitted to the kinetic control system；
The kinematic parameter of respective segments is determined according to the sector marker；
It controls the kinetic control system and exercise data is stored in the multiple storage region according to the information
Target storage domain, wherein the exercise data is obtained according to the kinematic parameter of the respective segments.
In another embodiment, when the computer program instructions are run by computer or processor, make the meter
Calculation machine or processor execute following steps:
Obtain control command；
According to the control command, controls the correspondence that the kinetic control system is handled in the multiple storage region and store
The exercise data in region executes corresponding sports to control the moving component of the robot.
Those of ordinary skill in the art are by reading above for robot control system 100, exercise data storage method
200, the associated description of robot control system 300, robot control system 400 and robot control system 500, it is possible to understand that
The specific implementation of above-mentioned robot control method, Robert controller, robot control system and storage medium, in order to
Succinctly, details are not described herein.
Exercise data storage method, robot control method, equipment, system and storage according to an embodiment of the present invention are situated between
Matter, the memory in kinetic control system includes multiple storage regions, can be by complicated exercise data fragmented storage.As a result,
Robot can be controlled more flexiblely, met the different demands of user, improved user experience.
Although describing example embodiment by reference to attached drawing here, it should be understood that above example embodiment are only exemplary
, and be not intended to limit the scope of the invention to this.Those of ordinary skill in the art can carry out various changes wherein
And modification, it is made without departing from the scope of the present invention and spiritual.All such changes and modifications are intended to be included in appended claims
Within required the scope of the present invention.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, apparatus embodiments described above are merely indicative, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another equipment is closed or is desirably integrated into, or some features can be ignored or not executed.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the present invention and help to understand one or more of the various inventive aspects,
To in the description of exemplary embodiment of the present invention, each feature of the invention be grouped together into sometimes single embodiment, figure,
Or in descriptions thereof.However, the method for the invention should not be construed to reflect an intention that i.e. claimed
The present invention claims features more more than feature expressly recited in each claim.More precisely, such as corresponding power
As sharp claim reflects, inventive point is that the spy of all features less than some disclosed single embodiment can be used
Sign is to solve corresponding technical problem.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in this specific
Embodiment, wherein each, the claims themselves are regarded as separate embodiments of the invention.
It will be understood to those skilled in the art that any combination pair can be used other than mutually exclusive between feature
All features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed any method
Or all process or units of equipment are combined.Unless expressly stated otherwise, this specification (is wanted including adjoint right
Ask, make a summary and attached drawing) disclosed in each feature can be replaced with an alternative feature that provides the same, equivalent, or similar purpose.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Can in any combination mode come using.
Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) are according to an embodiment of the present invention in Robert controller to realize
The some or all functions of some modules.The present invention is also implemented as a part for executing method as described herein
Or whole program of device (for example, computer program and computer program product).It is such to realize that program of the invention
May be stored on the computer-readable medium, or may be in the form of one or more signals.Such signal can be from
Downloading obtains on internet website, is perhaps provided on the carrier signal or is provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
The above description is merely a specific embodiment or to the explanation of specific embodiment, protection of the invention
Range is not limited thereto, and anyone skilled in the art in the technical scope disclosed by the present invention, can be easily
Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim
Subject to protection scope.
Claims (14)
1. a kind of exercise data storage method, the exercise data storage method is used for Robert controller, the robot
Control equipment is used to control the kinetic control system of robot, and the kinetic control system is used to control the robot motion,
It is characterized in that, the kinetic control system includes memory, the memory includes multiple storage regions, the exercise data
Storage method includes:
Obtain the index identifier for determining target storage domain；
Obtain the sector marker for determining kinematic parameter；
Information about the index identifier is transmitted to the kinetic control system；
The kinematic parameter of respective segments is determined according to the sector marker；
Control the target that exercise data is stored in the multiple storage region by the kinetic control system according to the information
Storage region, wherein the exercise data is obtained according to the kinematic parameter of the respective segments.
2. exercise data storage method as described in claim 1, which is characterized in that the control kinetic control system root
Include: by the target storage domain that exercise data is stored in the multiple storage region according to the information
The kinetic control system is controlled according to the information using the kinematic parameter of the respective segments as the exercise data
It is stored in the target storage domain in the multiple storage region.
3. exercise data storage method as claimed in claim 2, which is characterized in that the kinetic control system includes main control part
Part and control parts of motion, the master control unit is for connecting the Robert controller and the control parts of motion, institute
Control parts of motion is stated for controling the robot motion according to the kinematic parameter, the memory is integrated in the master control
In component.
The control kinetic control system is according to the information using the kinematic parameter of the respective segments as the movement
The target storage domain that data are stored in the multiple storage region includes:
It controls the master control unit and is stored according to the information using the kinematic parameter of the respective segments as the exercise data
Target storage domain in the multiple storage region.
4. exercise data storage method as claimed in claim 2, which is characterized in that the kinetic control system includes movement control
Component processed, the control parts of motion are used to control the robot motion according to the kinematic parameter, and the memory is integrated
In the control parts of motion,
The control kinetic control system is according to the information using the kinematic parameter of the respective segments as the movement
The target storage domain that data are stored in the multiple storage region includes:
The control parts of motion is controlled according to the information using the kinematic parameter of the respective segments as the exercise data
It is stored in the target storage domain in the multiple storage region, to control the robot motion according to the exercise data.
5. such as the described in any item exercise data storage methods of claim 2 to 4, which is characterized in that the exercise data includes:
It is one or more in the position data in each joint of robot, speed data and time data.
6. exercise data storage method as described in claim 1, which is characterized in that the kinetic control system includes movement control
Component processed, the control parts of motion are used to control the robot motion according to the kinematic parameter, and the memory is integrated
In the control parts of motion,
Exercise data is stored in the multiple storage region by the control kinetic control system according to the information
Target storage domain includes controlling the control parts of motion to perform the following operations:
The kinematic parameter of the respective segments is resolved as wavetable data, using as the exercise data；
The exercise data is stored in the target storage domain in the multiple storage region according to the information, according to institute
It states exercise data and controls the robot motion.
7. exercise data storage method as described in claim 1, which is characterized in that in the control kinetic control system
Before exercise data is stored in the target storage domain in the multiple storage region according to the information, the exercise data
Storage method further include:
Control the data in the target storage domain that the kinetic control system is removed in the multiple storage region.
8. exercise data storage method as described in claim 1, which is characterized in that the control kinetic control system root
Exercise data is stored in the target storage domain in the multiple storage region according to the information further include:
Send the opening flag of the kinematic parameter of the respective segments；And/or
Send the end mark of the kinematic parameter of the respective segments.
9. exercise data storage method as described in claim 1, which is characterized in that the acquisition is for determining target storage
The index identifier in domain and/or the acquisition are realized for determining that the sector marker of kinematic parameter passes through man-machine interactive interface.
10. exercise data storage method as described in claim 1, which is characterized in that in the control motion control system
Before exercise data is stored in the target storage domain in the multiple storage region according to the information by system, the movement number
According to storage method further include:
Interpolation is carried out to initial motion parameter, to generate kinematic parameter to be sent.
11. a kind of robot control method, the robot control method is used for Robert controller, the robot control
Equipment is used to control the kinetic control system of robot, and the kinetic control system is described for controlling the robot motion
Kinetic control system includes memory, which is characterized in that the memory includes depositing for storing the multiple of different motion data
Storage area domain, the robot control method include:
Obtain control command；
According to the control command, controls the kinetic control system and handle correspondence storage region in the multiple storage region
Exercise data, with control the robot moving component execute corresponding sports.
12. a kind of Robert controller, the Robert controller is used to control the kinetic control system of robot, described
Kinetic control system is for controlling the robot motion, which is characterized in that the kinetic control system includes memory, described
Memory includes multiple storage regions, and the Robert controller includes: processor and memory, wherein the memory
In be stored with computer program instructions, for executing such as claim when the computer program instructions are run by the processor
1 to 10 described in any item exercise data storage methods and/or robot control method as claimed in claim 11.
13. a kind of storage medium, stores program instruction on said storage, which is characterized in that described program instruction exists
For executing exercise data storage method as described in any one of claim 1 to 10 and/or such as claim 11 institute when operation
The robot control method stated.
14. a kind of robot control system, which is characterized in that including kinetic control system and machine as claimed in claim 12
People controls equipment.
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| CN111673736A (en) * | 2020-05-13 | 2020-09-18 | 北京理工大学 | Robot system control method, equipment and storage medium |
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