CN110253538B - Motion data storage and robot control method, device, system and storage medium - Google Patents
Motion data storage and robot control method, device, system and storage medium Download PDFInfo
- Publication number
- CN110253538B CN110253538B CN201910432698.7A CN201910432698A CN110253538B CN 110253538 B CN110253538 B CN 110253538B CN 201910432698 A CN201910432698 A CN 201910432698A CN 110253538 B CN110253538 B CN 110253538B
- Authority
- CN
- China
- Prior art keywords
- motion
- robot
- control system
- data
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
Abstract
The embodiment of the invention provides a motion data storage method, a robot control method, robot control equipment, a storage medium and a robot control system. The motion data storage method is used for a robot control device, the robot control device is used for controlling a motion control system of a robot, the motion control system comprises a memory, and the memory comprises a plurality of memory areas. The motion data storage method comprises the following steps: obtaining an index identifier for determining a target storage area; obtaining a segment identifier for determining a motion parameter; transmitting information about the index identifier to a motion control system; determining a motion parameter of a corresponding section according to the section identifier; controlling the motion control system to store the motion data in a target storage area of the plurality of storage areas according to the information. The technical scheme can store the complex motion data in a segmented mode. Therefore, the user does not need to edit the motion parameters for many times, and the user experience is improved.
Description
Technical Field
The present invention relates to the field of robotics, and more particularly, to a motion data storage method, a robot control device, a robot control system, and a storage medium.
Background
At present, when a user controls the motion of a robot through a robot control device, the robot control device sends motion parameters for controlling the motion of the robot to a motion control system. It is resolved by the motion control system into wave table data that the motor can execute. In current motion control systems, a fixed buffer area is usually used to store motion parameters sent by a robot control device for the motion control system to control the robot motion accordingly. This results in the tasks of the robot being performed serially. In some application scenarios, such as a pipeline production line, a user may require a robot to perform different actions. In the prior art, this memory area can only be operated repeatedly, resulting in a loop action that needs to be performed with user involvement (e.g. multiple inputs of motion parameters). The requirements of users cannot be met, and meanwhile, the user experience is poor.
Disclosure of Invention
The present invention has been made in view of the above problems. The invention provides a motion data storage method, a robot control device, a robot control system and a storage medium.
According to an aspect of an embodiment of the present invention, there is provided a motion data storage method for a robot control apparatus for controlling a motion control system of a robot for controlling a motion of the robot, the motion control system including a memory including a plurality of storage areas, the motion data storage method including:
obtaining an index identifier for determining a target storage area;
obtaining a segment identifier for determining a motion parameter;
transmitting information about the index identifier to the motion control system;
determining a motion parameter of a corresponding section according to the section identifier;
and controlling the motion control system to store motion data in a target storage area of the plurality of storage areas according to the information, wherein the motion data is obtained according to the motion parameters of the corresponding section.
Illustratively, the controlling the motion control system to store the motion data in a target storage area of the plurality of storage areas according to the information includes:
and controlling the motion control system to store the motion parameters of the corresponding sections as the motion data in a target storage area of the plurality of storage areas according to the information.
Illustratively, the motion control system comprises a main control unit and a motion control unit, the main control unit is used for connecting the robot control device and the motion control unit, the motion control unit is used for driving the robot to move according to the motion parameters, and the memory is integrated in the main control unit.
The controlling the motion control system to store the motion parameters of the corresponding section as the motion data in a target storage area of the plurality of storage areas according to the information includes:
and controlling the main control component to store the motion parameters of the corresponding sections as the motion data in a target storage area of the plurality of storage areas according to the information.
Illustratively, the motion control system comprises a motion control component for controlling the robot motion in accordance with the motion parameter, the memory being integrated in the motion control component,
the controlling the motion control system to store the motion parameters of the corresponding section as the motion data in a target storage area of the plurality of storage areas according to the information includes:
and controlling the motion control component to store the motion parameters of the corresponding sections as the motion data in a target storage area of the plurality of storage areas according to the information so as to drive the robot to move according to the motion data.
Illustratively, the motion data includes: one or more of position data, velocity data and time data for each joint of the robot.
Illustratively, the motion control system comprises a motion control component for controlling the robot motion in accordance with the motion parameter, the memory being integrated in the motion control component,
the controlling the motion control system to store motion data in a target storage area of the plurality of storage areas according to the information includes controlling the motion control component to:
resolving the motion parameters of the corresponding sections into wavetable data to serve as the motion data;
and storing the motion data in a target storage area of the plurality of storage areas according to the information so as to drive the robot to move according to the motion data.
Illustratively, before the controlling the motion control system stores the motion data in the target storage area of the plurality of storage areas according to the information, the motion data storing method further includes:
controlling the motion control system to clear data of a target storage area of the plurality of storage areas.
Illustratively, the controlling the motion control system to store the motion data in a target storage area of the plurality of storage areas according to the information further comprises:
sending a starting mark of the motion parameter of the corresponding section; and/or
And sending an end mark of the motion parameters of the corresponding section.
The obtaining of the index identifier for determining the target storage area and/or the obtaining of the segment identifier for determining the motion parameter are/is implemented by a human-machine interaction interface.
Illustratively, before the controlling the motion control system stores the motion data in the target storage area of the plurality of storage areas according to the information, the motion data storing method further includes:
and interpolating the initial motion parameters to generate the motion parameters to be transmitted.
According to still another aspect of embodiments of the present invention, there is also provided a robot control method for a robot control apparatus for controlling a motion control system of a robot for controlling a motion of the robot, the motion control system including a memory including a plurality of memory areas for storing different motion data, the robot control method including:
obtaining a control command;
and controlling the motion control system to process the motion data of the corresponding storage area in the plurality of storage areas according to the control command so as to drive the motion part of the robot to execute corresponding motion.
According to still another aspect of an embodiment of the present invention, there is also provided a robot control apparatus for controlling a motion control system of a robot for controlling a motion of the robot, the motion control system including a memory including a plurality of memory areas, the robot control apparatus including: a processor and a memory, wherein the memory has stored therein computer program instructions for executing the above described motion data storage method and/or the above described robot control method when executed by the processor.
According to another aspect of embodiments of the present invention, there is also provided a storage medium on which program instructions are stored, the program instructions being operable when executed to perform the above-described motion data storage method and/or the above-described robot control method.
According to another aspect of the embodiments of the present invention, there is also provided a robot control system including a motion control system and the robot control apparatus described above.
According to the technical scheme of the embodiment of the invention, the memory in the motion control system comprises a plurality of memory areas, and complex motion data can be stored in a segmented mode. Therefore, the robot can be controlled more flexibly, different requirements of users are met, and user experience is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail embodiments of the present invention with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings, like reference numbers generally represent like parts or steps.
FIG. 1 shows a schematic block diagram of a prior art motion control system;
FIG. 2 shows a schematic flow diagram of a method of motion data storage according to one embodiment of the invention;
FIG. 3 shows a schematic block diagram of a motion control system according to one embodiment of the present invention;
FIG. 4 shows a schematic block diagram of a motion control system according to yet another embodiment of the present invention;
FIG. 5 shows a schematic block diagram of a motion control system according to yet another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.
A robot control device (e.g., a computer, teach pendant, etc.) may receive and process motion parameters from a user for controlling the robot. The motion parameters are various parameter data for controlling the motion of a moving part (e.g., a motor) of the robot. For example, the motion parameters may include one or more of position data, velocity data, and time data for various joints of the robot. The position data may be coordinate data in a rectangular spatial coordinate system, or may be rotation angle or other data related to a position. After receiving and processing the motion parameters, the robot control device sends them to the motion control system (which may include motion control components such as actuators) of the robot. And the motion control system calculates the received motion parameters and then controls the robot to move.
Fig. 1 shows a prior art robot control system 100 comprising a robot control device 110, a motion control means 130 for controlling a motor 150. The motion control unit 130 includes a calculating unit 132, a wave table 133, a Pulse Width Modulation (PWM) waveform generator 134, and a motor driving unit 135.
The robot control device 110 may be a teach pendant, a computer equipped with upper computer software, or a mobile phone/Pad equipped with APP, to implement human-computer interaction, so that a user may configure motion parameters, control the running state of a motor, display a motion curve, etc. through the robot control device 110. The motion parameters may include one or more of position data, velocity data, and time data of the moving part (i.e., the motor 150) to precisely control the moving part of the robot to perform a corresponding motion.
The motion control unit 130 performs calculation of the motion parameters sent from the robot control device 110 to obtain actual control data (e.g., PWM waves). The operation state of the motor 150 can be adjusted by adjusting the period and duty ratio of the PWM wave, etc. The motion control part 130 includes a resolving unit 132, a wave table 133, a PWM waveform generator 134, and a motor driving unit 135.
The calculating unit 132 realizes the calculation of the motion parameters, and can calculate the motion parameters into corresponding wave table data for generating the PWM waveforms.
The wave table 133 is used to store wave table data. The wave table may be implemented with a first-in-first-out memory.
The PWM waveform generator 134 is a device for generating a PWM waveform, for example, a PWM waveform generator implemented by a Field-Programmable Gate Array (FPGA) chip, and can generate corresponding PWM waveform data according to the wave table data generated by the calculating unit 132.
The calculating unit 132 and the PWM waveform generator 134 may also be a single component, and for example, the calculating unit 132 and the PWM waveform generator 134 may be implemented by an FPGA chip embedded with an Advanced reduced instruction set computer (Advanced RISC Machines, ARM) core, and the FPGA chip may implement both the function of the calculating unit 132 and the function of the PWM waveform generator 134.
The motor driving unit 135 is a driving unit of the motor 150, and can drive the motor 150 to move according to the PWM waveform data generated by the PWM waveform generator 134.
The robot control system 100 described above can control the robot motion by editing a series of motion parameters on the robot control device. In one example, the user first edits a series of motion parameters on the robot control device 110 according to his/her needs, and then sequentially sends the series of motion parameters to the motion control unit 130 through a data line, and the calculating unit 132 calculates the motion parameters after receiving the motion parameters and stores the calculated motion parameters in the wave table 133 (typically, a first-in first-out memory). The PWM waveform generator 134 sequentially obtains the wavetable data from the wavetable 133, and the motor driving unit 135 drives the motor 150 to move according to the PWM waveform data.
According to an embodiment of the present invention, there is provided a motion data storage method. The motion data storage method is used for the robot control device. The robot control apparatus is used to control a motion control system of a robot. The motion control system is used for controlling the motion of the robot. The motion control system includes a memory including a plurality of memory regions. In the motion data storage method, corresponding motion data obtained from motion parameters of respective sections for controlling the motion of the robot are stored in respective storage areas in a memory of the motion control system. By storing the motion data in different areas, the decomposition of complex actions can be realized. When the motion control system controls the robot to move, the robot is driven to execute actions while resolving, and therefore real-time control is achieved. In addition, after the memory is divided into a plurality of memory areas, tasks can be executed in parallel without mutual interference, the control of the circular motion of the robot is also perfectly solved, and the working efficiency is improved.
FIG. 2 shows a schematic flow diagram of a method 200 of storing athletic data in accordance with one embodiment of the present invention. As shown in fig. 2, the athletic data storage method 200 includes the following steps.
In step S210, an index identifier for determining a target storage area is obtained.
It will be appreciated that the memory of the motion control system includes a plurality of memory regions. The individual storage areas may be uniquely identified by an index identifier. It is desirable to store motion data for controlling the robot to perform different tasks in different storage areas of the memory by the robot control device. In this step S210, the index identifier of the target storage area is obtained for determining a specific storage location where the motion data corresponding to the specific task is stored, i.e., a specific one of the plurality of storage areas of the memory, simply referred to as the target storage area.
In step S220, a segment identifier for determining the motion parameter is obtained.
The robot control device controls the movement of the robot by sending the movement parameters to the movement control system. The motion parameters correspond to specific motion tasks of the robot. According to the embodiment of the invention, in order to better control the robot to execute the task, the motion parameters for executing different tasks can be set to belong to different sections. The motion parameters of each segment have a segment identifier corresponding to one of them. The segment identifier may be used to determine the motion parameters corresponding thereto.
In step S230, information about the index identifier is transmitted to the motion control system.
It will be appreciated that motion data for controlling the motion of the robot may be stored in the motion control system. In order to determine the motion data in the target storage area of the motion control system, information based on the index identifier of the target storage area obtained in step S210 may be transmitted to the motion control system to determine the storage location of the motion data according to the information of the index identifier.
In step S240, the motion parameter of the corresponding segment is determined according to the segment identifier.
It will be appreciated that the motion parameters of each segment have a segment identifier corresponding to one of them. The motion parameter of the corresponding section may be determined according to the section identifier of the motion parameter obtained in step S220.
And step S250, controlling the motion control system to store the motion data in a target storage area of the plurality of storage areas according to the information of the index identifier. The motion data is obtained according to the motion parameters of the corresponding section determined in step S240.
It will be appreciated that the storage location identified by the index identifier and thus the target storage area may be determined among a plurality of storage areas. The robot controlling apparatus may transmit the motion parameters determined in step S240 to the motion control system. And after receiving the motion parameters, the motion control system obtains motion data for controlling the motion of the robot based on the motion parameters, and then stores the motion data in a target storage area.
According to the technical scheme, the complex motion data can be stored in a plurality of different storage areas in the motion control system in a segmented mode. Therefore, the user does not need to edit the motion parameters for many times, different requirements of the user are met, and user experience is improved. Furthermore, parallel execution of tasks may be achieved and the robot may be controlled more flexibly.
Illustratively, the step S210 of obtaining the index identifier for determining the target storage area and/or the step S220 of obtaining the section identifier for determining the motion parameter is implemented by a human-computer interaction interface.
Index identifiers used for determining the target storage area and/or section identifiers used for determining the motion parameters are obtained from the user by utilizing the man-machine interaction interface, so that the user can conveniently and flexibly store and set the motion parameters, and the user experience is improved.
Illustratively, before the step S250, the motion data storing method further includes interpolating the initial motion parameters to generate the motion parameters to be transmitted.
It can be understood that the motion process of the moving part of the robot can be more stable by interpolating the initial motion parameters, which is beneficial to control.
Illustratively, the above step S250 includes a step S251 of controlling the motion control system to store the motion parameter of the corresponding section as motion data in a target storage area among the plurality of storage areas according to information of the index identifier of the target storage area.
It will be appreciated that the motion parameters for controlling the robot to perform different tasks may be arranged to belong to different segments. The motion parameters of each segment have a segment identifier corresponding to one of them. The robot control device transmits the motion parameters determined according to the section identifiers to the motion control system, and controls the motion control system to store the received motion parameters of the corresponding sections as motion data in the target storage area determined by the index identifiers. It will be appreciated that the motion data is not additionally processed by the motion control system described above prior to storage.
The technical scheme directly stores the complex motion parameters in a segmented manner, and enhances the capacity of flexibly expanding the storage space.
Illustratively, the motion data includes: one or more of position data, velocity data and time data.
The motion data for the robot control device to control the robot may include position data P, velocity data V, and time data T. Thus, the motion data may be represented by PVT, which defines a motion velocity V, a motion position P, which the joints of the robot may need to reach at a certain time T. Specifically, for example, the end effector of the robot carries an object, moves from position a to position B at a constant speed, and then waits for a certain time before releasing the object at position B.
It will be appreciated that the motion data may include one or more of position data, velocity data and time data. The motion data may include only velocity data, such as, for example, the end effector of the robot rotating in a home position to perform a screwing task.
The motion data including one or more of position data, velocity data and time data may enable the motion data to be used to accurately control the moving parts of the robot to make different motions to perform different tasks.
Illustratively, the motion control system comprises a main control unit and a motion control unit, wherein the main control unit is used for connecting the robot control device and the motion control unit, the motion control unit is used for driving the robot to move according to motion parameters, and a memory is integrated in the main control unit.
The step S251 may include: and the control main control component stores the motion parameters of the corresponding sections as the motion data in a target storage area of the plurality of storage areas according to the information of the index identifiers.
Fig. 3 shows a schematic block diagram of a robot control system 300 according to an embodiment of the invention. The robot control system 300 includes a robot control device 310, a main control unit 320, and a motion control unit 330 for controlling a motor 350. The main control unit 320 includes a memory including a plurality of memory areas. The motion control part 330 includes a resolving unit 332, a wave table 333, a PWM waveform generator 334, and a motor driving unit 335. Wherein the functions, positions and structures of the robot control device 310, the motion control part 330, the solution unit 332, the wave table 333, the PWM waveform generator 334, the motor driving unit 335 and the motor 350 are respectively similar to the corresponding parts in the above robot control system 100. For brevity, no further description is provided herein.
As shown in fig. 3, the memory in the main control unit 320 includes a plurality of memory areas, such as a memory area 1, a memory area 2. Each memory area may independently store motion data for controlling the motion of the motor 350 of the robot.
In one example, the motion parameters (e.g., the motion parameters include two sections of motion parameters, namely, a first section of motion parameter and a second section of motion parameter) are first edited on the robot control device 310 according to application requirements, and index identifiers of respective target storage areas of the two sections of motion parameters are determined. And then the motion parameters of the two sections and the information of the index identifiers of the corresponding target storage areas are respectively sent to a motion control system through data lines. And controlling the motion control system to store the motion parameters of the two sections in corresponding target storage areas respectively. For example, the first section motion parameters are stored as first motion data in the storage area 1, and the second section motion parameters are stored as second motion data in the storage area 2. The main control unit 320 may transmit the motion data stored in the respective storage areas to the motion control unit 330, respectively. The motion control unit 330 may drive the robot to move according to the received motion data.
The master control unit 320 may be coupled to one or more motion control units 330. The master control unit 320 may be implemented with a gateway. Alternatively, the main control unit 320 may convert data from the robot control device 310 into Controller Area Network (CAN) bus data, and transmit the data to the connected motion control units 330, respectively. For example, the robot control device 310 may be implemented by a computer having a USB interface for communication. The master control unit 320 may be implemented using a Universal Serial Bus (USB) -CAN gateway. The main control unit 320 may convert data transmitted from the computer through the USB interface into CAN bus data, and then transmit the CAN bus data to each motion control unit 330 through the CAN data line. Thus, the master control unit 320 is a master node in a CAN communication network and the motion control unit 330 is a slave node in the CAN communication network.
By integrating the memory in the main control unit, the memory space can be flexibly expanded, the requirement on the internal memory space of the motion control unit is reduced, and the motion control unit can be adapted to the existing motion control units with various specifications.
Alternatively, the motion control system comprises a motion control means for controlling the robot motion in dependence of motion parameters, a memory being integrated in the motion control means.
The step S251 includes: the control motion control part stores the received motion parameters as motion data in a target storage area among the plurality of storage areas according to the information on the index identifier to actuate the robot motion according to the motion data.
Fig. 4 shows a schematic block diagram of a robot control system 400 according to yet another embodiment of the present invention. The robot control system 400 comprises a robot control device 410, a motion control unit 430 for controlling a motor 450 of the robot. The motion control part 430 includes a memory 431, a resolving unit 432, a wave table 433, a PWM waveform generator 434, and a motor driving unit 435. The memory 431 is integrated within the motion control unit 430. The functions, positions, and structures of the robot control device 410, the calculation unit 432 of the motion control part 430, the wave table 433, the PWM waveform generator 434, the motor drive unit 435, and the motor 450 are respectively similar to the corresponding parts in the above robot control system 300. For brevity, no further description is provided herein.
As shown in fig. 4, the memory 431 of the motion control unit 430 includes a plurality of memory areas, such as a memory area 1, a memory area 2. Each memory area may independently store motion data for controlling the motion of the motor 450 of the robot.
In one example, the motion parameters are first edited on the robot control device 410 according to the application requirements and set by section. Then, the motion parameter of a certain section and the information of the index identifier of its target storage area are sent to the motion control unit 430 through the data line to control the motion control unit 430 to store the motion parameter of the section as motion data in the target storage area of the memory 431 according to the information of the index identifier. The motion control unit 430 may drive the robot motion according to the motion data stored in the target storage area in the memory 431.
The robot control system 400 shown in fig. 4 is similar to the robot control system 300 shown in fig. 3. The difference is that in the robot control system 300, the robot control device 310 controls the main control unit 320 to store the motion parameters in segments. In the robot control system 400, the robot control device 410 controls the motion control part 430 to store the motion parameters in segments. It will be appreciated that in the motion control system shown in fig. 4, a master control unit (not shown) may also be included. The main control unit is used for connecting the robot control equipment and the motion control unit.
A memory is added within the motion control unit and divided into a plurality of memory areas. Therefore, the storage space can be flexibly expanded according to the user requirements, and the user experience is improved. In addition, the working pressure of the main control unit is reduced, each motion control unit bears the calculation task, and the system efficiency is effectively improved.
The memory in the motion control unit may also be located, for example, in a different location than that shown in fig. 4.
Fig. 5 shows a schematic block diagram of a robot control system 500 according to yet another embodiment of the invention. The robot control system 500 comprises a robot control device 510, a motion control part 530 for controlling a motor 550 of the robot. The motion control part 530 includes a resolving unit 532, a wave table 533, a PWM waveform generator 534, and a motor driving unit 535. The wave table 533 is integrated as a memory in the motion control means. Wherein the functions, positions and structures of the robot control device 510, the solution unit 532 of the motion control part 530, the PWM waveform generator 534, the motor drive unit 535, and the motor 550 are respectively similar to the corresponding parts in the above robot control system 400. For brevity, no further description is provided herein.
As shown in fig. 5, the wave table 533 of the motion control unit 530 includes a plurality of storage regions such as a wave table 1, a wave table 2. Each memory area may independently store motion data for controlling the motion of the motor 550 of the robot.
In one example, the motion parameters are first edited on the robotic control device 510 according to application requirements and set by segment. And then the motion parameters of the specific section and the information of the index identifier of the target storage area are sent to the motion control part through the data line according to the section identifier. The sending operation may be via a master control unit (not shown).
The above step S250 includes controlling the motion control section to perform the following operations. Firstly, the motion parameters of the corresponding section are resolved into wave table data to serve as motion data. Motion data is then stored in a target storage area of the plurality of storage areas according to the information on the index identifier to drive the robot motion according to the motion data. Specifically, the motion data is stored in a target storage region (such as wave table 1) in the wave table 533 according to the information of the index identifier. And driving the robot to move according to the motion data stored in the target storage area in the wave table 533.
And dividing a wave table in the motion control component into a plurality of storage areas, and respectively storing the calculated motion data. Therefore, the motion data used by the motion control component can be stored in the target storage area, the stored content is reduced, and the storage efficiency is improved. Meanwhile, external storage is not required to be added, and cost is saved.
Illustratively, before the step S250, the motion data storing method further includes controlling the motion control system to clear data of a target storage area among the plurality of storage areas.
It is understood that, before the target storage area stores new motion data, in order to prevent the existing data stored in the target storage area from interfering with the correct storage of the motion data, the existing data may be erased before the motion data is stored in the target storage area. Thereby, the correctness of the motion data storage is ensured.
Exemplarily, the step S250 further includes sending a start flag of the motion parameter of the corresponding segment; and/or sending an end flag of the motion parameter of the corresponding section.
It is understood that when the robot control device sends the motion parameter of the corresponding section to the motion control system, it may send a start flag to the motion control system at the beginning, so that the motion control system may confirm the start position of the motion parameter of the section according to the start flag. Likewise, at the end, the robot control device may send an end flag to the motion control system so that the motion control system may identify the end position of the section motion parameter based on the end flag.
By sending the start and/or end marks of the motion parameters, the motion control system can accurately acquire the motion parameters, and the loss of the motion parameters is avoided.
According to still another aspect of the embodiments of the present invention, there is also provided a robot control method. The robot control method is used for a robot control device used for controlling a motion control system of a robot, the motion control system is used for controlling the motion of the robot, the motion control system comprises a memory, the memory comprises a plurality of memory areas used for storing different motion data, and the robot control method comprises the following steps.
First, a control command is obtained. This step may be implemented by a human-machine interaction interface. The control command may include an index identifier for the target storage area and/or a sector identifier for determining the motion parameter. It is understood that the two have a one-to-one correspondence. The robot control device may store a relationship table of the two. By using the relation table, one item can be searched for another item corresponding to the one item.
And then, according to the control command, controlling the motion control system to process the motion data of the storage area corresponding to the control command in the plurality of storage areas so as to drive the moving part of the robot to execute corresponding motion.
According to still another aspect of the embodiment of the invention, a robot control apparatus is also provided. The robot control apparatus for controlling a motion control system of a robot, the motion control system for controlling a motion of the robot, the motion control system including a memory including a plurality of memory areas, the robot control apparatus comprising: a processor and a memory, wherein the memory has stored therein computer program instructions for executing the above described motion data storage method and/or the above described robot control method when executed by the processor.
According to another aspect of the embodiment of the invention, a robot control system is also provided. The robot control system comprises a motion control system and the robot control device.
According to other aspects of the embodiments of the present invention, there is also provided a storage medium on which program instructions are stored, which when executed by a computer or a processor cause the computer or the processor to perform the motion data storage method of the embodiments of the present invention and/or the corresponding steps of the robot control method described above, and to implement corresponding modules for use in a robot control device according to the embodiments of the present invention. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a portable compact disc read only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.
In one embodiment, the computer program instructions, when executed by a computer or processor, cause the computer or processor to perform the steps of:
obtaining an index identifier for determining a target storage area;
obtaining a segment identifier for determining a motion parameter;
transmitting information about the index identifier to the motion control system;
determining a motion parameter of a corresponding section according to the section identifier;
and controlling the motion control system to store motion data in a target storage area of the plurality of storage areas according to the information, wherein the motion data is obtained according to the motion parameters of the corresponding section.
In another embodiment, the computer program instructions, when executed by a computer or processor, cause the computer or processor to perform the steps of:
obtaining a control command;
and controlling the motion control system to process the motion data of the corresponding storage area in the plurality of storage areas according to the control command so as to drive the motion part of the robot to execute corresponding motion.
A person skilled in the art can understand specific implementation schemes of the robot control method, the robot control device, the robot control system, and the storage medium by reading the above descriptions related to the robot control system 100, the motion data storage method 200, the robot control system 300, the robot control system 400, and the robot control system 500, and therefore, for brevity, no further description is provided herein.
According to the motion data storage method, the robot control method, the device, the system and the storage medium of the embodiment of the invention, the storage in the motion control system comprises a plurality of storage areas, and complex motion data can be stored in a segmented mode. Therefore, the robot can be controlled more flexibly, different requirements of users are met, and user experience is improved.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules for use in a robot control device according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (14)
1. A motion data storage method for a robot control apparatus for controlling a motion control system of a robot for controlling a motion of the robot, the motion control system comprising a memory including a plurality of storage areas, the motion data storage method comprising:
obtaining an index identifier for determining a target storage area;
obtaining a segment identifier for determining a motion parameter;
transmitting information about the index identifier to the motion control system;
determining a motion parameter of a corresponding section according to the section identifier;
and controlling the motion control system to store motion data in a target storage area of the plurality of storage areas according to the information, wherein the motion data is obtained according to the motion parameters of the corresponding section.
2. The athletic data storage method of claim 1, wherein the controlling the athletic control system to store athletic data in a target storage area of the plurality of storage areas based on the information comprises:
and controlling the motion control system to store the motion parameters of the corresponding sections as the motion data in a target storage area of the plurality of storage areas according to the information.
3. The motion data storage method according to claim 2, wherein the motion control system comprises a main control unit and a motion control unit, the main control unit is used for connecting the robot control device and the motion control unit, the motion control unit is used for controlling the robot motion according to the motion parameters, and the memory is integrated in the main control unit;
the controlling the motion control system to store the motion parameters of the corresponding section as the motion data in a target storage area of the plurality of storage areas according to the information includes:
and controlling the main control component to store the motion parameters of the corresponding sections as the motion data in a target storage area of the plurality of storage areas according to the information.
4. The motion data storage method according to claim 2, wherein the motion control system includes a motion control component for controlling the robot motion in accordance with the motion parameter, the memory being integrated within the motion control component,
the controlling the motion control system to store the motion parameters of the corresponding section as the motion data in a target storage area of the plurality of storage areas according to the information includes:
and controlling the motion control component to store the motion parameters of the corresponding sections as the motion data in a target storage area of the plurality of storage areas according to the information so as to drive the robot to move according to the motion data.
5. The motion data storage method according to any one of claims 2 to 4, wherein the motion data includes: one or more of position data, velocity data and time data for each joint of the robot.
6. The motion data storage method according to claim 1, wherein the motion control system includes a motion control component for controlling the robot motion in accordance with the motion parameter, the memory being integrated within the motion control component,
the controlling the motion control system to store motion data in a target storage area of the plurality of storage areas according to the information includes controlling the motion control component to:
resolving the motion parameters of the corresponding sections into wavetable data to serve as the motion data;
and storing the motion data in a target storage area of the plurality of storage areas according to the information so as to drive the robot to move according to the motion data.
7. The motion data storage method according to claim 1, wherein before said controlling said motion control system to store the motion data in a target storage area of said plurality of storage areas according to said information, said motion data storage method further comprises:
controlling the motion control system to clear data of a target storage area of the plurality of storage areas.
8. The athletic data storage method of claim 1, wherein the controlling the athletic control system to store athletic data in a target storage area of the plurality of storage areas based on the information further comprises:
sending a starting mark of the motion parameter of the corresponding section; and/or
And sending an end mark of the motion parameters of the corresponding section.
9. The method for storing athletic data of claim 1, wherein the obtaining the index identifier for determining the target storage area and/or the obtaining the segment identifier for determining the athletic parameter is performed via a human-machine interface.
10. The motion data storage method according to claim 1, wherein before said controlling said motion control system to store the motion data in a target storage area of said plurality of storage areas according to said information, said motion data storage method further comprises:
and interpolating the initial motion parameters to generate the motion parameters to be transmitted.
11. A robot control method for a robot control apparatus for controlling a motion control system of a robot for controlling a motion of the robot, the motion control system including a memory, characterized in that the memory includes a plurality of storage areas for storing different motion data, wherein the motion data is stored by the motion data storage method according to any one of claims 1 to 10, the robot control method comprising:
obtaining a control command;
and controlling the motion control system to process the motion data of the corresponding storage area in the plurality of storage areas according to the control command so as to drive the motion part of the robot to execute corresponding motion.
12. A robot control apparatus for controlling a motion control system of a robot for controlling the robot motion, characterized in that the motion control system includes a memory including a plurality of memory areas, the robot control apparatus comprising: a processor and a memory, wherein the memory has stored therein computer program instructions for performing the motion data storage method of any of claims 1 to 10 and/or the robot control method of claim 11 when executed by the processor.
13. A storage medium on which program instructions are stored, characterized in that the program instructions are adapted to perform a motion data storage method according to any of claims 1 to 10 and/or a robot control method according to claim 11 when executed.
14. A robot control system, characterized by comprising a motion control system and a robot control device according to claim 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910432698.7A CN110253538B (en) | 2019-05-22 | 2019-05-22 | Motion data storage and robot control method, device, system and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910432698.7A CN110253538B (en) | 2019-05-22 | 2019-05-22 | Motion data storage and robot control method, device, system and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110253538A CN110253538A (en) | 2019-09-20 |
| CN110253538B true CN110253538B (en) | 2021-05-04 |
Family
ID=67915155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910432698.7A Active CN110253538B (en) | 2019-05-22 | 2019-05-22 | Motion data storage and robot control method, device, system and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110253538B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673736A (en) * | 2020-05-13 | 2020-09-18 | 北京理工大学 | Robot system control method, equipment and storage medium |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760044A (en) * | 2018-12-26 | 2019-05-17 | 合肥欣奕华智能机器有限公司 | A kind of data processing method and device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7177723B2 (en) * | 2003-08-28 | 2007-02-13 | Spectra Logic Corporation | Operational optimization after powering on a robotic data storage library |
| CN106155594B (en) * | 2016-07-29 | 2019-05-24 | 无锡天脉聚源传媒科技有限公司 | A kind of data processing method and device |
| CN107450480B (en) * | 2017-08-06 | 2019-08-16 | 苏州镁伽智能制造科技有限公司 | Control device, control method, medium and the system of moving component |
| CN107766007A (en) * | 2017-11-16 | 2018-03-06 | 郑州云海信息技术有限公司 | A kind of date storage method and device |
| CN109605367B (en) * | 2018-11-13 | 2021-01-26 | 上海鲸鱼机器人科技有限公司 | Robot programming method, device and equipment and storage medium |
| CN109551485B (en) * | 2019-01-21 | 2020-10-16 | 北京镁伽机器人科技有限公司 | Motion control method, device and system and storage medium |
-
2019
- 2019-05-22 CN CN201910432698.7A patent/CN110253538B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760044A (en) * | 2018-12-26 | 2019-05-17 | 合肥欣奕华智能机器有限公司 | A kind of data processing method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110253538A (en) | 2019-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107678307B (en) | Semi-hardware type simulation test system | |
| CN107894762B (en) | Matter emulation tests system | |
| US10166673B2 (en) | Portable apparatus for controlling robot and method thereof | |
| CN109746914B (en) | Method of constructing robot, robot control apparatus, system, and storage medium | |
| CN109551485B (en) | Motion control method, device and system and storage medium | |
| CN104698950A (en) | Peripheral device control method, microcontroller, upper computer and system | |
| CN109213080B (en) | Machine tool control method and device | |
| CN106737691A (en) | The method and apparatus of manual teaching robot | |
| CN104331022B (en) | Industrial robot bending fast programming system | |
| CN103692352A (en) | Numerical control system of part sanding device and control method thereof | |
| CN110253538B (en) | Motion data storage and robot control method, device, system and storage medium | |
| CN110253567B (en) | Motion control system and method for controlling robot motion and robot | |
| CN110794826A (en) | Hybrid navigation method and device, communication method and device, equipment and storage medium | |
| CN102478832A (en) | Three-dimensional circular interpolation method capable of realizing curved surface machining of numerical control machine and device | |
| CN109605378B (en) | Method, device and system for processing motion parameters and storage medium | |
| CN104353926B (en) | A kind of motion control method being applicable to complex curve device automatic welding | |
| CN202583833U (en) | Multi-motor intelligent servo system based on internet of things technology | |
| CN116292538B (en) | Hydro-cylinder binding method, system, device and medium based on digital twin | |
| CN103552072B (en) | A kind of robot control method based on embedded controller and device | |
| CN110253568B (en) | Robot control method, system, device and storage medium | |
| CN112506152A (en) | Coal mining machine and controller and control method thereof | |
| CN105034000A (en) | Industrial robot imaging control system based on CAD import | |
| CN113021329A (en) | Robot motion control method and device, readable storage medium and robot | |
| CN111380527A (en) | Navigation method and navigation controller of indoor service robot | |
| CN103513660B (en) | A kind of method of locating terminal and system, mobile terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20191212 Address after: No.1705, building 8, Qianhai preeminent Financial Center (phase I), unit 2, guiwan District, Nanshan street, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen City, Guangdong Province Applicant after: Mga Technology (Shenzhen) Co., Ltd Address before: 102208 1, unit 1, 1 hospital, lung Yuan middle street, Changping District, Beijing 1109 Applicant before: Beijing magnesium Robot Technology Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| CB02 | Change of applicant information |
Address after: 518052 1705, building 8, Qianhai excellence Financial Center (phase I), unit 2, guiwan area, Nanshan street, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen City, Guangdong Province Applicant after: Shenzhen mga Technology Co.,Ltd. Address before: 1705, building 8, Qianhai excellence Financial Center (phase I), unit 2, guiwan area, Nanshan street, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong 518000 Applicant before: Mga Technology (Shenzhen) Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |