CN110253567A - For controlling kinetic control system, method and the robot of robot motion - Google Patents
For controlling kinetic control system, method and the robot of robot motion Download PDFInfo
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- CN110253567A CN110253567A CN201910432610.1A CN201910432610A CN110253567A CN 110253567 A CN110253567 A CN 110253567A CN 201910432610 A CN201910432610 A CN 201910432610A CN 110253567 A CN110253567 A CN 110253567A
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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
Abstract
Kinetic control system, method and a kind of robot that the present invention provides a kind of for controlling robot motion.The kinetic control system includes: control parts of motion and first memory, and the first memory includes multiple storage regions, and at least two storage regions in the multiple storage region are used to prestore different groups of exercise data；The control parts of motion controls the robot motion for receiving the first control command, based on the exercise data that target storage domain in the multiple storage region, corresponding with first control command prestores.Above-mentioned technical proposal prestores one group of corresponding exercise data by prestoring the corresponding exercise data of movement that robot needs to be implemented, namely for a movement, so as to execute corresponding movement by calling the exercise data prestored to control robot.Thus the control mode for greatlying simplify robot, improves work efficiency and user experience.
Description
Technical field
The present invention relates to the motion control fields of robot, relate more specifically to a kind of for controlling the fortune of robot motion
Autocontrol system, method and a kind of robot.
Background technique
The specific control process of robot is usual are as follows: user is defeated by Robert controller (or man-machine interaction unit)
Enter kinematic parameter to control parts of motion.Control parts of motion obtains actual motor control number after resolving to kinematic parameter
According to control robot motion based on motor control data.
At present in the motion control field of robot, robot acts each time to be needed user to calculate every time and inputs correspondence
Kinematic parameter, then resolved, control motor movement based on obtained motor control data is resolved.In other words, right at present
The control of robot is " instant calculation " type.This control mode is not only time-consuming to have an impact to working efficiency, but also to operator
The professional knowledge of member is more demanding, and operator needs to calculate the kinematic parameter of respective action, so that poor user experience.
In order to solve the above technical problems, it is necessary to propose a kind of new motion control skill for being used to control robot motion
Art.
Summary of the invention
The present invention is proposed in view of the above problem.The embodiment provides one kind for controlling robot fortune
Dynamic kinetic control system, method and a kind of robot.
According to one aspect of the invention, it provides a kind of for controlling the kinetic control system of robot motion.The movement
Control system includes: control parts of motion and first memory,
The first memory includes multiple storage regions, and at least two storage regions in the multiple storage region are used
In the exercise data for prestoring different groups；
The control parts of motion for receive the first control command, based on it is in the multiple storage region, with it is described
The exercise data that the corresponding target storage domain of first control command prestores controls the robot motion.
Illustratively, the control parts of motion is multiple, and the kinetic control system further includes master control unit, the master
Control component is used to the control parts of motion being connected to Robert controller, wherein the Robert controller is for controlling
Make the kinetic control system；
The master control unit includes second memory, and the second memory is for storing Collaborative Control information, the association
It include the correspondence relationship information of the storage region of the second control command and the first memory with control information；
The master control unit inquires the Collaborative Control for receiving the second control command, according to second control command
Information is controlled with determining control parts of motion corresponding with second control command and target storage domain to identified movement
Component processed sends first control command, to be based on and first control command by the identified control parts of motion
The exercise data that corresponding target storage domain prestores controls the robot motion.
Illustratively, the first memory is integrated in the master control unit, and the exercise data of the different groups is certainly
The kinematic parameters of the received different movements of the Robert controller, first control command include described with described first
The exercise data that the corresponding target storage domain of control command prestores；
Each control parts of motion includes solving unit and controls unit,
The solving unit is used to resolve the fortune that the target storage domain corresponding with first control command prestores
Dynamic data, to generate corresponding wavetable data；
The unit that controls is for generating waveform according to the corresponding wavetable data and being controled based on the waveform described
Robot motion.
Illustratively, the master control unit is realized using gateway.
Illustratively, the control parts of motion further includes solving unit, and the first memory is integrated in the movement
In control unit and connect the solving unit；
The solving unit is used to resolve the kinematic parameter from the received different movements of Robert controller, to generate
State different groups of exercise data；And according to from the received store instruction of the Robert controller in the first memory pair
The exercise data of the different groups is prestored in the storage region answered；
Wherein the Robert controller is for controlling the kinetic control system.
Illustratively, the control parts of motion further includes the unit that controls connecting with the first memory, the drive
Control unit is used to prestore based on target storage domain in the multiple storage region, corresponding with first control command
Exercise data generates waveform and controls the robot motion based on the waveform.
Illustratively, the multiple storage region further includes at least one buffer zone.
According to a further aspect of the invention, a kind of robot is provided.The robot includes above-mentioned kinetic control system.
According to a further aspect of the present invention, it provides a kind of for controlling the motion control method of robot motion.The movement
Control method is used for kinetic control system, and the kinetic control system includes control parts of motion and first memory, feature
It is,
The motion control method includes:
The first control command is received by the control parts of motion；
Using the control parts of motion based on mesh in the first memory, corresponding with first control command
The exercise data that mark storage region prestores controls the robot motion, wherein the first memory includes multiple memory blocks
Domain, at least two storage regions in the multiple storage region are used to prestore different groups of exercise data.
Illustratively, the control parts of motion is multiple, and the kinetic control system further includes master control unit, the master
Control component is used to the control parts of motion being connected to Robert controller, wherein the Robert controller is for controlling
The kinetic control system is made,
The master control unit includes second memory, and the second memory is for storing Collaborative Control information, the association
It include the correspondence relationship information of the storage region of the second control command and the first memory with control information；
The motion control method includes:
The second control command is received by the master control unit；
Using the master control unit according to second control command inquire the Collaborative Control information with it is determining with it is described
The corresponding control parts of motion of second control command and target storage domain send described the to identified control parts of motion
One control command, with by the identified control parts of motion based on it is in the first memory, with it is described first control
The exercise data for ordering corresponding target storage domain to prestore controls the robot motion.
Illustratively, the exercise data of the different groups is the fortune from the received different movements of the Robert controller
Dynamic parameter；
It is described to be prestored based on target storage domain in the first memory, corresponding with first control command
Exercise data controls the robot motion
The exercise data that the target storage domain corresponding with first control command prestores is resolved, to generate correspondence
Wavetable data；
Waveform is generated according to the corresponding wavetable data and the robot motion is controled based on the waveform.
Illustratively, the motion control method further include:
The kinematic parameter from the received different movements of Robert controller is resolved, to generate the movement number of the different groups
According to；
According to from the received store instruction of the Robert controller in the corresponding storage region of the first memory
In prestore the exercise data of the different group；
Wherein the Robert controller is for controlling the kinetic control system.
Illustratively, described based on target storage in the first memory, corresponding with first control command
The exercise data that region prestores controls the robot motion
Waveform is generated based on the exercise data that the target storage domain corresponding with first control command prestores；With
And
The robot motion is controled based on the waveform.
The kinetic control system and method according to an embodiment of the present invention for being used to control robot motion, by prestoring machine
The corresponding exercise data of the movement that people needs to be implemented, namely one group of corresponding exercise data is prestored for a movement, so as to
To execute corresponding movement by calling the exercise data prestored to control robot.Thus the manipulation side of robot is greatlied simplify
Formula, improves work efficiency and 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 robot according to an embodiment of the invention；
Fig. 2 shows according to an embodiment of the invention for controlling the signal of the kinetic control system of robot motion
Property block diagram；
Fig. 3 shows in accordance with another embodiment of the present invention for controlling the kinetic control system and machine of robot motion
The schematic block diagram of device people control equipment；
Fig. 4 shows according to an embodiment of the invention for controlling the kinetic control system and machine of robot motion
The schematic block diagram of people's control equipment；
Fig. 5 shows the kinetic control system and machine for being used to control robot motion of further embodiment according to the present invention
The schematic block diagram of device people control equipment；
Fig. 6 shows the kinetic control system and machine for being used to control robot motion of another embodiment according to the present invention
The schematic block diagram of device people control equipment；
Fig. 7 shows according to an embodiment of the invention for controlling the signal of the motion control method of robot motion
Property flow chart；
Fig. 8 shows in accordance with another embodiment of the present invention for controlling showing for the motion control method of robot motion
Meaning property flow chart；And
Fig. 9 shows showing for the motion control method for controlling robot motion of further embodiment according to the present invention
Meaning property flow chart.
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.
The operation of robot generally passes through control motor cooperative movement execution unit (such as lead screw or retarder etc.) and realizes.
With using motor cooperation retarder carry out motion control articulated robot (or for multi-joint manipulator, multi-axis robot,
Mechanical arm etc.) for, the operation of retarder is cooperated by control motor, realizes that robot is initial from one according to scheduled route
Position clamps target object to target position.The machine automatization that such articulated robot is usually used in many industrial circles is turned into
Industry.
Articulated robot for example can be four articulated robots (four axis robots), six articulated robots (six axis machines
People) etc..They include pedestal, arm and end effector (such as object clamping part).How much decisions of arm upper joint
The quantity of " axis " of robot, each joint are driven by the rotation of a motor, to realize the movement in joint.Figure
1 shows the schematic diagram of robot 100 according to an embodiment of the invention.As shown in Figure 1, robot 100 is one
Four articulated robots of kind, include pedestal 110, large arm 120, forearm 130, motor 140 and retarder 150.May be used also on forearm 130
To be connected with wrist (not shown), there can be pawl on wrist, to realize to functions such as the crawls of object.In each pass of robot 100
Moving component (such as motor and retarder) can be respectively arranged on section.Such as a set of electricity is provided in the shell of pedestal 110
Machine and retarder (not shown), the upper cover of the output axis connection pedestal 110 of the retarder.The upper cover of pedestal 110 installs large arm
120, the bottom of large arm 120 is provided with another set of motor 140 and retarder 150, the output axis connection large arm 120 of retarder 150
Ontology.The top of large arm 120 is provided with another set of motor and retarder (not shown), the output axis connection of the retarder is small
The ontology of arm 130.It is also provided with another set of motor and retarder (not shown) in the front end of forearm 130, the retarder
Export the ontology of axis connection wrist.Various end effectors, such as object clamping part can be installed on wrist.Motor in pedestal 110
Rotary motion can drive the upper cover of pedestal 110 360 degree rotation movement and then the large arm with mobile robot 100 in the horizontal direction
120, the 360 degree rotation in the horizontal direction such as forearm 130.The rotary motion of motor 140 can drive large arm 120 to bow before the direction S1
It moves downward or layback moves upwards along the direction S2, and then moved with forearm 130 etc. along the direction S1 or S2.120 top of large arm
Motor rotary motion forearm 130 can be driven to be rotated, and then with rotary motions such as wrists.Forearm 130 it is another
The motor rotary motion at end can drive wrist to be rotated, and then be rotated with end effector.It holds end
Motor on row device can also drive end effector to carry out the operations such as clamping object.
User can realize the parameter setting and control to robot by Robert controller (such as computer, teaching machine)
System.User can be by editing motion control of the kinematic parameter realization in each joint to robot, and the kinematic parameter is practical
On be control robot moving component (such as motor) kinematic parameter.After user edits the kinematic parameter of robot, it is sent to
The control parts of motion (or being driving controller etc.) of robot, after control parts of motion resolves the kinematic parameter received
Control moving component movement.Control parts of motion can be provided separately within the outside of robot, by connecting line and robot
Each moving component (such as motor) connection, also may be mounted in the body housing of robot.Pass through different kinematic parameters
The each moving component for controlling robot is moved by moving line set by user, so that it may be realized the control to robot, be made
Robot completes various functions set by user.
It as stated in the background art, is at present " instant calculation " type to the control of robot, i.e., robot acts each time needs
It wants user to calculate every time and inputs corresponding kinematic parameter, then resolved, the motor control data control obtained based on resolving
Motor movement processed.Kinematic parameter for example can be PVT parameter, and P (Position) indicates the destination locations of movement, such as can be
It is expected that the displaced position that the rotation angle or expectation that reach reach；V (Velocity) indicates the speed of movement, and T (Time) is indicated
At the time of moving to destination locations.Kinematic parameter is resolved, and is converted to motor control data to control robot fortune
It is dynamic.Motor control data for example can be pulse width modulation (Pulse Width Modulation, abbreviation PWM) wave table number
According to.The manipulation of " instant calculation " type is not only time-consuming to have an impact to working efficiency, but also more demanding to the professional knowledge of operator,
Operator needs to calculate the kinematic parameter of respective action, so that poor user experience.For this purpose, the present invention provides one kind for controlling
The kinetic control system of robot motion processed.
It is described below with reference to Fig. 2 according to an embodiment of the present invention for controlling the kinetic control system of robot motion.
Fig. 2 shows according to an embodiment of the invention for controlling the schematic frame of the kinetic control system 200 of robot motion
Figure.As shown in Fig. 2, system 200 includes control parts of motion 210 and first memory 220.
First memory 220 includes multiple storage regions, and at least two storage regions in multiple storage regions are for pre-
Deposit different groups of exercise data.As shown in Fig. 2, first memory 220 include storage region 1, storage region 2 ..., memory block
The total n storage region of domain n.Different movements of the exercise data of difference group to being executed in requisition for robot, wherein every group of movement number
According to a corresponding movement.For example, it is desired to which robot executes respectively: movement A (move forward 10 centimetres), movement B (left side is turn 90 degrees),
Act C (moving forward 20 centimetres), movement D (turning right 135 degree).Table 1 shows the storage region and movement for prestoring exercise data
Corresponding relationship.It as shown in table 1, can be using movement A, movement B, movement C exercise data corresponding with movement D as different groups
Exercise data is stored to different storage regions in advance respectively.
Table 1 prestores exercise data table
| Predefined movement | Corresponding exercise data | Storage region mark |
| Act A | Exercise data 1 | Storage region 1 |
| Act B | Exercise data 2 | Storage region 2 |
| Act C | Exercise data 3 | Storage region 3 |
| Act D | Exercise data 4 | Storage region 4 |
Control parts of motion 210 is for receiving the first control command, based on multiple storage regions in first memory 220
In, exercise data control robot motion that corresponding with the first control command received target storage domain prestores.The
One control command is to trigger the order acted required for robot executes.It continues the example presented above, such as the first control received
System order instruction needs to be implemented movement B, and corresponding target storage domain is storage region 2.Control parts of motion 210 can be based on
The exercise data 2 that storage region 2 prestores controls robot motion, that is, robot execution may make to act B.Those skilled in the art
As long as being divided by storage region it is appreciated that first memory 220 is able to achieve to prestore different groups of exercise data, the
Specific connection type between one memory 220 and control parts of motion 210 can be rationally designed according to actual requirement of engineering.It changes
Yan Zhi, first memory 220 can be the external memory relatively independent with control parts of motion 210, be also possible to be integrated in
Internal memory in control parts of motion 210.It is independently of control parts of motion 210 Fig. 2 shows first memory 220
The case where external memory, but should not be construed as limiting the invention.The movement of the different groups prestored in first memory 220
Data can be kinematic parameter, such as PVT parameter, and control parts of motion 210 resolves to obtain motor according to the kinematic parameter prestored
Data are controlled to control robot motion.The exercise data of the different groups prestored in first memory 220 is also possible to according to fortune
The motor control data that dynamic parameter calculation obtains, such as PWM wave table data, control parts of motion 210 is according to the motor control prestored
Data processed control robot motion.
Above-mentioned kinetic control system passes through the corresponding exercise data of movement for prestoring and robot being needed to execute, namely is directed to one
A movement prestores one group of corresponding exercise data, so as to control robot execution pair by calling the exercise data prestored
The movement answered.Thus the control mode for greatlying simplify robot, improves work efficiency and user experience.
Fig. 3 shows in accordance with another embodiment of the present invention for controlling the kinetic control system 300 of robot motion
And the schematic block diagram of Robert controller 300a.As shown in figure 3, kinetic control system 300 includes control parts of motion 310
With first memory 320.Wherein, control parts of motion 310 further include connect with first memory 320 control unit 312.It drives
Control unit 312 be used for based on it is in multiple storage regions in first memory 320, received with kinetic control system 300 the
The exercise data that the corresponding target storage domain of one control command prestores generates waveform, and controls machine based on waveform generated
People's movement.Robert controller 300a is for controlling kinetic control system 300.The movement number stored in first memory 320
According to can be from the received motor control data of Robert controller 300a, such as it can be PWM wave table data.Control unit
312 can generate PWM waveform based on PWM wave table data to control robot motion.Motion control system is further improved as a result,
The integrated level of system can be directly connected to the motor of robot using the kinetic control system to control robot motion.Pass through tune
Robot is controlled with the exercise data prestored and executes corresponding movement, is greatlied simplify the control mode of robot, is improved
Working efficiency and user experience.
Fig. 4 show it is according to an embodiment of the invention for control robot motion kinetic control system 400 and
The schematic block diagram of Robert controller 400a.As shown in figure 4, kinetic control system 400 includes 410 He of control parts of motion
First memory 420.Wherein, control parts of motion 410 further includes the solving unit 411 connecting with first memory 420 and solution
That calculates the connection of unit 411 controls unit 412.Robert controller 400a is for controlling kinetic control system 400.First storage
The exercise data stored in device 420 can be from the received kinematic parameter of Robert controller 400a, such as can be PVT fortune
Dynamic parameter.Solving unit 411 is used to receive in multiple storage regions in first memory 420 and kinetic control system 400
To the exercise data that prestores of the corresponding target storage domain of the first control command resolved, to obtain motor control data
(such as PWM wave table data).It controls unit 412 to be based on generating waveform from the received motor control data of solving unit 411, and is based on
Waveform generated controls robot motion.The integrated level of kinetic control system is further improved as a result, is prestored by calling
Exercise data execute corresponding movement to control robot, greatly simplify the control mode of robot, improve work effect
Rate and user experience.
Fig. 5 shows the kinetic control system 500 for being used to control robot motion of further embodiment according to the present invention
And the schematic block diagram of Robert controller 500a.Robert controller 500a is for controlling kinetic control system 500.Such as
Shown in Fig. 5, kinetic control system 500 includes control parts of motion 510 and first memory 520.Wherein, control parts of motion
510 further include solving unit 511, and first memory 520 is integrated in control parts of motion 510 and connects solving unit 511.Solution
Unit 511 is calculated to be used to resolve from the received different kinematic parameters acted of Robert controller 500a, to generate different groups
Exercise data；And according to the corresponding storage in first memory 520 from the received store instruction of Robert controller 500a
The exercise data for resolving obtained different groups is prestored in region.
User sends the kinematic parameter of different movements and corresponding store instruction by Robert controller 500a
To kinetic control system 500.Wherein, different movements of the kinematic parameter of different movements to being executed in requisition for robot, accordingly
Store instruction indicates the storage location in first memory 520.Kinetic control system 500 receives the movement ginseng of different movements
It after number, is resolved by the solving unit 511 in control parts of motion 510, obtains the exercise data for corresponding to different movements.Root
The exercise data that resolving is obtained according to corresponding store instruction stores the corresponding storage location into first memory 520.Movement
Parameter for example can be PVT parameter.Kinematic parameter is resolved, and is converted to motor control data to control robot fortune
It is dynamic.Motor control data for example can be PWM wave table data.For example, kinematic parameter of the Robert controller 500a movement Z
And the store instruction of " storing to storage region 3 " is sent to kinetic control system 500.The movement of 511 couples of solving unit movement Z
After parameter is resolved, the exercise data that resolving is obtained is stored to the storage region 3 in first memory 520.
Above-mentioned kinetic control system is integrated into first memory in control parts of motion, improves control parts of motion
Integrated level, while simplifying the design of kinetic control system.Robot execution pair is controlled by calling the exercise data prestored
The movement answered greatlies simplify the control mode of robot, improves work efficiency and user experience.
In one embodiment, as shown in figure 5, control parts of motion 510 further includes the drive connecting with first memory 520
Control unit 512.Unit 512 is controled for based in multiple storage regions in first memory 520 and kinetic control system
The exercise data that the 500 corresponding target storage domains of the first control command received prestore generates waveform, and is based on being generated
Waveform control robot motion.The exercise data stored in first memory 520 is the motor control data after resolving, such as
PWM wave table data.It controls unit 512 and generates PWM waveform based on PWM wave table data to control robot motion.As a result, further
The integrated level for improving kinetic control system can be directly connected to the motor of robot using the kinetic control system to control machine
Device people movement.By calling the exercise data prestored to execute corresponding movement to control robot, robot is greatlied simplify
Control mode, improves work efficiency and user experience.
Fig. 6 shows the kinetic control system 600 for being used to control robot motion of another embodiment according to the present invention
And the schematic block diagram of Robert controller 600a.As shown in fig. 6, kinetic control system 600 includes multiple motion control portions
Part 610, first memory 620 and master control unit 630.Master control unit 630 is used to control parts of motion 610 being connected to robot
Control equipment 600a.Robert controller 600a is for controlling kinetic control system 600.Master control unit 630 is deposited including second
Reservoir 631.Second memory 631 is for storing Collaborative Control information.The Collaborative Control information includes the second control command and the
The correspondence relationship information of the storage region of one memory 620.Master control unit 630 is for receiving the second control command, according to reception
Arrive the second control command inquiry second memory 631 store Collaborative Control information, so that it is determined that with receive second control
System orders corresponding control parts of motion and target storage domain, and sends the first control life to identified control parts of motion
It enables.Movement number to be prestored by identified control parts of motion based on target storage corresponding with the first control command domain
According to control robot motion.
It will appreciated by the skilled person that control robot execution movement needs to assist for articulated robot
Multiple joints with control robot execute corresponding micromotion respectively.Robot 100 as shown in Figure 1 controls robot
100 execution movement needs each joint (pedestal 110, large arm 120, forearm 130, wrist) of Collaborative Control robot 100 to execute respectively
Corresponding micromotion.By taking robot 100 as an example, table 2 shows the corresponding each joint needs of movement executed with robot 100
The micromotion being performed in unison with, the driving motor in each joint drive each joint to assist based on the exercise data of corresponding micromotion
With movement, to drive the movement of robot 100 to realize the movement needed to be implemented.
The movement decomposition of 2 robot 100 of table
| Robot 100 | Pedestal 110 | Large arm 120 | Forearm 130 | Wrist (not shown) |
| Act X | Micromotion X1 | Micromotion X2 | Micromotion X3 | Micromotion X4 |
| Act Y | Micromotion Y1 | Micromotion Y2 | Micromotion Y3 | Micromotion Y4 |
| ...... | ...... | ...... | ...... | ...... |
The corresponding exercise data of each micromotion is stored in advance in first memory 620.It is deposited by second memory 631
Collaborative Control information is stored up, which includes that the second control command is corresponding with the storage region of first memory 620
Relation information.Second control command is to trigger each joint cooperative motion of robot to execute the required order acted.It is main
After control component 630 receives the second control command, the association for reading and storing in second memory 631 is indexed according to the second control command
With control information, to obtain Collaborative Control information corresponding with second control command.Indicating in Collaborative Control information needs
Want the joint of cooperative motion and exercise data the depositing in first memory 620 of micromotion that each joint needs to be implemented
Storage area domain.
In one embodiment, it can be read in second memory 631 and be stored as identifier index using the second control command
Collaborative Control information.It continues the example presented above, table 3 shows the Collaborative Control information table of robot 100.
The Collaborative Control information table of 3 robot 100 of table
For example, master control unit 630 receives the second control command C1, stored first according to the second control command C1 from second
Index reads corresponding Collaborative Control information in device 631, as shown in table 3.So that it is determined that this time movement of robot needs pedestal
Exercise data, 130 base of forearm that 110 exercise datas that are prestored based on storage region 1, large arm 120 are prestored based on storage region 11
The exercise data cooperative motion that the exercise data and brachiophore prestored in storage region 21 is prestored in storage region 31.Then, main
It controls component 630 and sends the first control command respectively to pedestal 110, large arm 120, forearm 130 and wrist.Specifically, master control unit
The 630 corresponding target storage domains of the first control command sent to pedestal 110 are storage region 1, and master control unit 630 is to large arm
The 120 corresponding target storage domains of the first control command sent are storage region 11, and master control unit 630 is sent to forearm 130
The corresponding target storage domain of the first control command be storage region 21, master control unit 630 is sent to wrist first control order
Enabling corresponding target storage domain is storage region 31.Finally, pedestal 110, large arm 120, forearm 130 and wrist are according to from master control
The first control command that component 630 receives, and prestored based on target storage domain corresponding with respective first control command
Exercise data cooperative motion, thus control robot 100 movement to execute movement corresponding with the second control command C1.
It is appreciated that control robot executes a certain movement and all joints is not necessarily required all for articulated robot
Cooperative motion.In other words, articulated robot can only need partial joint cooperative motion to be performed certain movements.Such as Fig. 1
Shown in robot 100, certain movements only need large arm 120, forearm 130 and wrist cooperative motion, do not need the fortune of pedestal 110
It is dynamic.As shown in table 3, in the corresponding Collaborative Control information of the second control command C3, pedestal 110 needs not participate in cooperative motion.
In one embodiment, the second control command include control parts of motion title and with the motion control portion
The information in the target storage domain in the corresponding first memory 620 of part.It can be using the second control command as key word index packet
Include the Collaborative Control information of the control parts of motion and corresponding target storage domain information.Table 4 shows a 4 joint machines
The Collaborative Control information table of device people.
The Collaborative Control information table of 4 one 4 articulated robots of table
For example, master control unit 630 receives the second control command including " joint 1: storage region 11 ", first " to close
Section 1: storage region 11 " indexes from second memory 631 for keyword and reads corresponding Collaborative Control information, as shown in table 4.
So that it is determined that robot this time moves the exercise data for needing joint 1 to prestore based on storage region 11, joint 2 based on memory block
It is pre- that the exercise data and joint 4 that exercise data that domain 21 prestores, joint 3 are prestored based on storage region 31 are based on storage region 41
The exercise data cooperative motion deposited.Then, master control unit 630 sends first to joint 1, joint 2, joint 3 and joint 4 respectively
Control command.Specifically, the corresponding target storage domain of the first control command that master control unit 630 is sent to joint 1 is storage
Region 11, the corresponding target storage domain of the first control command that master control unit 630 is sent to joint 2 is storage region 21, main
The corresponding target storage domain of the first control command that control component 630 is sent to joint 3 is storage region 31, master control unit 630
The corresponding target storage domain of the first control command sent to joint 4 is storage region 41.Last joint 1, joint 2, joint 3
And joint 4 is according to the first control command received from master control unit 630, and based on corresponding with respective first control command
The exercise data cooperative motion that prestores of target storage domain, to control 4 articulated robot movement to execute and the second control
The corresponding movement of system order C1.
As previously mentioned, the movement of articulated robot not necessarily must all joints be involved in cooperative motion.As shown in table 4,
3rd article of Collaborative Control information of 4 articulated robot does not need joint 1 and participates in cooperative motion.
Above-mentioned kinetic control system is by prestoring the control parts of motion for needing Collaborative Control and corresponding movement
The correspondence relationship information in the target storage domain of data, so as to control each control parts of motion based on the exercise data prestored
Cooperative motion executes the movement that articulated robot needs to be implemented.Thus the manipulation side of articulated robot is greatlied simplify
Formula, improves work efficiency and user experience.
In one embodiment, as shown in fig. 6, first memory 620 is integrated in master control unit 630.It is transported for controlling
The exercise data of the different groups of dynamic control unit execution movement is the fortune from the received different movements of Robert controller 600a
Dynamic parameter.The first control command sent from master control unit 630 to control parts of motion 610 includes and first control command pair
The exercise data that the target storage domain answered prestores.Specifically, master control unit 630 has been determined based on the second control command and has needed to assist
Behind the control parts of motion 610 of control and corresponding target storage domain, read from first memory 620 and each
The exercise data in the corresponding target storage domain of a control parts of motion 610, and handle is read when sending the first control command
Exercise data be sent to corresponding control parts of motion 610.In above-mentioned example, master control unit 630 can be corresponding joint 1
Storage region 11 in exercise data read, the exercise data that reads is sent out when sending the first control command to joint 1
Give joint 1.
As shown in fig. 6, each control parts of motion 610 includes solving unit 611 and controls unit 612.For sake of simplicity, figure
Without showing solving unit 611 for each control parts of motion 610 and controling unit 612 in 6.Solving unit 611 is for solving
The exercise data that the corresponding target storage domain of the first control command that control parts of motion 610 receives prestores is calculated, to generate
Corresponding wavetable data.It controls wavetable data of the unit 612 for generating according to solving unit 611 and generates waveform and based on the wave
Shape controls robot motion.The corresponding exercise data that each control parts of motion is sent by resolving from master control unit as a result,
Realization controls robot.
Above-mentioned kinetic control system is integrated into first memory in master control unit, simplifies setting for control parts of motion
Meter, improves the flexibility of kinetic control system.By controlling each control parts of motion based on the exercise data collaboration fortune prestored
It moves to execute the movement that articulated robot needs to be implemented, greatlies simplify the control mode of articulated robot, improve work
Make efficiency and user experience.
Illustratively, above-mentioned master control unit can use gateway realization.Gateway is realizing Robert controller and machine
While communication function between each control parts of motion of people, as above-mentioned master control unit to each motion control portion of robot
Part carries out Collaborative Control.The design of kinetic control system is further simplified as a result, while reducing system cost.
It illustratively, further include at least one buffer zone in multiple storage regions in above-mentioned first memory.Change speech
It can also reserve at least one buffer zone in addition to the storage region for prestoring exercise data in first memory.It is reserved
Buffer zone can be used for the ephemeral data in buffered motion control process.For example, for needing robot to execute movement, such as
The fruit movement it is no it is corresponding prestore exercise data, can input corresponding kinematic parameter by " instant calculation " mode and be controlled
System.At this point, reserved buffer zone can be used for caching the intermediate data during " instant calculation ".Movement is improved as a result,
The flexibility and applicability of control system.
According to a further aspect of the present invention, a kind of robot is provided.The robot includes above-mentioned kinetic control system.
According to a further aspect of the invention, it additionally provides a kind of for controlling the motion control method of robot motion.Fig. 7 shows
Go out according to an embodiment of the invention for controlling the schematic flow chart of the motion control method 700 of robot motion.
Method 700 is used for kinetic control system, which includes control parts of motion and first memory.Wherein, first
Memory includes multiple storage regions, and at least two storage regions in multiple storage region are used to prestore different groups of movement
Data.As shown in fig. 7, method 700 includes step S710 and step S720.
Step S710 receives the first control command by control parts of motion.
Step S720, using control parts of motion based on received first control of in first memory and step S710
The exercise data control robot motion for ordering corresponding target storage domain to prestore.
Motion control method according to an embodiment of the present invention, by prestoring the corresponding movement of movement for needing robot to execute
Data, namely prestore one group of corresponding exercise data for a movement, so as to by call the exercise data prestored come
It controls robot and executes corresponding movement.Thus the control mode for greatlying simplify robot, improves work efficiency and user
Experience.
In one embodiment, step S720 further includes sub-step S721 and sub-step S722.
Sub-step S721, the fortune prestored based on target storage domain corresponding with received first control command of step S710
Dynamic data generate waveform.
Sub-step S722 controls robot motion based on the sub-step S721 waveform generated.
Thus, it is possible to be directly connected to the motor of robot by the kinetic control system to control robot motion, simplify
Manipulation to robot improves user experience.
Fig. 8 shows in accordance with another embodiment of the present invention for controlling showing for the motion control method of robot motion
Meaning property flow chart.Method 800 is used for kinetic control system, which includes control parts of motion and the first storage
Device.Wherein, first memory includes multiple storage regions, and at least two storage regions in multiple storage region are for prestoring
The exercise data of difference group.As shown in figure 8, method 800 includes step S810, step S820, step S830 and step S840.
Wherein, step S830 and step S840 is similar with the function of the step S610 and step S620 process handled and realization respectively,
For sake of simplicity, repeating no more.
Step S810 resolves the kinematic parameter from the received different movements of Robert controller, to generate different groups
Exercise data.Wherein, Robert controller is for controlling the kinetic control system.
Step S820, according to from the received store instruction of Robert controller in the corresponding storage region of first memory
In prestore step S810 generation different groups exercise datas.
Above-mentioned motion control method resolves the corresponding kinematic parameter of movement for needing robot to execute first to obtain being easy to holding
Capable exercise data is stored to corresponding storage region in advance, to further simplify the control mode of robot, improves machine
Task efficiency and user experience.
In one embodiment, step S840 further includes sub-step S841 and sub-step S842.
Sub-step S841, the fortune prestored based on target storage domain corresponding with received first control command of step S830
Dynamic data generate waveform.
Sub-step S842 controls robot motion based on the sub-step S841 waveform generated.
Thus, it is possible to be directly connected to the motor of robot by the kinetic control system to control robot motion, simplify
Manipulation to robot improves user experience.
Fig. 9 shows the motion control method 900 for being used to control robot motion of further embodiment according to the present invention
Schematic flow chart.Method 900 is used for kinetic control system, which includes multiple control parts of motion, the
One memory and master control unit.First memory includes multiple storage regions, at least two storages in multiple storage region
Region is used to prestore different groups of exercise data.Master control unit is used to for multiple control parts of motion being connected to robot control and sets
Standby, wherein Robert controller is for controlling the kinetic control system.Master control unit includes second memory, second storage
For device for storing Collaborative Control information, which includes the storage region of the second control command and first memory
Correspondence relationship information.As shown in figure 9, method 900 includes step S910 and step S920.
Step S910 receives the second control command by master control unit.
Step S920 is inquired in second memory using master control unit according to the second control command that step S910 is received
Collaborative Control information to determine corresponding with second control command control parts of motion and target storage domain.Utilize master control
Component sends the first control command to identified control parts of motion, is deposited with being based on first by identified control parts of motion
The exercise data that in reservoir, target storage corresponding with the first control command domain prestores controls the robot motion.
Above-mentioned motion control method is by prestoring the control parts of motion for needing Collaborative Control and corresponding movement
The correspondence relationship information in the target storage domain of data, so as to control each control parts of motion based on the exercise data prestored
Cooperative motion executes the movement that articulated robot needs to be implemented.Thus the manipulation side of articulated robot is greatlied simplify
Formula, improves work efficiency and user experience.
In one embodiment, the exercise data of the different groups prestored in first memory is connect from Robert controller
The kinematic parameter of the different movements of receipts.Step S920 further includes sub-step S921 and sub-step S922.
Sub-step S921 resolves the exercise data that target storage corresponding with the first control command domain prestores, with
Generate corresponding wavetable data.
Sub-step S922, the wavetable data resolved according to sub-step S921 generate waveform and control robot based on the waveform
Movement.
The exercise data that above-mentioned motion control method prestores be resolve before kinematic parameter, need pre-stored data volume compared with
It is small, the capacity requirement of first memory can be effectively reduced, to reduce system cost.
Above-mentioned motion control method can be used for aforementioned movement control system.Those of ordinary skill in the art pass through aforementioned pass
In the description of kinetic control system, it is possible to understand that the specific implementation and technical effect of each step of the motion control method.For
Succinct, details are not described herein.
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 realized in vision positioning map loading device according to an embodiment of the present invention
Some modules some or all functions.The present invention is also implemented as one for executing method as described herein
Point or whole program of device (for example, computer program and computer program product).It is such to realize program of the invention
It can store on a computer-readable medium, or may be in the form of one or more signals.Such signal can be with
It downloads from 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 (13)
1. a kind of for controlling the kinetic control system of robot motion, the kinetic control system includes: control parts of motion
And first memory, which is characterized in that
The first memory includes multiple storage regions, and at least two storage regions in the multiple storage region are for pre-
Deposit different groups of exercise data；
The control parts of motion for receiving the first control command, based on it is in the multiple storage region, with described first
The exercise data that the corresponding target storage domain of control command prestores controls the robot motion.
2. kinetic control system as described in claim 1, which is characterized in that the control parts of motion is multiple, the fortune
Autocontrol system further includes master control unit, and the master control unit is used to for the control parts of motion being connected to robot control and sets
It is standby, wherein the Robert controller is for controlling the kinetic control system；
The master control unit includes second memory, and the second memory is for storing Collaborative Control information, the collaboration control
Information processed includes the correspondence relationship information of the storage region of the second control command and the first memory；
The master control unit inquires the Collaborative Control information for receiving the second control command, according to second control command
To determine control parts of motion corresponding with second control command and target storage domain, to identified motion control portion
Part sends first control command, corresponding with first control command to be based on by the identified control parts of motion
The exercise data that prestores of target storage domain control the robot motion.
3. kinetic control system as claimed in claim 2, which is characterized in that
The first memory is integrated in the master control unit, and the exercise data of the different groups is controlled from the robot
The kinematic parameter of the received different movements of equipment, first control command include described corresponding with first control command
The exercise data that target storage domain prestores；
Each control parts of motion includes solving unit and controls unit,
The solving unit is used to resolve the movement number that the target storage domain corresponding with first control command prestores
According to generate corresponding wavetable data；
It is described to control unit for generating waveform according to the corresponding wavetable data and the machine is controled based on the waveform
People's movement.
4. kinetic control system as claimed in claim 2 or claim 3, which is characterized in that the master control unit is realized using gateway.
5. kinetic control system as described in claim 1, which is characterized in that the control parts of motion further includes resolving list
Member, the first memory are integrated in the control parts of motion and connect the solving unit；
The solving unit is used to resolve the kinematic parameter from the received different movements of Robert controller, described not with generation
With the exercise data of group；And according to corresponding in the first memory from the received store instruction of the Robert controller
The exercise data of the different groups is prestored in storage region；
Wherein the Robert controller is for controlling the kinetic control system.
6. kinetic control system as claimed in claim 1 or 5, which is characterized in that the control parts of motion further includes and institute
That states first memory connection controls unit, it is described control unit for based on it is in the multiple storage region, with described the
The exercise data that the corresponding target storage domain of one control command prestores generates waveform and controls the machine based on the waveform
People's movement.
7. kinetic control system as described in any one of claims 1 to 3, which is characterized in that the multiple storage region is also wrapped
Include at least one buffer zone.
8. a kind of robot, which is characterized in that including kinetic control system as described in any one of claim 1 to 7.
9. a kind of for controlling the motion control method of robot motion, the motion control method is used for kinetic control system,
The kinetic control system includes control parts of motion and first memory, which is characterized in that
The motion control method includes:
The first control command is received by the control parts of motion；
It is deposited using the control parts of motion based on target in the first memory, corresponding with first control command
The exercise data that storage area domain prestores controls the robot motion, wherein the first memory includes multiple storage regions, institute
State the exercise data that at least two storage regions in multiple storage regions are used to prestore different groups.
10. motion control method as claimed in claim 9, which is characterized in that
The control parts of motion be it is multiple, the kinetic control system further includes master control unit, the master control unit be used for will
The control parts of motion is connected to Robert controller, wherein the Robert controller is for controlling the movement control
System processed,
The master control unit includes second memory, and the second memory is for storing Collaborative Control information, the collaboration control
Information processed includes the correspondence relationship information of the storage region of the second control command and the first memory；
The motion control method includes:
The second control command is received by the master control unit；
The Collaborative Control information is inquired to determine and described second according to second control command using the master control unit
The corresponding control parts of motion of control command and target storage domain send first control to identified control parts of motion
System order, with by the identified control parts of motion based on it is in the first memory, with first control command
The exercise data that corresponding target storage domain prestores controls the robot motion.
11. motion control method as claimed in claim 10, which is characterized in that
The exercise data of the different groups is the kinematic parameter from the received different movements of the Robert controller；
The movement prestored based on target storage domain in the first memory, corresponding with first control command
Data control the robot motion
The exercise data that the target storage domain corresponding with first control command prestores is resolved, to generate corresponding wave
Table data；
Waveform is generated according to the corresponding wavetable data and the robot motion is controled based on the waveform.
12. motion control method as claimed in claim 9, which is characterized in that the motion control method further include:
The kinematic parameter from the received different movements of Robert controller is resolved, to generate the exercise data of the different groups；
According to pre- in the corresponding storage region of the first memory from the received store instruction of the Robert controller
Deposit the exercise data of the different groups；
Wherein the Robert controller is for controlling the kinetic control system.
13. the motion control method as described in claim 9 or 12, which is characterized in that described based in the first memory
, the exercise data that corresponding with first control command target storage domain prestores controls the robot motion and includes:
Waveform is generated based on the exercise data that the target storage domain corresponding with first control command prestores；And
The robot motion is controled based on the waveform.
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