CN110405760A - A kind of method and system controlled by computer animation auxiliary mechanical arm - Google Patents
A kind of method and system controlled by computer animation auxiliary mechanical arm Download PDFInfo
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- CN110405760A CN110405760A CN201910657564.5A CN201910657564A CN110405760A CN 110405760 A CN110405760 A CN 110405760A CN 201910657564 A CN201910657564 A CN 201910657564A CN 110405760 A CN110405760 A CN 110405760A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The present invention provides a kind of method and systems controlled by computer animation auxiliary mechanical arm, comprising: the ideal path for obtaining the mechanical arm movement of robot is handled by computer animation；Motion planning is carried out according to mechanical arm of the ideal path to robot, obtains the motion profile of the mechanical arm；The motion profile is pre-stored in robot interior, obtains motion file；The input information received according to the robot, the motion profile that selection target acts from the motion file for be pre-stored in robot interior control the robot according to the motion profile and execute corresponding manipulator motion.The present invention keeps mechanical arm movement more graceful, while meeting the requirement of real-time of mechanical arm control according to the motion profile of the ideal path planning mechanical arm to personalize.
Description
Technical field
The present invention relates to robot arm control field, espespecially a kind of side controlled by computer animation auxiliary mechanical arm
Method and system.
Background technique
Robotics is to Robot Design, manufacture and using relevant science.The whole world has nearly million machines at present
Device people is running, and robotics is widely used, wherein mechanical arm control is the important research neck of robotics
Domain, by being transformed into manipulator motion to manipulator motion planning, and by scheduled programme, to make machine portrait people one
Sample makes desired movement.
Mechanical arm control mode popular at present is using mature domination set such as MoveIt！Software package, it is ROS
Robot carries out the kit of moving operation in operating system (RobotOperatingSystem, robot operating system).
MoveIt！For we provide the tools for carrying out manipulator motion planning, but ROS system structure is complicated, the sensor ratio needed
It is more, MoveIt！The real-time of motion planning not can guarantee, and MoveIt！The path cooked up tends to the most road Duan Huokuai
Diameter, it is not graceful enough according to the movement of mechanical arm performed by the path.
Summary of the invention
An object of the present invention is to provide one kind in order to overcome at least partly deficiency existing in the prior art and pass through electricity
The method and system of brain animation auxiliary mechanical arm control.
Technical solution provided by the invention is as follows:
A method of it is controlled by computer animation auxiliary mechanical arm, comprising: handled by computer animation and obtain robot
Mechanical arm movement ideal path；Motion planning is carried out according to mechanical arm of the ideal path to robot, is obtained described
The motion profile of mechanical arm；The motion profile is pre-stored in robot interior, obtains motion file；It is connect according to the robot
The input information received, the motion profile that selection target acts from the motion file for be pre-stored in robot interior, according to described
Motion profile controls the robot and executes corresponding manipulator motion.
It is further preferred that described carry out motion planning according to mechanical arm of the ideal path to robot, institute is obtained
The motion profile for stating mechanical arm includes: kinematic constraint according to robot, handles the ideal path, obtains the machine
The motion profile of tool arm.
It is further preferred that the kinematic constraint according to robot, carrying out processing to the ideal path includes: from institute
State the spatial position where each artis for extracting each moment mechanical arm in ideal path；According to the spatial position
Variation calculates the acceleration and speed of each moment each artis；When there are the acceleration of artis more than corresponding joint motor
Peak acceleration and/or artis speed be more than corresponding joint motor maximum speed when, then by increase movement when
It is long, it is moved using the acceleration for being no more than the peak acceleration and no more than the speed of the maximum speed, it is identical to reach
Spatial position.
It is further preferred that the kinematic constraint according to robot, is handled the ideal path further include: root
It is adjusted according to spatial position of the ideal deceleration curve to each artis of each moment of the movement ending segment of the ideal path
It is whole, terminated smoothly with safety action.
It is further preferred that described be pre-stored in robot interior for the motion profile, obtain also wrapping after motion file
Include: robot output end according to the ideal arm motion of ideal path Dynamically Announce, and according to the movement rail
The skimulated motion of mechanical arm described in mark Dynamically Announce.
It is further preferred that described be pre-stored in robot interior for the motion profile, obtain also wrapping after motion file
It includes: on the mobile phone terminal for having subscribed to robot motion planning, according to the ideal arm motion of ideal path Dynamically Announce,
And the skimulated motion of the mechanical arm according to the motion profile Dynamically Announce
The present invention also provides a kind of systems controlled by computer animation auxiliary mechanical arm, comprising: animation process module is used
In the ideal path for the mechanical arm movement for handling acquisition robot by computer animation；Motion planning module, for according to
Ideal path carries out motion planning to the mechanical arm of robot, obtains the motion profile of the mechanical arm；Memory module, being used for will
The motion profile is pre-stored in robot interior, obtains motion file；Execution module, for what is received according to the robot
Information is inputted, the motion profile that selection target acts from the motion file for be pre-stored in robot interior, according to the movement rail
Mark controls the robot and executes corresponding manipulator motion.
It is further preferred that the motion planning module, is further used for the kinematic constraint according to robot, to the reason
Think that path is handled, obtains the motion profile of the mechanical arm.
It is further preferred that the motion planning module, when being further used for extracting each from the ideal path
Carve the spatial position where each artis of mechanical arm；Each moment each joint is calculated according to the variation of the spatial position
The acceleration and speed of point；When there are the peak accelerations and/or artis that the acceleration of artis is more than corresponding joint motor
Speed when being more than the maximum speed of corresponding joint motor, then by increasing movement duration, using being no more than described maximum accelerate
The acceleration of degree and no more than the maximum speed speed move, to reach identical spatial position.
It is further preferred that further include: display module, for the output end in robot according to the ideal path dynamic
Show ideal arm motion, and the skimulated motion of the mechanical arm according to the motion profile Dynamically Announce.
A kind of method and system controlled by computer animation auxiliary mechanical arm provided through the invention, can bring with
It is lower at least one the utility model has the advantages that
1, the present invention is handled by computer animation obtains ideal path of certain movement from origin-to-destination, according to the ideal road
Diameter plans the motion profile of mechanical arm, to make the movement of the mechanical arm of robot closer to people, acts more graceful.
2, the present invention improves the real-time of system response using the motion file that various movements are stored in advance.
3, the present invention provides the visualization of planning movement, reason can be shown on the display screen and mobile phone terminal of robot
The arm motion movement and the skimulated motion of mechanical arm movement thought, facilitate client or staff intuitively to see that planning is dynamic
The case where making has good Visual Performance.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, it is auxiliary by computer animation to one kind
Above-mentioned characteristic, technical characteristic, advantage and its implementation for the method and system for helping mechanical arm to control are further described.
Fig. 1 is a kind of process of one embodiment of method controlled by computer animation auxiliary mechanical arm of the invention
Figure；
Fig. 2 is a kind of process of another embodiment of method controlled by computer animation auxiliary mechanical arm of the invention
Figure；
Fig. 3 is a kind of process of another embodiment of method controlled by computer animation auxiliary mechanical arm of the invention
Figure；
Fig. 4 is that a kind of structure of one embodiment of system controlled by computer animation auxiliary mechanical arm of the invention is shown
It is intended to；
Fig. 5 is a kind of structure of another embodiment of system controlled by computer animation auxiliary mechanical arm of the invention
Schematic diagram.
Drawing reference numeral explanation:
110. animation process module, 120. motion planning modules, 130. memory modules, 140. execution modules, 150. displays
Module.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below
A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand
Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated
" only this ", can also indicate the situation of " more than one ".
In one embodiment of the invention, as shown in Figure 1, a kind of side controlled by computer animation auxiliary mechanical arm
Method, comprising:
Step S100 handles the ideal path for obtaining the mechanical arm movement of robot by computer animation；
Step S200 carries out motion planning according to mechanical arm of the ideal path to robot, obtains the mechanical arm
Motion profile；
The motion profile is pre-stored in robot interior by step S300, obtains motion file；
The input information that step S400 is received according to the robot, from the motion file for being pre-stored in robot interior
The motion profile of selection target movement controls the robot according to the motion profile and executes corresponding manipulator motion.
Specifically, the mechanical arm of robot acts, for example object is grabbed, claps hands, welcome.Some robots, for example dance, meet
Guest robot, movement is stylized, and the movement needed to be implemented is limited, executes corresponding movement in different scenes.For this kind of machine
The movement of the mechanical arm of device people, it is intended that it is graceful as people, rather than most fast, shortest path is selected, so this implementation
Example first passes through one section of computer photograph when the motion path of the mechanical arm to this kind of robot is planned with the artificial prototype of machine
Animated actions video, thus obtain mechanical arm movement ideal path, then using tracking plan, according to the ideal path plan
The motion profile of corresponding mechanical arm out keeps motion profile consistent with ideal path.
For example, guest-meeting robot does welcome movement, first with the artificial prototype of machine, outer dimension including robot and
All artis positions of mechanical arm render Software for producing 3DSMAX (3D Studio using animation software, such as three-dimensional animation
Max), the video for meeting the welcome movement of human aesthetic's requirement is produced；The video is combined with the skeleton data of robot,
Obtain the ideal path of welcome movement.Then motion planning, i.e. tracking are carried out according to mechanical arm of the ideal path to robot
Planning with reference to the kinematic constraint (kinematic constraint including mechanical arm) of robot, for example controls the electricity of the joint motions of mechanical arm
The velocity and acceleration of machine limits, and obtains the motion profile for meeting kinematic constraint of respective action.Other movements of mechanical arm
It is all processed similarly, the motion profile that all mechanical arms act is pre-stored in robot interior, obtains a motion file.
It is inputted according to the human-computer interaction of robot, for example voice is obtained by microphone, then explain through natural-sounding, obtained and use
The input demand at family can also obtain the input demand of user by equipment such as touch screen and cameras；According to the input of user
The demand motion profile that selection target acts from motion file controls mechanical arm according to the motion profile and executes corresponding move
Make.
Since the motion profile of mechanical arm is planned according to anthropomorphic movement, so the movement of mechanical arm is closer
People acts more graceful；And MoveIt！The path of software plan is more biased towards fast, short-circuit line, thus execute the path obtain it is dynamic
Make and does not meet human aesthetic's requirement.
Various motion profiles are preset in robot interior, do not need dynamic programming path, the time of planning can be shortened,
The input information for allowing mechanical arm to be received according to robot makes corresponding movement in time, and the real-time for meeting system response is wanted
It asks.
In another embodiment of the present invention, as shown in Fig. 2, a kind of side controlled by computer animation auxiliary mechanical arm
Method, comprising:
Step S100 handles the ideal path for obtaining the mechanical arm movement of robot by computer animation.
Space bit where step S210 from each artis for extracting each moment mechanical arm in the ideal path
It sets；
Step S220 calculates the acceleration and speed of each moment each artis according to the variation of the spatial position；
Step S230 is when there are the peak accelerations and/or artis that the acceleration of artis is more than corresponding joint motor
Speed when being more than the maximum speed of corresponding joint motor, then by increasing movement duration, using being no more than described maximum accelerate
The acceleration of degree and no more than the maximum speed speed move, to reach identical spatial position；
Step S240 is according to ideal deceleration curve to each joint of each moment of the movement ending segment of the ideal path
The spatial position of point is adjusted, and is terminated smoothly with safety action；Using path adjusted as the motion profile of mechanical arm.
Specifically, first passing through animation when the mechanical arm for the robot of desired graceful movements carries out trajectory path planning
Software 3DSMAX makes one section of animated actions video with the artificial prototype of machine on computers, then by the bone of the video and robot
Bone data, which combine, generates XAF file, which contains the ideal path of respective action.Above procedure can with machine
It is handled on the unrelated computer of people.The XAF file is imported into robot interior, by the processor of robot interior from the XAF file
The spatial position of each artis on each moment mechanical arm is extracted, wherein each artis is by its movement of motor control.From
The initial time of movement samples in chronological order to the ideal path of movement to finish time, such as systematic sampling, obtains every
The spatial position of a moment each artis.According to the variation of the spatial position of artis each in time sequencing, obtain each
The speed of moment corresponding joint point；According to the variation of the speed of artis each in time sequencing, corresponding pass of each moment is obtained
The acceleration of node.The velocity and acceleration of each artis of each moment is traversed, for example, since the initial time of movement,
If the speed that sometime there is artis is more than the maximum speed of motor and/or the acceleration of artis is more than motor
Peak acceleration then needs the motion planning to previous moment to the moment to be adjusted, in order to guarantee path adjusted with
Ideal path is basically unchanged, so the spatial position at the moment adjusted must be constant, for example, in previous moment and the moment
Between increase several intermediate points, this is equivalent to the movement duration increased between previous moment and the moment, due to it is previous when
The distance at quarter to the moment is unchanged, can thus reduce the acceleration and/or rate request at the moment, make the acceleration at the moment
Degree and speed are all that motor can be supported, and movement duration adjusted can be by the peak acceleration of motor (when speed is less than
When the maximum speed of motor) or maximum speed operation by motor needed for movement duration be arranged.For example, to ideal road
Diameter systematic sampling, sampling interval 1s obtain the points such as A, B, C......, and wherein AB point distance is 250mm, and A spot speed is 0,
The speed of B point is 500mm/s, and the maximum speed of motor is 300mm/s, and B spot speed exceeds the maximum speed of motor, needs to AB
The motion planning of section is adjusted, and increases a point A1 between A, B two o'clock, i.e. when movement between A and A1 a length of 1s, A1 with
A length of 1s when movement between B, the movement duration (=2s) between such A and B is elongated, and the spatial position of A point and B point is not
Become, the distance between A and B are unchanged, it is possible to reduce the rate request of B point, for example use new speed 300mm/s, according to B point
New movement duration between B of new speed, A, A1 point can be extrapolated at a distance from the speed and AB two o'clock of A point speed,
Spatial position (for example, it is 200mm that A and A1 point distance, which are 50mm, A1 and B point distance, the speed of A1 point is 100mm/s).
Each joint of each moment of ending segment is acted in the ideal deceleration curve adjustment ideal path rule of thumb obtained
The spatial position of point makes the velocity variations of movement ending segment adjusted so as to adjust the speed of each artis of each moment
It is close with ideal deceleration curve, so that movement be made smoothly to terminate.
In this way, obtaining the motion profile of a suitable manipulator motion according to the ideal path of movement.
The motion profile is pre-stored in robot interior by step S300, obtains motion file；
The input information that step S400 is received according to the robot, from the motion file for being pre-stored in robot interior
The motion profile of selection target movement controls the robot according to the motion profile and executes corresponding manipulator motion.
Specifically, the present embodiment considers the kinematic constraint of robot, the motor constraint especially on mechanical arm, according to each
The ideal path of movement obtains the motion profile for meeting manipulator motion, by moment each artis each in the motion profile
The information such as position, speed, acceleration are sent to the movement of the control motor of the motor control panel on mechanical arm sequentially in time, from
And realize the movement of mechanical arm, keep the movement of mechanical arm smoother.
In another embodiment of the present invention, as shown in figure 3, a kind of be by what computer animation auxiliary mechanical arm controlled
System, comprising:
On the basis of previous embodiment, increase step S510, step S520.
Step S510 robot output end according to the ideal arm motion of ideal path Dynamically Announce, Yi Jigen
According to the skimulated motion of mechanical arm described in the motion profile Dynamically Announce；
Step S520 is managed on the mobile phone terminal for having subscribed to robot motion planning according to the ideal path Dynamically Announce
The arm motion thought, and the skimulated motion of the mechanical arm according to the motion profile Dynamically Announce.
Specifically, the display function for being needed to provide using the ROS system of robot interior according to user, according to the reason of movement
Think that path shows ideal arm motion in the output end (such as display screen) of robot, is shown according to the motion profile of action planning
The skimulated motion of mechanical arm.Ideal arm motion can also be acted and the skimulated motion of mechanical arm is acted and shown on mobile phone
Show, as long as the mobile phone has subscribed the motion planning of robot, which can synchronize associated display information and be dealt into mobile phone
On shown.The case where this facilitates client or staff intuitively to see planning movement, improves the visualization function of system
Energy.
In another embodiment of the present invention, as shown in figure 4, a kind of be by what computer animation auxiliary mechanical arm controlled
System, comprising:
Animation process module 110, for handling the ideal path for obtaining the mechanical arm movement of robot by computer animation；
Motion planning module 120 is obtained for carrying out motion planning according to mechanical arm of the ideal path to robot
The motion profile of the mechanical arm；
Memory module 130 obtains motion file for the motion profile to be pre-stored in robot interior；
Execution module 140, the input information for being received according to the robot, from being pre-stored in the dynamic of robot interior
Make the motion profile that selection target acts in file, the robot is controlled according to the motion profile and executes corresponding mechanical arm
Movement.
Specifically, the mechanical arm of robot acts, for example object is grabbed, claps hands, welcome.Some robots, for example dance, meet
Guest robot, movement is stylized, and the movement needed to be implemented is limited, executes corresponding movement in different scenes.For this kind of machine
The movement of the mechanical arm of device people, it is intended that it is graceful as people, rather than most fast, shortest path is selected, so this implementation
Example first passes through one section of computer photograph when the motion path of the mechanical arm to this kind of robot is planned with the artificial prototype of machine
Animated actions video, thus obtain mechanical arm movement ideal path, then using tracking plan, according to the ideal path plan
The motion profile of corresponding mechanical arm out keeps motion profile consistent with ideal path.
For example, guest-meeting robot does welcome movement, first with the artificial prototype of machine, outer dimension including robot and
All artis positions of mechanical arm render Software for producing 3DSMAX (3D Studio using animation software, such as three-dimensional animation
Max), the video for meeting the welcome movement of human aesthetic's requirement is produced；The video is combined with the skeleton data of robot,
Obtain the ideal path of welcome movement.Then motion planning, i.e. tracking are carried out according to mechanical arm of the ideal path to robot
Planning with reference to the kinematic constraint (kinematic constraint including mechanical arm) of robot, for example controls the electricity of the joint motions of mechanical arm
The velocity and acceleration of machine limits, and obtains the motion profile for meeting kinematic constraint of respective action.Other movements of mechanical arm
It is all processed similarly, the motion profile that all mechanical arms act is pre-stored in robot interior, obtains a motion file.
It is inputted according to the human-computer interaction of robot, for example voice is obtained by microphone, then explain through natural-sounding, obtained and use
The input demand at family can also obtain the input demand of user by equipment such as touch screen and cameras；According to the input of user
The demand motion profile that selection target acts from motion file controls mechanical arm according to the motion profile and executes corresponding move
Make.
Since the motion profile of mechanical arm is planned according to anthropomorphic movement, so the movement of mechanical arm is closer
People acts more graceful；And MoveIt！The path of software plan is more biased towards fast, short-circuit line, thus execute the path obtain it is dynamic
Make and does not meet human aesthetic's requirement.
Various motion profiles are preset in robot interior, do not need dynamic programming path, the time of planning can be shortened,
The input information for allowing mechanical arm to be received according to robot makes corresponding movement in time, and the real-time for meeting system response is wanted
It asks.
In another embodiment of the present invention, as shown in figure 4, a kind of be by what computer animation auxiliary mechanical arm controlled
System, comprising:
Animation process module 110, for handling the ideal path for obtaining the mechanical arm movement of robot by computer animation；
Motion planning module 120, for each pass for extracting each moment mechanical arm from the ideal path
Spatial position where node；The acceleration and speed of each moment each artis are calculated according to the variation of the spatial position
Degree；When the speed of the peak acceleration and/or artis that there are the acceleration of artis are more than corresponding joint motor is more than correspondence
When the maximum speed of joint motor, then by increasing movement duration, using the acceleration for being no more than the peak acceleration and not
Speed more than the maximum speed moves, to reach identical spatial position；According to ideal deceleration curve to the ideal road
The spatial position of each artis of each moment of the movement ending segment of diameter is adjusted, and is terminated smoothly with safety action；It will adjust
Motion profile of the path as mechanical arm after whole；
Memory module 130 obtains motion file for the motion profile to be pre-stored in robot interior；
Execution module 140, the input information for being received according to the robot, from being pre-stored in the dynamic of robot interior
Make the motion profile that selection target acts in file, the robot is controlled according to the motion profile and executes corresponding mechanical arm
Movement.
Specifically, first passing through animation when the mechanical arm for the robot of desired graceful movements carries out trajectory path planning
Software 3DSMAX makes one section of animated actions video with the artificial prototype of machine on computers, then by the bone of the video and robot
Bone data, which combine, generates XAF file, which contains the ideal path of respective action.Above procedure can with machine
It is handled on the unrelated computer of people.The XAF file is imported into robot interior, by the processor of robot interior from the XAF file
The spatial position of each artis on each moment mechanical arm is extracted, wherein each artis is by its movement of motor control.From
The initial time of movement samples in chronological order to the ideal path of movement to finish time, such as systematic sampling, obtains every
The spatial position of a moment each artis.According to the variation of the spatial position of artis each in time sequencing, obtain each
The speed of moment corresponding joint point；According to the variation of the speed of artis each in time sequencing, corresponding pass of each moment is obtained
The acceleration of node.The velocity and acceleration of each artis of each moment is traversed, for example, since the initial time of movement,
If the speed that sometime there is artis is more than the maximum speed of motor and/or the acceleration of artis is more than motor
Peak acceleration then needs the motion planning to previous moment to the moment to be adjusted, in order to guarantee path adjusted with
Ideal path is basically unchanged, so the spatial position at the moment adjusted must be constant, for example, in previous moment and the moment
Between increase several intermediate points, this is equivalent to the movement duration increased between previous moment and the moment, due to it is previous when
The distance at quarter to the moment is unchanged, can thus reduce the acceleration and/or rate request at the moment, make the acceleration at the moment
Degree and speed are all that motor can be supported, and movement duration adjusted can be by the peak acceleration of motor (when speed is less than
When the maximum speed of motor) or maximum speed operation by motor needed for movement duration be arranged.For example, to ideal road
Diameter systematic sampling, sampling interval 1s obtain the points such as A, B, C......, and wherein AB point distance is 250mm, and A spot speed is 0,
The speed of B point is 500mm/s, and the maximum speed of motor is 300mm/s, and B spot speed exceeds the maximum speed of motor, needs to AB
The motion planning of section is adjusted, and increases a point A1 between A, B two o'clock, i.e. when movement between A and A1 a length of 1s, A1 with
A length of 1s when movement between B, the movement duration (=2s) between such A and B is elongated, and the spatial position of A point and B point is not
Become, the distance between A and B are unchanged, it is possible to reduce the rate request of B point, for example use new speed 300mm/s, according to B point
New movement duration between B of new speed, A, A1 point can be extrapolated at a distance from the speed and AB two o'clock of A point speed,
Spatial position (for example, it is 200mm that A and A1 point distance, which are 50mm, A1 and B point distance, the speed of A1 point is 100mm/s).
Each joint of each moment of ending segment is acted in the ideal deceleration curve adjustment ideal path rule of thumb obtained
The spatial position of point makes the velocity variations of movement ending segment adjusted so as to adjust the speed of each artis of each moment
It is close with ideal deceleration curve, so that movement be made smoothly to terminate.
In this way, obtaining the motion profile of a suitable manipulator motion according to the ideal path of movement.
Animation process module can be deployed on the computer unrelated with robot.Motion planning module, memory module can dispose
On robot interior processor, on-mechanical arm, such as industrial personal computer；The motor control panel of execution module deployment on the robotic arm,
Execution module does not need to store the motion profile of mechanical arm everything in this way, reduces the load of control panel.
The present embodiment considers the kinematic constraint of robot, the motor constraint especially on mechanical arm, according to each movement
Ideal path obtains the motion profile for meeting manipulator motion, by the position of moment each artis each in the motion profile,
The information such as speed, acceleration are sent to the movement of the control motor of the motor control panel on mechanical arm sequentially in time, thus real
The movement of existing mechanical arm, keeps the movement of mechanical arm smoother.
In another embodiment of the present invention, as shown in figure 5, a kind of be by what computer animation auxiliary mechanical arm controlled
System, comprising:
On the basis of previous embodiment, increase display module 150.
Display module 150 is transported for the output end in robot according to the ideal arm of the ideal path Dynamically Announce
It is dynamic, and the skimulated motion of the mechanical arm according to the motion profile Dynamically Announce；And subscribing to robot motion's rule
It is dynamic according to the ideal arm motion of ideal path Dynamically Announce, and according to the motion profile on the mobile phone terminal drawn
State shows the skimulated motion of the mechanical arm.
Specifically, the display function for being needed to provide using the ROS system of robot interior according to user, according to the reason of movement
Think that path shows ideal arm motion in the output end (such as display screen) of robot, is shown according to the motion profile of action planning
The skimulated motion of mechanical arm.Ideal arm motion can also be acted and the skimulated motion of mechanical arm is acted and shown on mobile phone
Show, as long as the mobile phone has subscribed the motion planning of robot, which can synchronize associated display information and be dealt into mobile phone
On shown.The case where this facilitates client or staff intuitively to see planning movement, improves the visualization function of system
Energy.
It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (10)
1. a kind of method controlled by computer animation auxiliary mechanical arm characterized by comprising
The ideal path for obtaining the mechanical arm movement of robot is handled by computer animation；
Motion planning is carried out according to mechanical arm of the ideal path to robot, obtains the motion profile of the mechanical arm；
The motion profile is pre-stored in robot interior, obtains motion file；
The input information received according to the robot, selection target acts from the motion file for be pre-stored in robot interior
Motion profile, the robot is controlled according to the motion profile and executes corresponding manipulator motion.
2. the method according to claim 1 controlled by computer animation auxiliary mechanical arm, which is characterized in that the basis
The ideal path carries out motion planning to the mechanical arm of robot, and the motion profile for obtaining the mechanical arm includes:
According to the kinematic constraint of robot, the ideal path is handled, obtains the motion profile of the mechanical arm.
3. the method according to claim 2 controlled by computer animation auxiliary mechanical arm, which is characterized in that the basis
The kinematic constraint of robot, carrying out processing to the ideal path includes:
Spatial position where each artis for extracting each moment mechanical arm in the ideal path；
The acceleration and speed of each moment each artis are calculated according to the variation of the spatial position；
It is more than pair when there are the acceleration of artis more than the peak acceleration of corresponding joint motor and/or the speed of artis
When answering the maximum speed of joint motor, then by increase movement duration, using be no more than the peak acceleration acceleration and
Speed no more than the maximum speed moves, to reach identical spatial position.
4. the method according to claim 3 controlled by computer animation auxiliary mechanical arm, which is characterized in that the basis
The kinematic constraint of robot handles the ideal path further include:
According to ideal deceleration curve to the spatial position of each artis of each moment of the movement ending segment of the ideal path
It is adjusted, is terminated smoothly with safety action.
5. the method according to claim 1 controlled by computer animation auxiliary mechanical arm, which is characterized in that described by institute
It states motion profile and is pre-stored in robot interior, after obtaining motion file further include:
Robot output end according to the ideal arm motion of ideal path Dynamically Announce, and according to the movement rail
The skimulated motion of mechanical arm described in mark Dynamically Announce.
6. the method according to claim 1 controlled by computer animation auxiliary mechanical arm, which is characterized in that described by institute
It states motion profile and is pre-stored in robot interior, after obtaining motion file further include:
On the mobile phone terminal for having subscribed to robot motion planning, transported according to the ideal arm of the ideal path Dynamically Announce
It is dynamic, and the skimulated motion of the mechanical arm according to the motion profile Dynamically Announce.
7. a kind of system controlled by computer animation auxiliary mechanical arm characterized by comprising
Animation process module, for handling the ideal path for obtaining the mechanical arm movement of robot by computer animation；
Motion planning module obtains the machine for carrying out motion planning according to mechanical arm of the ideal path to robot
The motion profile of tool arm；
Memory module obtains motion file for the motion profile to be pre-stored in robot interior；
Execution module, the input information for being received according to the robot, from the motion file for being pre-stored in robot interior
The motion profile of middle selection target movement, controls the robot according to the motion profile and executes corresponding manipulator motion.
8. the system according to claim 7 controlled by computer animation auxiliary mechanical arm, it is characterised in that:
The motion planning module, is further used for the kinematic constraint according to robot, handles the ideal path, obtains
To the motion profile of the mechanical arm.
9. the system according to claim 8 controlled by computer animation auxiliary mechanical arm, it is characterised in that:
The motion planning module is further used for extracting each joint of each moment mechanical arm from the ideal path
Spatial position where point；The acceleration and speed of each moment each artis are calculated according to the variation of the spatial position；
When the speed of the peak acceleration and/or artis that there are the acceleration of artis are more than corresponding joint motor is closed more than corresponding
When saving the maximum speed of motor, then by increasing movement duration, using the acceleration for being no more than the peak acceleration and do not surpass
The speed movement of the maximum speed is crossed, to reach identical spatial position.
10. the system according to claim 7 controlled by computer animation auxiliary mechanical arm, which is characterized in that further include:
Display module, for the output end in robot according to the ideal arm motion of ideal path Dynamically Announce, and
According to the skimulated motion of mechanical arm described in the motion profile Dynamically Announce.
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