CN110695988A - Method and system for cooperative motion of double mechanical arms - Google Patents
Method and system for cooperative motion of double mechanical arms Download PDFInfo
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- CN110695988A CN110695988A CN201910830789.6A CN201910830789A CN110695988A CN 110695988 A CN110695988 A CN 110695988A CN 201910830789 A CN201910830789 A CN 201910830789A CN 110695988 A CN110695988 A CN 110695988A
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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Abstract
The invention discloses a method and a system for cooperative motion of two mechanical arms, wherein the method comprises the following steps: constructing a virtual double-mechanical-arm three-dimensional space model according to the physical double mechanical arms; performing kinematic modeling on the mechanical arm; determining the cooperation range of the two mechanical arms; controlling the virtual double mechanical arms to move to a target pose according to actual requirements, carrying out path planning and collision detection in real time in combination with a cooperation range in the moving process, and storing feasible waypoints into a database of the industrial personal computer; establishing communication between an industrial personal computer and actual double mechanical arms; and the industrial personal computer loads feasible waypoints in the database to the actual two mechanical arms and controls the actual two mechanical arms to move to the target pose. The system comprises: industrial computer module, communication module, display module. According to the invention, the virtual mechanical arms are controlled to cooperatively move, the optimized waypoints which can not cause the problems of mechanical arm collision and the like are recorded, the actual mechanical arms are controlled to move to the target pose according to the waypoints, the actual mechanical arms are not damaged, and the method has good application value in the fields of robot teaching, practical training and the like.
Description
Technical Field
The invention belongs to the technical field of double-mechanical-arm robots, and particularly relates to a method and a system for cooperative motion of double mechanical arms.
Background
From the birth of the first programmable robot in the world in 1954 to the fact that the robot is closely related to our productive life, the related technology is mature day by day. With the continuous improvement of the application requirements of people on robots in various fields, the double-arm robot is produced. Because the difficulty in realizing the cooperative motion of the two mechanical arms is high, most of the technologies are not stable and mature, the application research of a plurality of the two mechanical arms still stays in a laboratory stage, and a certain distance is left from the popularization of practical application.
In the research process, if the mechanical arm is directly operated, the requirement on operators is high, the professional degree is not high or the operators are difficult to directly operate by hands, in addition, certain danger exists in the motion process of the two mechanical arms, and the safety of the operators can be possibly damaged by directly operating the actual two mechanical arms.
In addition, the two mechanical arms are different from the single mechanical arm in characteristics, and if an operator directly loads an unverified algorithm or waypoints to the actual two mechanical arms, the two mechanical arms are easy to collide and damage in the operation process, so that economic loss is caused.
Disclosure of Invention
The invention aims to provide a method and a system for realizing cooperative motion of two mechanical arms by using a virtual reality technology, which avoid damage to the actual mechanical arms caused by directly operating the actual mechanical arms.
The technical solution for realizing the purpose of the invention is as follows: a double-mechanical-arm cooperative motion method comprises the following steps:
the method comprises the following steps that 1, an industrial personal computer builds a model according to the two physical mechanical arms, constructs a virtual two-mechanical arm three-dimensional space model comprising surrounding environment information, stores relevant data of the model into an industrial personal computer model base, and sends the virtual two-mechanical arm three-dimensional space model to a display module for displaying;
2, performing kinematic modeling on the mechanical arm by using an industrial personal computer;
step 3, the industrial personal computer determines the cooperation range of the two mechanical arms;
step 4, the industrial personal computer controls the virtual double mechanical arms to move to a target pose according to actual requirements, displays joint angles and motion states of the virtual double mechanical arms on the display module in real time, performs path planning and collision detection in real time in combination with a cooperation range in the motion process, and stores feasible waypoints into a database of the industrial personal computer;
step 5, establishing communication between the industrial personal computer and the actual two mechanical arms;
and 6, loading feasible waypoints in the database to the actual two mechanical arms by the industrial personal computer, controlling the mechanical arms to move to the target pose, and feeding back pose information to the industrial personal computer in real time in the moving process.
The system for realizing the two-mechanical-arm cooperative motion method comprises the following steps:
the industrial personal computer module is used for modeling the two mechanical arms and controlling the motion of the virtual and actual mechanical arms;
the communication module is used for realizing the communication between the industrial personal computer module and the actual double mechanical arms;
and the display module is used for displaying the virtual double mechanical arms, joint angles and motion states thereof.
Compared with the prior art, the invention has the following remarkable advantages: 1) the system provides an intuitive three-dimensional simulation environment for the research of the motion control of the double-mechanical-arm system, and the system has accurate simulation and good dynamic performance; 2) the actual double mechanical arms are modeled by using different modeling methods, so that the workload is reduced, and the working efficiency of operators is improved; 3) the industrial personal computer is communicated with the actual double mechanical arms, the virtual double mechanical arms and the actual double mechanical arms can be freely switched, data obtained by testing on the virtual simulation platform are applied to an actual system, and the problems of path planning, obstacle avoidance, collision prevention and the like in actual application can be well solved; 4) the invention can be applied to the fields of double-mechanical arm research or practical teaching and the like, and can be debugged in the later period according to different application scenes of the double-mechanical arm, so that the application range is wide.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a flowchart of a two-robot cooperative motion method according to the present invention.
Fig. 2 is a schematic diagram of a three-dimensional space model of a virtual dual-robot arm displayed by a display module according to the present invention.
Detailed Description
With reference to fig. 1, the method for cooperative motion of two mechanical arms of the present invention includes the following steps:
the method comprises the following steps that 1, an industrial personal computer builds a model according to the two physical mechanical arms, constructs a virtual two-mechanical arm three-dimensional space model comprising surrounding environment information, stores relevant data of the model into an industrial personal computer model base, and sends the virtual two-mechanical arm three-dimensional space model to a display module for displaying;
2, performing kinematic modeling on the mechanical arm by using an industrial personal computer;
step 3, the industrial personal computer determines the cooperation range of the two mechanical arms;
step 4, the industrial personal computer controls the virtual double mechanical arms to move to a target pose according to actual requirements, displays joint angles and motion states of the virtual double mechanical arms on the display module in real time, performs path planning and collision detection in real time in combination with a cooperation range in the motion process, and stores feasible waypoints into a database of the industrial personal computer;
step 5, establishing communication between the industrial personal computer and the actual two mechanical arms;
and 6, loading feasible waypoints in the database to the actual two mechanical arms by the industrial personal computer, controlling the mechanical arms to move to the target pose, and feeding back pose information to the industrial personal computer in real time in the moving process.
Further, the modeling of the industrial control machine in the step 1 is performed according to the two physical mechanical arms, and the modeling includes:
(1) aiming at the double mechanical arms designed by user self-definition, a modeling method based on a model is adopted for modeling;
(2) the existing model data of the existing double mechanical arms are used for direct modeling.
Further, in the step 2, the robot is subjected to kinematic modeling by the industrial control machine, which specifically comprises: based on homogeneous matrix principle and combined with mechanical arm D-H parameter, the method obtains positive and inverse kinematics solution, which comprises the following steps:
step 2-1, establishing a fixed connection coordinate system { O ] of each connecting rod i of the mechanical arm based on a D-H parameter methodi}；
Step 2-2, establishing a translation transformation matrix and a rotation transformation matrix of the mechanical arm, specifically:
coordinate system { OiWith respect to a coordinate system Oi-1The translation transformation matrix ofi-1piComprises the following steps:
wherein Δ X, Δ Y, Δ Z are coordinate systems { O }iWith respect to a coordinate system Oi-1The translation distances of the origin of the X axis, the Y axis and the Z axis are set;
coordinate system { OiRelative to a coordinate system Oi-1The rotation transformation matrix of is
R, comprising:
the rotational transformation matrix around the X-axis is:
the rotation transformation matrix around the Y-axis is:
the rotation transformation matrix around the Z axis is:
in the formula, theta is a rotation angle, s theta and c theta are sin theta and cos theta respectively;
step 2-3, acquiring a { O } according to the coordinate system of the translation transformation matrix and the rotation transformation matrix in the step 2-2iRelative to a coordinate system Oi-1Pose transformation matrix of
Comprises the following steps:
step 2-4, according to the pose transformation matrix of the step 2-3
The positive kinematic equation for the mechanical arm is obtained as:
in the formula, thetaiAngle of i joint, { OoriginThe coordinate system of the mechanical arm base is used as the standard,
a pose transformation matrix from a mechanical arm base to the tail end of the mechanical arm;
step 2-5, solving the effective solution of the inverse kinematics equation of the mechanical arm based on an analytical method, namely
θ＝[θ1,θ2,…,θn-1,θn]。
Further, the determining, by the industrial control computer, the cooperation range of the two robots in step 3 specifically includes:
3-1, aiming at each joint i of each mechanical arm, corresponding joint angle thetaiThe values are as follows:
θi＝θi_min+(θi_max-θi_min)·Rand(n)
in the formula, thetai_max、θi_minRespectively the maximum value and the minimum value of the i joint angle, and rand (n) is [0, 1%]The random number of (2);
step 3-2, taking any N random numbers for rand (N) in the step 3-1, thereby obtaining N groups of space position coordinates of the tail end of the mechanical arm;
3-3, correcting N groups of spatial position coordinates of the tail end of another mechanical arm by taking N groups of spatial position coordinates of the tail end of one mechanical arm as a reference, specifically: adding the N groups of spatial position coordinates of the tail end of one mechanical arm with the position deviation between the bases of the two mechanical arms to obtain N groups of corrected spatial position coordinates of the tail end of the other mechanical arm;
and 3-4, respectively drawing point cloud pictures according to all the space position coordinates corresponding to each mechanical arm obtained in the step 3-3, wherein the intersection of the point cloud pictures is the cooperation range.
Further, in step 4, the manual controller controls the virtual double mechanical arms to move to the target pose according to actual requirements, specifically:
step 4-1, according to the target pose, obtaining the angle of each joint of the target pose through the inverse kinematics solution in the step 2;
and 4-2, realizing the stable movement of each joint to the target pose based on the track interpolation according to the angle of each joint of the target pose.
Further, in one embodiment, in the step 4-2, in the process of stable motion of the mechanical arm, the industrial personal computer sets the pose closed-loop controller to continuously correct the deviation generated in the motion process of the mechanical arm.
Further, in one embodiment, the trajectory interpolation in step 4-2 is a fifth order polynomial interpolation or a B-spline interpolation.
Further, in one embodiment, the industrial controller and the actual two robots establish communication through a TCP/IP protocol in step 5.
The system for realizing the two-mechanical-arm cooperative motion method comprises the following steps:
the industrial personal computer module is used for modeling the two mechanical arms and controlling the motion of the virtual and actual mechanical arms;
the communication module is used for realizing the communication between the industrial personal computer module and the actual double mechanical arms;
the display module is used for displaying the virtual double mechanical arms and joint angles and motion states thereof;
further, the industrial personal computer module comprises:
the mechanical arm modeling unit is used for constructing a virtual double-mechanical arm model comprising surrounding environment information, performing kinematic modeling and determining a double-mechanical arm cooperation range;
the mechanical arm control unit is used for carrying out path planning and collision detection on the virtual double mechanical arms according to the target pose set by the user so as to control the virtual double mechanical arms to move;
the storage unit is used for storing data of the virtual double-mechanical-arm model including the ambient environment information, effective waypoints in the virtual double-mechanical-arm simulation process and feedback data of the actual double mechanical arms.
According to the invention, the virtual double-mechanical-arm model is established, the motion process of the mechanical arm is displayed in a three-dimensional animation model mode in an all-around manner, the virtual mechanical arm is controlled to move cooperatively through human-computer interaction, the optimal path points which can not cause the problems of mechanical arm collision and the like are recorded, the actual mechanical arm is controlled to move to the target pose according to the path points, and the actual mechanical arm cannot be damaged. The invention lays a good foundation for the research of the cooperative motion of the two mechanical arms and has good application value in the fields of robot teaching, practical training and the like.
Claims (10)
1. A two-mechanical-arm cooperative motion method is characterized by comprising the following steps:
the method comprises the following steps that 1, an industrial personal computer builds a model according to the two physical mechanical arms, constructs a virtual two-mechanical arm three-dimensional space model comprising surrounding environment information, stores relevant data of the model into an industrial personal computer model base, and sends the virtual two-mechanical arm three-dimensional space model to a display module for displaying;
2, performing kinematic modeling on the mechanical arm by using an industrial personal computer;
step 3, the industrial personal computer determines the cooperation range of the two mechanical arms;
step 4, the industrial personal computer controls the virtual double mechanical arms to move to a target pose according to actual requirements, displays joint angles and motion states of the virtual double mechanical arms on the display module in real time, performs path planning and collision detection in real time in combination with a cooperation range in the motion process, and stores feasible waypoints into a database of the industrial personal computer;
step 5, establishing communication between the industrial personal computer and the actual two mechanical arms;
and 6, loading feasible waypoints in the database to the actual two mechanical arms by the industrial personal computer, controlling the mechanical arms to move to the target pose, and feeding back pose information to the industrial personal computer in real time in the moving process.
2. The two-robot cooperative motion method according to claim 1, wherein the industrial personal computer performs modeling according to the two physical robots in step 1, and the modeling comprises:
(1) aiming at the double mechanical arms designed by user self-definition, a modeling method based on a model is adopted for modeling;
(2) the existing model data of the existing double mechanical arms are used for direct modeling.
3. The two-robot-arm cooperative motion method according to claim 1, wherein the industrial personal computer performs kinematic modeling on the robot arm in step 2, specifically: based on homogeneous matrix principle and combined with mechanical arm D-H parameter, the method obtains positive and inverse kinematics solution, which comprises the following steps:
step 2-1, establishing a fixed connection coordinate system { O ] of each connecting rod i of the mechanical arm based on a D-H parameter methodi}；
Step 2-2, establishing a translation transformation matrix and a rotation transformation matrix of the mechanical arm, specifically:
coordinate system { OiWith respect to a coordinate system Oi-1The translation transformation matrix ofi-1piComprises the following steps:
wherein Δ X, Δ Y, Δ Z are coordinate systems { O }iWith respect to a coordinate system Oi-1The translation distances of the origin of the X axis, the Y axis and the Z axis are set;
coordinate system { OiRelative to a coordinate system Oi-1The rotation transformation matrix of is
The method comprises the following steps:
the rotational transformation matrix around the X-axis is:
the rotation transformation matrix around the Y-axis is:
the rotation transformation matrix around the Z axis is:
in the formula, theta is a rotation angle, s theta and c theta are sin theta and cos theta respectively;
step 2-3, acquiring a { O } according to the coordinate system of the translation transformation matrix and the rotation transformation matrix in the step 2-2iRelative to a coordinate system Oi-1Pose transformation matrix of
Comprises the following steps:
step 2-4, according to the pose transformation matrix of the step 2-3
The positive kinematic equation for the mechanical arm is obtained as:
in the formula, thetaiAngle of i joint, { OoriginThe coordinate system of the mechanical arm base is used as the standard,
a pose transformation matrix from a mechanical arm base to the tail end of the mechanical arm;
step 2-5, solving the effective solution of the inverse kinematics equation of the mechanical arm based on an analytical method, namely
θ＝[θ1,θ2,…,θn-1,θn]
In the formula, theta1,θ2,…,θn-1,θnRespectively the angle of n joints of the mechanical arm.
4. The two-robot cooperative motion method according to claim 1, wherein the industrial personal computer determines the cooperative range of the two robots in step 3, specifically:
3-1, aiming at each joint i of each mechanical arm, corresponding joint angle thetaiThe values are as follows:
θi＝θi_min+(θi_max-θi_min)·Rand(n)
in the formula, thetai_max、θi_minRespectively the maximum value and the minimum value of the i joint angle, and rand (n) is [0, 1%]The random number of (2);
step 3-2, taking any N random numbers for rand (N) in the step 3-1, thereby obtaining N groups of space position coordinates of the tail end of the mechanical arm;
3-3, correcting N groups of spatial position coordinates of the tail end of another mechanical arm by taking N groups of spatial position coordinates of the tail end of one mechanical arm as a reference, specifically: adding the N groups of spatial position coordinates of the tail end of one mechanical arm with the position deviation between the bases of the two mechanical arms to obtain N groups of corrected spatial position coordinates of the tail end of the other mechanical arm;
and 3-4, respectively drawing point cloud pictures according to all the space position coordinates corresponding to each mechanical arm obtained in the step 3-3, wherein the intersection of the point cloud pictures is the cooperation range.
5. The two-robot-arm cooperative motion method according to claim 1 or 3, wherein the industrial personal computer in step 4 controls the virtual two-robot arm to move to the target pose according to actual requirements, and specifically comprises:
step 4-1, according to the target pose, obtaining the angle of each joint of the target pose through the inverse kinematics solution in the step 2;
and 4-2, realizing the stable movement of each joint to the target pose based on the track interpolation according to the angle of each joint of the target pose.
6. The two-robot cooperative motion method according to claim 5, wherein in the step 4-2, during the stable motion of the robot, the industrial personal computer sets the pose closed-loop controller to continuously correct the deviation generated during the motion of the robot.
7. The double-robot-arm cooperative motion method according to claim 5, wherein the trajectory interpolation in step 4-2 is a quintic polynomial interpolation method or a B-spline interpolation method.
8. The method for cooperative motion of two robots according to claim 1, wherein the manual controller and the actual two robots in step 5 establish communication via TCP/IP protocol.
9. The system for realizing the two-robot cooperative motion method according to any one of claims 1 to 8, comprising:
the industrial personal computer module is used for modeling the two mechanical arms and controlling the motion of the virtual and actual mechanical arms;
the communication module is used for realizing the communication between the industrial personal computer module and the actual double mechanical arms;
and the display module is used for displaying the virtual double mechanical arms, joint angles and motion states thereof.
10. The dual-robot coordinated movement system of claim 9, wherein the industrial personal computer module comprises:
the mechanical arm modeling unit is used for constructing a virtual double-mechanical arm model comprising surrounding environment information, performing kinematic modeling and determining a double-mechanical arm cooperation range;
the mechanical arm control unit is used for carrying out path planning and collision detection on the virtual double mechanical arms according to the target pose set by the user so as to control the virtual double mechanical arms to move;
the storage unit is used for storing data of the virtual double-mechanical-arm model including the ambient environment information, effective waypoints in the virtual double-mechanical-arm simulation process and feedback data of the actual double mechanical arms.
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| CN112405541A (en) * | 2020-11-16 | 2021-02-26 | 柳州宏德激光科技有限公司 | Laser 3D precision cutting double-robot cooperative operation method |
| CN113274138A (en) * | 2021-05-25 | 2021-08-20 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm motion space enhanced display method, surgical robot system and storage medium |
| CN113334379A (en) * | 2021-05-30 | 2021-09-03 | 南京理工大学 | Master-slave following and collision avoidance method based on virtual force |
| CN114713890A (en) * | 2021-12-13 | 2022-07-08 | 上海工程技术大学 | Ring surface worm gear hob rake face machining system and method based on double-arm cooperation |
| CN114851207A (en) * | 2022-06-09 | 2022-08-05 | 珠海格力电器股份有限公司 | Anti-collision control method and system for double robots and multi-robot system |
| CN114872050A (en) * | 2022-06-01 | 2022-08-09 | 清华大学深圳国际研究生院 | Control method and control system for double-arm crawler-type mobile operation robot |
| CN116652968A (en) * | 2023-07-24 | 2023-08-29 | 贵州翰凯斯智能技术有限公司 | Multi-mechanical arm collaborative online simulation method and device, electronic equipment and storage medium |
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| CN112405541A (en) * | 2020-11-16 | 2021-02-26 | 柳州宏德激光科技有限公司 | Laser 3D precision cutting double-robot cooperative operation method |
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| CN113274138A (en) * | 2021-05-25 | 2021-08-20 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm motion space enhanced display method, surgical robot system and storage medium |
| CN113274138B (en) * | 2021-05-25 | 2022-07-01 | 上海微觅医疗器械有限公司 | Mechanical arm motion space enhanced display method, surgical robot system and storage medium |
| CN113334379A (en) * | 2021-05-30 | 2021-09-03 | 南京理工大学 | Master-slave following and collision avoidance method based on virtual force |
| CN114713890A (en) * | 2021-12-13 | 2022-07-08 | 上海工程技术大学 | Ring surface worm gear hob rake face machining system and method based on double-arm cooperation |
| CN114713890B (en) * | 2021-12-13 | 2023-08-29 | 上海工程技术大学 | Double-arm cooperation-based annular worm hob front cutter surface machining system and method |
| CN114872050A (en) * | 2022-06-01 | 2022-08-09 | 清华大学深圳国际研究生院 | Control method and control system for double-arm crawler-type mobile operation robot |
| CN114872050B (en) * | 2022-06-01 | 2024-05-07 | 清华大学深圳国际研究生院 | Control method and control system for double-arm crawler-type mobile operation robot |
| CN114851207A (en) * | 2022-06-09 | 2022-08-05 | 珠海格力电器股份有限公司 | Anti-collision control method and system for double robots and multi-robot system |
| CN114851207B (en) * | 2022-06-09 | 2023-08-25 | 珠海格力电器股份有限公司 | Anti-collision control method and system for double robots and multi-robot system |
| CN116652968A (en) * | 2023-07-24 | 2023-08-29 | 贵州翰凯斯智能技术有限公司 | Multi-mechanical arm collaborative online simulation method and device, electronic equipment and storage medium |
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