CN111283678A - Robot mirror image programming control system and control method thereof - Google Patents
Robot mirror image programming control system and control method thereof Download PDFInfo
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- CN111283678A CN111283678A CN202010060337.7A CN202010060337A CN111283678A CN 111283678 A CN111283678 A CN 111283678A CN 202010060337 A CN202010060337 A CN 202010060337A CN 111283678 A CN111283678 A CN 111283678A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention relates to a robot mirror image programming control system and a control method thereof, wherein the robot mirror image programming control system is characterized in that: the device comprises a motion input mechanical limb, a motion input mechanical limb and a motion analysis module, wherein the motion input mechanical limb is worn on one side of a limb of an operator to collect relevant real-time motion data generated by completing the motion of a healthy limb; the controller comprises an action recording module, an action processing module and a mirror image action data processing module, wherein the action recording module is used for recording real-time action data acquired by the action input mechanical limb; the action processing module is loaded with a mirror image programming program for converting real-time action data into mirror image action data; and the motion output mechanical limb is worn on the body of the operator and is symmetrical to the motion input mechanical limb so as to make corresponding motion according to the mirror image motion data. The system can simplify the complexity of the robot in application and expand the applicable field of the robot.
Description
Technical Field
The invention relates to a robot control system, in particular to a robot mirror image programming control system and a control method thereof.
Background
Common programming systems of robots (such as a manipulator) on the market at present comprise a teaching programming system and an off-line programming system; the teaching programming system is used for programming and debugging the operation requirement of the robot by using a teaching device (such as a programmer); the off-line programming system is complex, needs professional personnel to program, not only takes a lot of time, but also the robot does not have the function of recording the action, and is technically deficient. The two programming systems need operators to master higher technical capability and are tedious to debug, the robot with the function of recording the movement cannot demonstrate the movement recorded by a left machine body (such as a left manipulator and/or a left mechanical foot) on a right machine body, the movement is generally required to be repeated once by the right machine body (such as the right manipulator and/or the right mechanical foot), and the movement can be repeatedly used after being recorded, so that the operation is complicated and has no activity; therefore, further improvements are needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a robot mirror image programming control system and a control method thereof.
The purpose of the invention is realized as follows:
a robot mirror image programming control system is characterized in that: comprises that
The action input mechanical limb is worn on one side of the limb of an operator to collect relevant real-time action data generated by completing the action of a healthy limb;
a controller comprising
The action recording module is used for recording real-time action data collected by the action input mechanical limb,
the action processing module is used for processing real-time action data acquired by the action input mechanical limb and generating mirror image action data corresponding to the real-time action data; the action processing module is loaded with a mirror image programming program for converting real-time action data into mirror image action data;
and the motion output mechanical limb is worn on the body of the operator and is symmetrical to the motion input mechanical limb so as to make corresponding motion according to the mirror image motion data.
The controller also comprises a data storage module used for storing the real-time action data and/or the mirror image action data.
The controller also comprises a control communication module; the motion input mechanical limb comprises a motion input communication module; the motion output mechanical limb comprises a motion output communication module; the control communication module is communicated and interconnected with the action input communication module and/or the action output communication module, and data transmission between the controller and the action input mechanical limb and/or the action output mechanical limb is realized.
The controller is communicated and interconnected with the cloud server through the control communication module so as to upload the real-time action data and/or the mirror image action data to the cloud server for storage.
The control method of the robot mirror image programming control system is characterized in that: comprises the following steps
Step A, an operator wears a motion input mechanical limb and a motion output mechanical limb, starts a control system and starts mirror image programming;
b, an operator inputs the mechanical limb to make a motion to be recorded through the motion, and a motion sensor on the motion input mechanical limb collects and feeds back related real-time motion data to the controller;
c, recording the real-time action data by an action recording module on the controller;
step D, an action processing module on the controller processes the real-time action data through a mirror image programming program to generate corresponding mirror image action data; the action recording module records the mirror image action data;
and E, the controller sends the mirror image motion data to the motion output mechanical limb, and the motion output mechanical limb makes corresponding motion according to the received mirror image motion data.
In the process of mirror image programming, the motion sensor collects real-time motion data of a plurality of time points, and the motion processing module calculates corresponding mirror image motion data according to the real-time motion data of different time points; and calculating the torque and/or speed between the front action and the back action according to the mirror image action data of two continuous time points.
The real-time motion data comprises real-time elevation ɵ 1, real-time azimuth ɸ 1, and real-time length r 1; the mirror motion data includes a mirror elevation ɵ 2, a mirror azimuth ɸ 2, and a mirror length r 2; wherein ɵ 1= ɵ 2, ɸ 1=180 ° - ɸ 2, and r1= r 2.
The action processing module is loaded with a control adaptation program, and the control adaptation program adjusts the real-time action data and/or the mirror image action data according to the physical parameters of an operator.
The invention has the following beneficial effects:
the robot programming system is different from the traditional teaching programming system and the off-line programming system, and the robot programming system uses a motion sensing programming system (direct programming mode): an operator only needs to control one side (left side or right side) of the sensing controller to act, and after the sensing controller acts to move randomly according to needs to finish action input, a robot (a manipulator or a mechanical foot and the like) on one side records parameters such as a moving track, a position and an angle through cooperation of an encoder, a sensor and a control system, then mirror image processing on mathematics is carried out, and the robot (the manipulator or the mechanical foot and the like) on the other side is demonstrated in a bilateral symmetry mode. The system is convenient for operators who cannot use any side of limbs, namely, the operators control the mechanical artificial limbs on the other side to complete symmetrical actions through the limbs on one side by utilizing action sensing technology. The system widens the application field of the robot, simplifies the programming system of the robot and improves the probability of the application of the robot in various fields.
Drawings
Fig. 1 is a control schematic diagram of a robot mirror image programming control system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of processing motion data at different time points according to an embodiment of the present invention.
FIG. 3 is a three-dimensional display of real-time actions at a time point in accordance with an embodiment of the present invention.
FIG. 4 is a three-dimensional display of a mirroring operation at a time point in accordance with an embodiment of the present invention.
FIG. 5 is a schematic diagram of an attitude of an operator at a time point in accordance with an embodiment of the present invention.
FIG. 6 is a schematic diagram of the pose of the operator at the next time point in accordance with an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
Referring to fig. 1 to 6, the robot mirror image programming control system according to the present embodiment may be applied to a situation where an arm that can normally move on one side controls an arm that cannot normally move on the other side; alternatively, it can be applied to the case where one side of the leg portion which can normally move controls the other side of the leg portion which cannot normally move.
The robot mirror image programming control system comprises
The motion input mechanical limb R is worn on one side of the limb of an operator to collect relevant real-time motion data generated by completing the motion of a healthy limb;
a controller comprising
The action recording module is used for recording real-time action data collected by the action input mechanical limb R,
the action processing module is used for processing real-time action data collected by the action input mechanical limb R and generating mirror image action data corresponding to the real-time action data; the action processing module is loaded with a mirror image programming program for converting the real-time action data into mirror image action data;
and the motion output mechanical limb G is worn on the body of the operator and is symmetrical to the motion input mechanical limb so as to make corresponding motion according to the mirror image motion data.
Referring to fig. 5 and 6, when the single-arm operator P uses the mirror image programming control system of the robot, the motion input mechanical limb R is worn on a sound arm, and the motion output mechanical limb G is worn on a broken arm side; through the application of the system, the single-arm operator P can control the motion to output the mechanical limb G through a sound arm, the daily activity requirement of the single-arm operator P is met, and the system is a good rehabilitation instrument.
Further, the controller also comprises a data storage module used for storing the real-time action data and/or the mirror action data.
Furthermore, the controller also comprises a control communication module; the motion input mechanical limb R comprises a motion input communication module; the action output mechanical limb G comprises an action output communication module; the control communication module is communicated and interconnected with the action input communication module and/or the action output communication module, and data transmission between the controller and the action input mechanical limb R and/or the action output mechanical limb G is realized.
Furthermore, the mirror image programming control system of the robot further comprises a cloud server, the controller is communicated and interconnected with the cloud server through a control communication module to upload the real-time action data and/or the mirror image action data to the cloud server for storage, an operator can call historical action data from the cloud server at any time, the historical action data are action data recorded before the operator, the same action is avoided being recorded, and the operation and the use are more convenient.
The control method of the robot mirror image programming control system comprises the following steps
Step A, an operator wears a motion input mechanical limb R and a motion output mechanical limb G, starts a control system through a start key on a controller, and starts mirror image programming; the starting mode of the starting key comprises touch starting, voice starting and the like;
b, the operator inputs the mechanical limb R to make a motion to be recorded through the motion, and a motion sensor on the motion input mechanical limb R collects and feeds back related real-time motion data to the controller;
c, recording the real-time action data by an action recording module on the controller;
step D, an action processing module on the controller processes the real-time action data through a mirror image programming program to generate corresponding mirror image action data; the action recording module records the mirror image action data;
and E, the controller sends the mirror image motion data to the motion output mechanical limb G, and the motion output mechanical limb G performs corresponding motion according to the received mirror image motion data.
Furthermore, in the mirror image programming process, the action sensor collects real-time action data of a plurality of time points, and the action processing module calculates corresponding mirror image action data according to the real-time action data of different time points; the torque f1 and/or the speed v1 between the back and forth movements are calculated from the mirror image movement data of two consecutive time points.
Further, the real-time motion data includes real-time elevation ɵ 1, real-time azimuth ɸ 1, and real-time length r 1; the mirror motion data includes a mirror elevation ɵ 2, a mirror azimuth ɸ 2, and a mirror length r 2; wherein ɵ 1= ɵ 2, ɸ 1=180 ° - ɸ 2, and r1= r 2. Specifically, referring to fig. 3, a position P1 coordinate position at a certain time point of the motion sensor is represented by a real-time elevation angle ɵ 1, a real-time azimuth angle ɸ 1 and a real-time length r1, and a coordinate position of a position P2 mirror-symmetrical to the position P1, a coordinate position ɵ 2= ɵ 1, ɸ 2=180 ° - ɸ 1, and a coordinate position r2= r1 of a position P2 are calculated through a mirror image programming program. See in particular the following table:
further, due to different physical parameters of different operators, such as: the length parameters can directly influence the control effect because the length of the arms is different and the length of the legs is different; in order to solve the problem of different physical parameters of the operators, the action processing module is loaded with a control adaptation program, the control adaptation program adjusts the real-time action data and/or the mirror image action data according to the physical parameters of the operators, and the adjustment means comprises the step of scaling the length of the arms or the legs according to a certain proportion. The control adaptive program can meet different operation requirements of different operators; similarly, the same operator can control different sizes of robotic limbs. See in particular the following table:
the foregoing is a preferred embodiment of the present invention, and the basic principles, principal features and advantages of the invention are shown and described. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and the invention is intended to be protected by the following claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A robot mirror image programming control system is characterized in that: comprises that
The motion input mechanical limb (R) is worn on one side of the limb of an operator to collect relevant real-time motion data generated by completing the motion of a healthy limb;
a controller comprising
The action recording module is used for recording real-time action data collected by the action input mechanical limb (R),
the action processing module is used for processing real-time action data collected by the action input mechanical limb (R) and generating mirror image action data corresponding to the real-time action data; the action processing module is loaded with a mirror image programming program for converting real-time action data into mirror image action data;
and the motion output mechanical limb (G) is worn on the body of the operator and is symmetrical to the motion input mechanical limb so as to make corresponding motion according to the mirror image motion data.
2. The robotic mirror programming control system according to claim 1, wherein: the controller also comprises a data storage module used for storing the real-time action data and/or the mirror image action data.
3. The robotic mirror programming control system according to claim 1, wherein: the controller also comprises a control communication module; the motion input mechanical limb (R) comprises a motion input communication module; the motion output mechanical limb (G) comprises a motion output communication module; the control communication module is communicated and interconnected with the action input communication module and/or the action output communication module, so that data transmission between the controller and the action input mechanical limb (R) and/or the action output mechanical limb (G) is realized.
4. The robotic image programming control system of claim 3, wherein: the controller is communicated and interconnected with the cloud server through the control communication module so as to upload the real-time action data and/or the mirror image action data to the cloud server for storage.
5. The control method of a robot image programming control system of claim 1, wherein: comprises the following steps
Step A, an operator wears a motion input mechanical limb (R) and a motion output mechanical limb (G), starts a control system and starts mirror image programming;
b, the operator inputs the mechanical limb (R) to make the motion to be recorded through the motion, and a motion sensor on the mechanical limb (R) is used for acquiring and feeding back related real-time motion data to the controller;
c, recording the real-time action data by an action recording module on the controller;
step D, an action processing module on the controller processes the real-time action data through a mirror image programming program to generate corresponding mirror image action data; the action recording module records the mirror image action data;
and E, the controller sends the mirror image motion data to the motion output mechanical limb (G), and the motion output mechanical limb (G) makes corresponding motion according to the received mirror image motion data.
6. The control method of a robot image programming control system of claim 5, wherein: in the process of mirror image programming, the motion sensor collects real-time motion data of a plurality of time points, and the motion processing module calculates corresponding mirror image motion data according to the real-time motion data of different time points; and calculating the torque and/or speed between the front action and the back action according to the mirror image action data of two continuous time points.
7. The robotic image programming control system of claim 6, wherein: the real-time motion data comprises real-time elevation ɵ 1, real-time azimuth ɸ 1, and real-time length r 1; the mirror motion data includes a mirror elevation ɵ 2, a mirror azimuth ɸ 2, and a mirror length r 2; wherein ɵ 1= ɵ 2, ɸ 1=180 ° - ɸ 2, and r1= r 2.
8. The robotic mirror programming control system according to claim 5, wherein: the action processing module is loaded with a control adaptation program, and the control adaptation program adjusts the real-time action data and/or the mirror image action data according to the physical parameters of an operator.
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Cited By (1)
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| CN113996025A (en) * | 2021-10-25 | 2022-02-01 | 上海机器人产业技术研究院有限公司 | Planar rehabilitation mirror image robot control system and training mode implementation method |
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