CN111443658A - Industrial robot error processing method and device - Google Patents
Industrial robot error processing method and device Download PDFInfo
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- CN111443658A CN111443658A CN202010253395.1A CN202010253395A CN111443658A CN 111443658 A CN111443658 A CN 111443658A CN 202010253395 A CN202010253395 A CN 202010253395A CN 111443658 A CN111443658 A CN 111443658A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35408—Calculate new position data from actual data to compensate for contour error
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Abstract
The application discloses an industrial robot error processing method and device, wherein the method comprises the following steps: acquiring a plurality of error correction modes configured in advance; operating each correction mode in the plurality of error correction modes on the industrial robot one by one; for each correction mode, acquiring a result set after operation on the industrial robot; comparing the result set corresponding to each correction mode; and determining a correction mode used on the industrial robot according to the comparison result. Through this application, the problem of using single mode to correct industrial robot error and can not be suitable for multiple condition among the correlation technique has been solved, the flexibility of error correction has been improved.
Description
Technical Field
The application relates to the field of robots, in particular to an industrial robot error processing method and device.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.
Most modern robots are based on Model-based Control (Model-based Control), and there are errors in the Model, so how many errors need to be compensated/calibrated depends on what Model the robot uses. Roughly, the models used by robots can be divided into two broad categories, namely kinematic models and kinetic models, where there are different errors.
In the prior art, errors are generally corrected by adopting an error correcting mode, and the error correcting mode is single and cannot be suitable for various conditions.
The problem that uses single mode to correct industrial robot error to lead to among the prior art, does not have fine solution at present.
Disclosure of Invention
The application provides an industrial robot error processing method and device, which are used for solving the problem that the error of an industrial robot cannot be suitable for various conditions by using a single mode to correct in the related technology.
According to an aspect of the application, there is provided an industrial robot error handling method comprising: acquiring a plurality of error correction modes configured in advance; operating each correction mode in the plurality of error correction modes on the industrial robot one by one; for each correction mode, acquiring a result set after operation on the industrial robot; comparing the result set corresponding to each correction mode; and determining a correction mode used on the industrial robot according to the comparison result.
Further, obtaining a result set after the run on the industrial robot comprises: obtaining a product produced by the industrial robot after the industrial robot operates the correction mode; acquiring an error between the product and a standard product; taking the error as the result set.
Further, the number of the products is plural, and the result set includes an error between each of the plurality of products and the standard product.
Further, comparing the result set corresponding to each of the correction modes comprises: acquiring all errors in a result set corresponding to each correction mode; calculating the average error of the correction mode according to all the errors; the average error of each of the correction modes is compared.
According to another aspect of the present application, there is also provided an industrial robot error handling device comprising: the first acquisition module is used for acquiring a plurality of error correction modes which are configured in advance; the operation module is used for operating each correction mode in the plurality of error correction modes on the industrial robot one by one; the second acquisition module is used for acquiring a result set after the industrial robot runs in each correction mode; the comparison module is used for comparing the result set corresponding to each correction mode; and the determining module is used for determining the correction mode used on the industrial robot according to the comparison result.
Further, the second obtaining module is configured to: obtaining a product produced by the industrial robot after the industrial robot operates the correction mode; acquiring an error between the product and a standard product; taking the error as the result set.
Further, the number of the products is plural, and the result set includes an error between each of the plurality of products and the standard product.
Further, the comparison module is configured to: acquiring all errors in a result set corresponding to each correction mode; calculating the average error of the correction mode according to all the errors; the average error of each of the correction modes is compared.
According to another aspect of the present application, there is also provided a memory for storing software for performing the above method.
According to another aspect of the present application, there is also provided a processor for executing software, wherein the software is configured to perform the above method.
The method comprises the following steps: acquiring a plurality of error correction modes configured in advance; operating each correction mode in the plurality of error correction modes on the industrial robot one by one; for each correction mode, acquiring a result set after operation on the industrial robot; comparing the result set corresponding to each correction mode; and determining a correction mode used on the industrial robot according to the comparison result. Through this application, the problem of using single mode to correct industrial robot error and can not be suitable for multiple condition among the correlation technique has been solved, the flexibility of error correction has been improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a flowchart of an error handling method for an industrial robot according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
In this embodiment, an error handling method for an industrial robot is provided, and fig. 1 is a flowchart of an error handling method for an industrial robot according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S102, acquiring a plurality of error correction modes which are configured in advance, wherein the error correction modes are used for correcting errors of the industrial robot, and correction algorithms used by the error correction modes are different;
step S104, operating each correction mode in the multiple error correction modes on the industrial robot one by one;
s106, acquiring a result set after the industrial robot runs for each correction mode;
step S108, comparing a result set corresponding to each correction mode;
and step S110, determining a correction mode used on the industrial robot according to the comparison result.
The above steps can be run before formal deployment on the production line using the robot, by which the optimal remediation mode can be found. After the robot changes the configuration parameters, the above steps can still be run again so that the optimal correction mode at that parameter can be found. Through the steps, the problem that the error of the industrial robot cannot be corrected in a single mode in the related technology due to the fact that the error correction method is applicable to various conditions is solved, and the flexibility of error correction is improved.
In practice, as an optional implementation manner, for a plurality of industrial robots of the same model, the plurality of robots may be selected to respectively operate the error processing method in this embodiment, and if the correction modes corresponding to the plurality of robots are the same, the correction mode is selected as the correction mode commonly used by the plurality of industrial robots of the same model.
Or for a plurality of industrial robots with the same model, each robot can independently run the steps to select the corresponding correction mode. In this embodiment, different industrial robots may employ different rectification modes.
And recording the selected correction mode each time after the industrial robot selects the correction mode through the steps. Each industrial robot reports the selected correction mode to the server, the server counts the correction modes reported by the robots of the same model to obtain the correction mode with the most use times under the model, and the correction mode is configured to be the default correction mode in the robot of the model.
For a plurality of correction modes configured in advance, a coefficient can be configured for each correction mode, the coefficient represents the possibility of using the correction mode, and the larger the coefficient is, the hope of using the correction mode is indicated. When the correction mode is executed on the industrial robot, it may be set that only the correction mode in which the coefficient is larger than the threshold value is executed, and the correction mode in which the coefficient is smaller than the threshold value is not executed. The threshold value may be configured as an input to the industrial robot. This eliminates the need to traverse all correction patterns.
The coefficient may also be adjusted, and the server adjusts the coefficient for the correction mode with the number of times of use more than a predetermined value after summarizing the correction modes reported by the robot. This results in a positive excitation.
The error correction mode can be various, several alternative modes can be configured in advance according to actual conditions, and then one of the alternative correction modes is selected. In this embodiment, several error correction modes (alternatively referred to as error correction methods) are listed:
for example, the correction can be performed by means of images:
in this mode: acquiring image information of an article to be processed in a working area by using an industrial depth camera, and calculating the position and the posture of the article to be processed by the industrial robot according to a plane detection algorithm; performing motion attitude planning on the industrial robot according to the position and the attitude of the grabbing point; and correcting the posture of the industrial robot for operating the object to be processed by utilizing the contour information of the object to be processed. This mode of correction can be used on the grasping robot.
For another example, the correction may be performed in the following correction mode:
s1: establishing a coordinate system: acquiring the position of the robot when the end effector stays after the last action of the robot, and establishing a coordinate system;
s2: establishing a parameter template: establishing a kinematic parameter model of the robot;
s3: establishing a motion track: selecting one point in a coordinate system as a motion end point according to the end point of the position to be moved of the robot, and establishing a motion track between the stop position and the motion end point of the robot:
s4: performing motion: the robot moves according to the established motion track, and after the robot receives the motion, the end effector compares the staying position at the moment with the original set position and judges the error value of the staying position;
s5: error compensation: when the error value is larger than the preset value, the robot is driven to move, the steps S1-S4 are repeated, the next motion track and parameters of the robot are set according to the motion parameter model of the robot, and the error is compensated until the error value of the position of the robot after the robot moves is smaller than the preset value; and when the error value is smaller than the preset value, the robot executes the next step.
For another example, the following correction modes may be adopted for correction:
s1: determining a structure parameter error which can be compensated according to a numerical control system of an industrial robot;
s2: establishing an error model based on a DH method, namely a mapping relation between the structure parameter error of the industrial robot and the tail end position error, forcibly zeroing the uncompensated structure parameter error in the error model, and then establishing an error identification equation;
s3: selecting an identification pose, controlling the industrial robot to move according to the identification pose, and acquiring joint corner and end position data of the industrial robot;
s4: calculating an error identification equation according to the joint corner and the tail end position data, and solving the error identification equation to obtain a structural parameter error;
s5: and modifying corresponding structural parameters in a numerical control system of the industrial robot according to the structural parameter errors so as to compensate the structural parameter errors.
The above-described correction mode is merely an example, and is not limited thereto. A number of different corrective algorithms may be preconfigured as desired.
Optionally, the obtaining of the result set after the run on the industrial robot comprises: obtaining a product produced by the industrial robot after the industrial robot operates the correction mode; acquiring an error between a product and a standard product; the error is taken as the result set.
Optionally, the product is a plurality of products, and the result set includes an error between each of the plurality of products and the standard product.
Optionally, comparing the result set corresponding to each of the correction modes comprises: acquiring all errors in a result set corresponding to each correction mode; calculating the average error of the correction mode according to all errors; the average error of each correction mode is compared.
In this embodiment, an apparatus is further provided, where modules in the apparatus correspond to the steps of the method described above, which have already been described in the above embodiments and are not described herein again.
In this embodiment, there is also provided an industrial robot error handling device, including: the first acquisition module is used for acquiring a plurality of error correction modes which are configured in advance; the operation module is used for operating each correction mode in the multiple error correction modes on the industrial robot one by one; the second acquisition module is used for acquiring a result set after the industrial robot runs in each correction mode; the comparison module is used for comparing a result set corresponding to each correction mode; and the determining module is used for determining the correction mode used on the industrial robot according to the comparison result.
Optionally, the second obtaining module is configured to: obtaining a product produced by the industrial robot after the industrial robot operates the correction mode; acquiring an error between a product and a standard product; the error is taken as the result set.
Optionally, the product is a plurality of products, and the result set includes an error between each of the plurality of products and the standard product.
Optionally, the comparison module is configured to: acquiring all errors in a result set corresponding to each correction mode; calculating the average error of the correction mode according to all errors; the average error of each correction mode is compared.
In this embodiment, a memory is provided for storing software for performing the above-described method.
In this embodiment, a processor is provided for executing software for performing the above-described method.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
An embodiment of the present invention provides a storage medium on which a program or software is stored, the program implementing the above method when executed by a processor. The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. An industrial robot error handling method, characterized by comprising:
acquiring a plurality of error correction modes configured in advance;
operating each correction mode in the plurality of error correction modes on the industrial robot one by one;
for each correction mode, acquiring a result set after operation on the industrial robot;
comparing the result set corresponding to each correction mode;
and determining a correction mode used on the industrial robot according to the comparison result.
2. The method of claim 1, wherein obtaining a result set after a run on the industrial robot comprises:
obtaining a product produced by the industrial robot after the industrial robot operates the correction mode;
acquiring an error between the product and a standard product;
taking the error as the result set.
3. The method of claim 1, wherein the product is a plurality of products, and wherein the result set includes an error between each of the plurality of products and the standard product.
4. The method of any one of claims 1 to 3, wherein comparing the result set for each of the correction modes comprises:
acquiring all errors in a result set corresponding to each correction mode;
calculating the average error of the correction mode according to all the errors;
the average error of each of the correction modes is compared.
5. An industrial robot error handling device, comprising:
the first acquisition module is used for acquiring a plurality of error correction modes which are configured in advance;
the operation module is used for operating each correction mode in the plurality of error correction modes on the industrial robot one by one;
the second acquisition module is used for acquiring a result set after the industrial robot runs in each correction mode;
the comparison module is used for comparing the result set corresponding to each correction mode;
and the determining module is used for determining the correction mode used on the industrial robot according to the comparison result.
6. The apparatus of claim 5, wherein the second obtaining module is configured to:
obtaining a product produced by the industrial robot after the industrial robot operates the correction mode;
acquiring an error between the product and a standard product;
taking the error as the result set.
7. The apparatus of claim 6, wherein the product is a plurality of products, and wherein the result set includes an error between each of the plurality of products and the standard product.
8. The apparatus of any one of claims 5 to 7, wherein the comparison module is configured to:
acquiring all errors in a result set corresponding to each correction mode;
calculating the average error of the correction mode according to all the errors;
the average error of each of the correction modes is compared.
9. A memory for storing software, wherein the software is configured to perform the method of any one of claims 1 to 4.
10. A processor configured to execute software, wherein the software is configured to perform the method of any one of claims 1 to 4.
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| CN107443382A (en) * | 2017-09-12 | 2017-12-08 | 清华大学 | Industrial robot structure parameter error recognizes and compensation method |
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