CN111590586A - Man-machine interaction terminal and method for offline programming of mechanical arm - Google Patents

Man-machine interaction terminal and method for offline programming of mechanical arm Download PDF

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Publication number
CN111590586A
CN111590586A CN202010485486.8A CN202010485486A CN111590586A CN 111590586 A CN111590586 A CN 111590586A CN 202010485486 A CN202010485486 A CN 202010485486A CN 111590586 A CN111590586 A CN 111590586A
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mechanical arm
virtual
control
angle
information
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Inventor
张鹏
林阳
殷择天
陈运芝
朱亮
李威
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Nanjing Yuanmeng Juli Technology Co ltd
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Nanjing Yuanmeng Juli Technology Co ltd
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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
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • 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
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems

Abstract

The invention provides a man-machine interaction terminal for offline programming of a mechanical arm, which comprises: the human-computer interaction hardware comprises a VR display helmet and an operation handle; immersive virtual operation software for displaying a central viewing angle and data of the VR head-mounted display; the information interaction module is used for realizing communication and data storage of the man-machine interaction hardware and the mechanical arm and converting the action intention of a person into a control instruction of the mechanical arm; and the information processing module outputs each operation information required by the mechanical arm after settlement and verification, and combines a plurality of sections of operation information to generate a control program for the mechanical arm. Compared with the prior art, the invention outputs all operation information required by the mechanical arm through the operation of inputting the tail end position posture by the universal body sensing equipment in the virtual environment, regenerates the control programming of the mechanical arm, has low requirement on operators in the whole process, and can avoid the collision of a real mechanical arm during programming through the VR technology, thereby achieving the purpose of protecting the mechanical arm.

Description

Man-machine interaction terminal and method for offline programming of mechanical arm
Technical Field
The invention relates to a man-machine interaction terminal and a man-machine interaction method for offline programming of a mechanical arm.
Background
With the transformation of the manufacturing industry in China, the industrial mechanical arm is gradually popularized in the manufacturing industry, and the industrial mechanical arm has the advantages of reducing the labor intensity of workers, protecting the safety of the workers and saving the labor cost due to flexible production, and is widely applied to the fields of laser welding, arc welding, spot welding, forging, laser cutting, stamping, feeding and discharging of machine tools, deburring, gluing and the like.
The robot off-line programming system mainly comprises the steps that an operator can construct a three-dimensional virtual environment of a robot working application scene in the system, then a series of operations are carried out according to relevant requirements such as a machining process, the motion track of the robot, namely a control command, is automatically generated, then the track is simulated and adjusted in the system, and finally a robot execution program is generated and transmitted to the robot.
In the common offline programming human-computer interaction technology, the biggest defect is that the operator is required to perform rather unintuitive arm motion to control the robot, so that the operator is required to have certain operation experience to effectively and accurately control the robot. Another man-machine interaction mode is to adopt a system for tracking the position and the pose of a human hand in real time, which wastes manpower and time.
Disclosure of Invention
In view of this, the invention provides a human-computer interaction terminal and a human-computer interaction method for offline programming of a mechanical arm, and aims to solve the technical problems in the background art.
On one hand, the invention provides a man-machine interaction terminal for offline programming of a mechanical arm, which comprises:
the human-computer interaction hardware comprises a VR display helmet and an operation handle;
immersive virtual operation software for displaying a central viewing angle and data of the VR head-mounted display;
the information interaction module is used for realizing communication and data storage of the man-machine interaction hardware and the mechanical arm and converting the action intention of a person into a control instruction of the mechanical arm;
and the information processing module outputs each operation information required by the mechanical arm after settlement and verification, and combines a plurality of sections of operation information to generate a control program for the mechanical arm.
Further, the immersive virtual operation software generates a virtual scene and a virtual control object, the virtual control object comprises position and posture information, and the use right of the control function is opened after the controller of the operation handle touches the virtual control object.
Further, in the information interaction module, after the virtual control object receives the control instruction, the position and posture information of the virtual control object is substituted into a reverse dynamic model established by the mechanical arm, the reverse dynamic model firstly resolves the rotation of the analysis object and the current angle of each shaft at the tail end of the mechanical arm to obtain the proper angle of each shaft of the mechanical arm in charge of the relative rotation of the tail end, the relative position of the rotated joint is obtained through the proper angle, the relative position is converted into a rotating body, each shaft angle is resolved, and then the correct posture of the mechanical arm is generated according to each shaft angle.
Furthermore, the information interaction module further comprises an early warning unit for simply prompting the feasibility of the virtual end operation at the entity end so as to avoid human errors.
On the other hand, the invention also provides a man-machine interaction method for the offline programming of the mechanical arm, which is characterized by comprising the following steps:
step S1: generating a three-dimensional visual scene containing a virtual mechanical arm and displaying a 3D picture through a VR head-mounted display;
step S2: calculating and confirming the control information of each axis of the mechanical arm in real time according to the position and posture information input by the VR handle;
step S3: the tail end of the virtual mechanical arm in a three-dimensional scene under VR automatically moves along with a controller of an operator, and the implementation effect of the current operation is displayed to the operator in real time;
step S4: converting effective operation information generated by the system into a control instruction of the mechanical arm and recording the control instruction;
step S5: and combining and editing the control instructions of the mechanical arm, importing the control instructions into a mechanical arm control system, and generating the motion programming of the mechanical arm.
Further, in step S3, step Sa is also included,
step Sa: through a VR interactive interface, the feasibility of virtual end operation at an entity end is simply prompted so as to avoid human errors.
Further, between the step S2 and the step S3, the method specifically includes the following steps:
step Sb 1: after an operator obtains the control right of a virtual control object and sends a command for implementing control to the object, the object substitutes the position and posture information of the object into a reverse dynamic model established for the mechanical arm to which the object belongs;
step Sb 2: the reverse dynamic model analyzes the rotation of the virtual control object and the current angle of each shaft at the tail end of the mechanical arm, and calculates the proper angle of each shaft of the mechanical arm in charge of the relative rotation of the tail end;
step Sb 3: substituting the angle into each arm length parameter and the position of the virtual control object to obtain the relative position of the rotated joint;
step Sb 4: and converting the relative position into a rotating body, taking the difference between the Yaw axis and the Yaw axis of the mechanical arm root skeleton rotating body to obtain the angle of a main horizontal axis of the mechanical arm, substituting the relative position into the double skeleton IK of the main arm of the mechanical arm, and obtaining the angles of the other two axes.
Step Sb 5: and generating the correct posture of the mechanical arm through all the shaft angle values.
Compared with the prior art, the human-computer interaction terminal and the human-computer interaction method for the offline programming of the mechanical arm have the advantages that various operation information required by the mechanical arm is output through the operation of inputting the tail end position posture of the universal body sensing equipment in the virtual environment, the control programming of the mechanical arm is regenerated, the requirement on an operator in the whole process is low, and the collision of a real mechanical arm during programming can be avoided through the VR technology, so that the aim of protecting the mechanical arm is fulfilled.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flowchart of a human-machine interaction method for offline programming of a robot arm according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a robotic arm according to an embodiment of the present invention;
FIG. 3 is a graph of θ provided by an embodiment of the present invention2、θ3A schematic diagram of the calculation of (1).
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The invention provides a man-machine interaction terminal for offline programming of a mechanical arm, which comprises:
the human-computer interaction hardware comprises a VR display helmet and an operation handle;
immersive virtual operation software for displaying a central viewing angle and data of the VR head-mounted display;
the information interaction module is used for realizing communication and data storage of the man-machine interaction hardware and the mechanical arm and converting the action intention of a person into a control instruction of the mechanical arm;
and the information processing module outputs each operation information required by the mechanical arm after settlement and verification, and combines a plurality of sections of operation information to generate a control program for the mechanical arm.
Compared with the prior art, the embodiment of the invention programs the motion trail of the mechanical arm through VR, can avoid collision of the real mechanical arm during programming, and achieves the purpose of protecting the mechanical arm.
Specifically, the immersive virtual operation software of the man-machine interaction terminal with the offline programming of the mechanical arm firstly generates a virtual scene and a virtual control object, the virtual control object comprises position and posture information, and the control function right of use is opened after a controller of the operating handle touches the virtual control object.
Specifically, in the information interaction module, after an operator obtains the control right of the virtual control object and sends a command for implementing control to the object, the object substitutes the position and posture information of the object into the reverse dynamics model established for the mechanical arm to which the object belongs. The model firstly solves the rotation of an analysis object and the current angle of each axis at the tail end of the mechanical arm to obtain the proper angle of each axis of the mechanical arm which is responsible for the relative rotation of the tail end. After the angles are determined, the arm length parameters and the virtual control object position are substituted, and the relative position of the joint after rotation is obtained. And converting the relative position into a rotating body, and taking the difference between the Yaw axis and the Yaw axis of the mechanical arm root skeleton rotating body to obtain the angle of the main horizontal axis of the mechanical arm. And substituting the relative position into the double skeleton IK of the main arm of the mechanical arm to obtain the angles of the other two axes. The correct posture of the mechanical arm is generated through all the shaft angle values, so that the mechanical arm can follow the motion of the virtual control object in real time. Compared with the prior art, the tail end position posture is obtained, and the tail end position posture can be converted into the angle of each axis of the mechanical arm through a function, so that the operation difficulty of an operator can be greatly reduced.
As a preferred embodiment, the information interaction module further includes an early warning unit, configured to provide a concise prompt for feasibility of the virtual end operation at the entity end, so as to avoid human errors.
The invention also provides a man-machine interaction method for the offline programming of the mechanical arm, which comprises the following steps:
step S1: generating a three-dimensional visual scene containing a virtual mechanical arm and displaying a 3D picture through a VR head-mounted display;
step S2: calculating and confirming the control information of each axis of the mechanical arm in real time according to the position and posture information input by the VR handle;
step S3: the tail end of the virtual mechanical arm in a three-dimensional scene under VR automatically moves along with a controller of an operator, and the implementation effect of the current operation is displayed to the operator in real time;
step S4: converting effective operation information generated by the system into a control instruction of the mechanical arm and recording the control instruction;
step S5: and combining and editing the control instructions of the mechanical arm, importing the control instructions into a mechanical arm control system, and generating the motion programming of the mechanical arm.
In the embodiment of the present invention, step S3 further includes step Sa,
step Sa: through a VR interactive interface, the feasibility of virtual end operation at an entity end is simply prompted so as to avoid human errors.
In the embodiment of the present invention, the following steps are specifically included between step S2 and step S3:
step Sb 1: after an operator obtains the control right of a virtual control object and sends a command for implementing control to the object, the object substitutes the position and posture information of the object into a reverse dynamic model established for the mechanical arm to which the object belongs;
step Sb 2: the reverse dynamic model analyzes the rotation of the virtual control object and the current angle of each shaft at the tail end of the mechanical arm, and calculates the proper angle of each shaft of the mechanical arm in charge of the relative rotation of the tail end;
step Sb 3: substituting the angle into each arm length parameter and the position of the virtual control object to obtain the relative position of the rotated joint;
step Sb 4: and converting the relative position into a rotating body, taking the difference between the Yaw axis and the Yaw axis of the mechanical arm root skeleton rotating body to obtain the angle of a main horizontal axis of the mechanical arm, substituting the relative position into the double skeleton IK of the main arm of the mechanical arm, and obtaining the angles of the other two axes.
Step Sb 5: and generating the correct posture of the mechanical arm through all the shaft angle values.
Taking a six-axis robot as an example, the specific calculation processes of steps Sb1 to Sb5 are as follows;
(1) calculating the proper angle of each axis of the mechanical arm responsible for relative rotation of the tail end
Obtaining position P of VR handle input0(Px0.Py0.Pz0) The attitude matrix R ═ nxoxax,nyoyay,nzozaz]In the attitude matrix, ax,ay,azAnd expressing the cosine of the included angle between the Z axis of the tail end coordinate system of the mechanical arm and the X, Y and Z axes of the base coordinate system.
By theta1、θ2、θ3The iterative wrist posture is T
R·T＝(Roll,Pitch,Yaw)
Rotation angle of the fourth joint: theta4＝-Yaw
Rotation angle of the fifth joint: theta5＝-Pitch
Rotation angle of the sixth joint: theta6＝-Roll
(2) Calculating the relative position of the joint after rotation
The distance from the tail end of the mechanical arm to the wrist is L, and the coordinate of the wrist of the mechanical arm is P:
Px＝Px0+axL
Py＝Py0+ayL
Pz＝Pz0+azL
(3) calculating angles of the remaining axes
First joint theta1A second joint theta2A third joint theta3The specific settlement process of the rotating angle is as follows:
first joint theta1The rotation angle of (c):
θ1＝Tan-1(Py/Px)
second joint theta2A third joint theta3The rotation angle of (c):
θ2θ3the specific algorithm is obtained by the 2 nd and 3 rd joint double-bone IK with Effect location as P and is as follows:
as shown in fig. 3, the position of the robot arm base and θ1Obtaining the position P of the 2 nd joint of the mechanical arm2(Px2.Py2.Pz2) Taking P2Solving for a plane parallel to the Z axis in which P lies2Is the origin (0,0), P is (X,Y)，
According to the cosine theorem, it can be known that:
Figure BDA0002518996930000071
this makes it possible to obtain:
Figure BDA0002518996930000072
then, according to the cosine theorem, it can be known that:
Figure BDA0002518996930000081
this makes it possible to obtain:
Figure BDA0002518996930000082
then, according to the cosine theorem, it can be known that:
Figure BDA0002518996930000083
this makes it possible to obtain:
Figure BDA0002518996930000084
it will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (7)

1. A man-machine interaction terminal for off-line programming of a mechanical arm is characterized by comprising:
the human-computer interaction hardware comprises a VR display helmet and an operation handle;
immersive virtual operation software for displaying a central viewing angle and data of the VR head-mounted display;
the information interaction module is used for realizing communication and data storage of the man-machine interaction hardware and the mechanical arm and converting the action intention of a person into a control instruction of the mechanical arm;
and the information processing module outputs each operation information required by the mechanical arm after settlement and verification, and combines a plurality of sections of operation information to generate a control program for the mechanical arm.
2. The human-computer interaction terminal for offline programming of mechanical arms as recited in claim 1, wherein the immersive virtual operation software generates a virtual scene and a virtual control object, the virtual control object comprises position and posture information, and the controller of the operation handle opens the right of use of the control function when touching the virtual control object.
3. The human-computer interaction terminal for offline programming of the mechanical arm according to claim 2, wherein in the information interaction module, after the virtual control object receives the control command, the position and posture information of the virtual control object is substituted into a reverse dynamical model established by the mechanical arm, the reverse dynamical model first solves the rotation of the analysis object and the current angle of each axis at the tail end of the mechanical arm into an appropriate angle of each axis at which the tail end of the mechanical arm is in charge of relative rotation, obtains the relative position of the rotated joint through the appropriate angle, converts the relative position into a rotating body, solves the angle of each axis, and then generates the correct posture of the mechanical arm according to the angle of each axis.
4. The human-computer interaction terminal for offline programming of the mechanical arm as recited in claim 3, wherein the information interaction module further comprises an early warning unit for brief prompt of feasibility of virtual end operation at the physical end to avoid human errors.
5. A man-machine interaction method for off-line programming of a mechanical arm is characterized by comprising the following steps:
step S1: generating a three-dimensional visual scene containing a virtual mechanical arm and displaying a 3D picture through a VR head-mounted display;
step S2: calculating and confirming the control information of each axis of the mechanical arm in real time according to the position and posture information input by the VR handle;
step S3: the tail end of the virtual mechanical arm in a three-dimensional scene under VR automatically moves along with a controller of an operator, and the implementation effect of the current operation is displayed to the operator in real time;
step S4: converting effective operation information generated by the system into a control instruction of the mechanical arm and recording the control instruction;
step S5: and combining and editing the control instructions of the mechanical arm, importing the control instructions into a mechanical arm control system, and generating the motion programming of the mechanical arm.
6. The human-computer interaction method for offline programming of mechanical arms as claimed in claim 5, wherein said step S3 further comprises step Sa,
step Sa: through a VR interactive interface, the feasibility of virtual end operation at an entity end is simply prompted so as to avoid human errors.
7. The human-computer interaction method for offline programming of the mechanical arm as claimed in claim 6, wherein between the step S2 and the step S3, the method specifically comprises the following steps:
step Sb 1: after an operator obtains the control right of a virtual control object and sends a command for implementing control to the object, the object substitutes the position and posture information of the object into a reverse dynamic model established for the mechanical arm to which the object belongs;
step Sb 2: the reverse dynamic model analyzes the rotation of the virtual control object and the current angle of each shaft at the tail end of the mechanical arm, and calculates the proper angle of each shaft of the mechanical arm in charge of the relative rotation of the tail end;
step Sb 3: substituting the angle into each arm length parameter and the position of the virtual control object to obtain the relative position of the rotated joint;
step Sb 4: converting the relative position into a rotating body, taking the difference between a Yaw axis and a Yaw axis of a mechanical arm root skeleton rotating body to obtain the angle of a main horizontal axis of the mechanical arm, substituting the relative position into the double skeleton IK of the main arm of the mechanical arm, and obtaining the angles of the rest two axes;
step Sb 5: and generating the correct posture of the mechanical arm through all the shaft angle values.
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Application publication date: 20200828