CN111761586A - Remote control robot based on big data - Google Patents
Remote control robot based on big data Download PDFInfo
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- CN111761586A CN111761586A CN202010714261.5A CN202010714261A CN111761586A CN 111761586 A CN111761586 A CN 111761586A CN 202010714261 A CN202010714261 A CN 202010714261A CN 111761586 A CN111761586 A CN 111761586A
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- 238000004422 calculation algorithm Methods 0.000 claims abstract description 16
- 239000011159 matrix material Substances 0.000 claims abstract description 13
- 230000009466 transformation Effects 0.000 claims description 10
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- 238000004088 simulation Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 9
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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
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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Abstract
The invention discloses a remote control robot based on big data, which comprises a plurality of upper computers, API interfaces and lower computers, wherein the upper computers are connected with the lower computers through the API interfaces, the lower computers comprise 4-axis robot kinematic algorithms, 6-axis robot kinematic algorithms and parallel robot kinematic algorithms, and a conversion matrix of a joint corner and a tail end pose of the robot is established based on the big data; a simulation algorithm is compiled by combining a robot connecting rod model, and the motion of a robot entity is simulated in real time; the realization mechanism of the robot motion process and the following process is analyzed, the control algorithm is designed based on different processes, the remote control capability and the remote control precision are improved, the remote operation precision of the robot is realized, and the method has popularization and application values.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a remote control robot based on big data.
Background
The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings. In the prior art, most robots are controlled remotely, but most robots are controlled remotely at a short distance, the control distance is limited, and operation control is difficult sometimes, so that improvement space exists.
Disclosure of Invention
The present invention is directed to solving the above problems and providing a remote controlled robot based on big data.
The invention realizes the purpose through the following technical scheme:
the invention comprises a plurality of upper computers, API interfaces and lower computers, wherein the upper computers are connected with the lower computers through the API interfaces, the lower computers comprise 4-axis robot kinematic algorithms, 6-axis robot kinematic algorithms and parallel robot kinematic algorithms, and a pose transformation matrix is established on the basis of an inverse equation
in the formula: c. Ci＝cosθi，si＝sinθi，cij＝cos(θi+θj)，sij＝sin(θi+θj)，i＝1～4，j＝1～4。θ1、θ2、d3、θ4Inverse solution of robot kinematics; thereby supporting 4-axis robots, 6-axis robots and parallel robots, and solving a pose transformation matrix according to the following formula;
in the formula:
and (4) combining the simulation pose transformation matrix, acquiring joint corners and connecting rod lengths from a lower computer in real time, and sequentially rotating and translating the connecting rod of the robot to realize the remote control of the robot.
Furthermore, the motion control mode of the remote control robot is divided into manual and automatic, the manual control comprises joint motion control and right-angle motion control, the joint motion directly controls the rotation of each connecting rod, the right-angle motion needs to solve the target position into a joint corner reversely, then the joint control is carried out, the automatic control extracts the target pose and the motion attribute from the program instruction through a decoder, the motion point position is calculated based on an interpolator, then the joint corner is solved reversely, and finally the joint control is carried out.
The invention has the beneficial effects that:
the invention is a remote control robot based on big data, compared with the prior art, the invention establishes a conversion matrix of the joint corner and the terminal pose of the robot based on big data; a simulation algorithm is compiled by combining a robot connecting rod model, and the motion of a robot entity is simulated in real time; the realization mechanism of the robot motion process and the following process is analyzed, the control algorithm is designed based on different processes, the remote control capability and the remote control precision are improved, the remote operation precision of the robot is realized, and the method has popularization and application values.
Drawings
FIG. 1 is a flow chart of a kinematic algorithm of the present invention;
fig. 2 is a flow chart of robot motion control of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1: the invention comprises a plurality of upper computers, API interfaces and lower computers, wherein the upper computers are connected with the lower computers through the API interfaces, and the lower computers comprise 4-axis robot kinematics calculationThe method, the 6-axis robot kinematics algorithm and the parallel robot kinematics algorithm establish a pose transformation matrix on the basis of inverse equation solution
In turn, left-hand
The matrix equation is established, simplified as follows:
in the formula: c. Ci＝cosθi，si＝sinθi，cij＝cos(θi+θj)，sij＝sin(θi+θj)，i＝1～4，j＝1～4。θ1、θ2、d3、θ4Inverse solution of robot kinematics; thereby supporting 4-axis robots, 6-axis robots and parallel robots, and solving a pose transformation matrix according to the following formula;
in the formula:
and (4) combining the simulation pose transformation matrix, acquiring joint corners and connecting rod lengths from a lower computer in real time, and sequentially rotating and translating the connecting rod of the robot to realize the remote control of the robot.
As shown in fig. 2: the motion control mode of the remote control robot is divided into manual and automatic, wherein the manual control comprises joint motion control and right-angle motion control, the joint motion directly controls each connecting rod to rotate, the right-angle motion needs to solve a target position into a joint corner in a reverse mode, then joint control is carried out, the automatic control extracts a target pose and motion attributes from a program instruction through a decoder, a motion point position is calculated based on an interpolator, then the joint corner is solved in a reverse mode, and finally joint control is carried out.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The utility model provides a remote control robot based on big data which characterized in that: the multi-functional pose transformation system comprises a plurality of upper computers, API interfaces and lower computers, wherein the upper computers are connected with the lower computers through the API interfaces, the lower computers comprise 4-axis robot kinematic algorithms, 6-axis robot kinematic algorithms and parallel robot kinematic algorithms, and pose transformation matrixes are established on the basis of inverse equations
In turn, left-hand
The matrix equation is established, simplified as follows:
in the formula: c. Ci＝cosθi，si＝sinθi，cij＝cos(θi+θj)，sij＝sin(θi+θj)，i＝1～4，j＝1～4。θ1、θ2、d3、θ4Inverse solution of robot kinematics; thereby supporting a 4-axis robot, a 6-axis robot andthe parallel robot obtains a pose transformation matrix according to the following formula;
in the formula:
and (4) combining the simulation pose transformation matrix, acquiring joint corners and connecting rod lengths from a lower computer in real time, and sequentially rotating and translating the connecting rod of the robot to realize the remote control of the robot.
2. The big-data-based remote controlled robot according to claim 1, wherein: the motion control mode of the remote control robot is divided into manual and automatic, wherein the manual control comprises joint motion control and right-angle motion control, the joint motion directly controls each connecting rod to rotate, the right-angle motion needs to solve a target position into a joint corner in a reverse mode, then joint control is carried out, the automatic control extracts a target pose and motion attributes from a program instruction through a decoder, a motion point position is calculated based on an interpolator, then the joint corner is solved in a reverse mode, and finally joint control is carried out.
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| CN202010714261.5A CN111761586B (en) | 2020-07-22 | 2020-07-22 | Remote control robot based on big data |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055467A (en) * | 2021-10-29 | 2022-02-18 | 南京邮电大学 | Space pose online simulation system based on five-degree-of-freedom robot |
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| US20090069936A1 (en) * | 2004-02-06 | 2009-03-12 | Abb Ab | Control method for robots |
| CN103973798A (en) * | 2014-05-14 | 2014-08-06 | 哈尔滨工业大学 | Method and device for communication between upper computer and lower computer under control of secondary platform movement |
| CN105598957A (en) * | 2016-01-27 | 2016-05-25 | 国机集团科学技术研究院有限公司 | Industrial robot kinematic modelling method and system |
| CN106003055A (en) * | 2016-08-10 | 2016-10-12 | 广东工业大学 | Movement joint angle solution method based on bending machine manipulator |
| CN106097390A (en) * | 2016-06-13 | 2016-11-09 | 北京理工大学 | A kind of robot kinematics's parameter calibration method based on Kalman filtering |
| CN109434808A (en) * | 2018-12-13 | 2019-03-08 | 上海菡为智能科技有限公司 | A kind of cloud remote service Study of Intelligent Robot Control network system realization |
| CN109746915A (en) * | 2019-01-18 | 2019-05-14 | 埃夫特智能装备股份有限公司 | A kind of kinematic method promoting industrial robot absolute fix precision |
-
2020
- 2020-07-22 CN CN202010714261.5A patent/CN111761586B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090069936A1 (en) * | 2004-02-06 | 2009-03-12 | Abb Ab | Control method for robots |
| CN103973798A (en) * | 2014-05-14 | 2014-08-06 | 哈尔滨工业大学 | Method and device for communication between upper computer and lower computer under control of secondary platform movement |
| CN105598957A (en) * | 2016-01-27 | 2016-05-25 | 国机集团科学技术研究院有限公司 | Industrial robot kinematic modelling method and system |
| CN106097390A (en) * | 2016-06-13 | 2016-11-09 | 北京理工大学 | A kind of robot kinematics's parameter calibration method based on Kalman filtering |
| CN106003055A (en) * | 2016-08-10 | 2016-10-12 | 广东工业大学 | Movement joint angle solution method based on bending machine manipulator |
| CN109434808A (en) * | 2018-12-13 | 2019-03-08 | 上海菡为智能科技有限公司 | A kind of cloud remote service Study of Intelligent Robot Control network system realization |
| CN109746915A (en) * | 2019-01-18 | 2019-05-14 | 埃夫特智能装备股份有限公司 | A kind of kinematic method promoting industrial robot absolute fix precision |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055467A (en) * | 2021-10-29 | 2022-02-18 | 南京邮电大学 | Space pose online simulation system based on five-degree-of-freedom robot |
| CN114055467B (en) * | 2021-10-29 | 2023-10-10 | 南京邮电大学 | Space pose online simulation system based on five-degree-of-freedom robot |
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Effective date of registration: 20221101 Address after: 710000 Room 2702, Unit 2, Building 1, Binfen Nanjun Community, No. 6, Zhangba Street Office, High tech Zone, Xi'an, Shaanxi Patentee after: Xi'an Puyide Network Technology Co.,Ltd. Address before: 710065 No. 1 Science and Technology Sixth Road, Yanta District, Xi'an City, Shaanxi Province Patentee before: Xi'an University |
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