CN112207818A - Six-axis mechanical arm control method and system - Google Patents

Six-axis mechanical arm control method and system Download PDF

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Publication number
CN112207818A
CN112207818A CN202010884415.5A CN202010884415A CN112207818A CN 112207818 A CN112207818 A CN 112207818A CN 202010884415 A CN202010884415 A CN 202010884415A CN 112207818 A CN112207818 A CN 112207818A
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mechanical arm
axis
axis mechanical
point
operation control
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张海彪
衣超
赵小东
马浚峰
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Yangzhou Harbin Science And Technology Robot Research Institute Co ltd
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Yangzhou Harbin Science And Technology Robot Research Institute 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
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a six-axis mechanical arm control method and a system, wherein the method comprises the following steps: the processing module receives the order information, controls the running track of the six-axis mechanical arm according to the order information and determines a point-to-point running distance L; the processing module sends operation control information of the six-axis mechanical arm to the PWM control module, wherein the operation control information comprises acceleration information; the PWM control module converts the operation control information into a PWM output signal and sends the PWM output signal to the six-axis mechanical arm through the data transmission module; and the six-axis mechanical arm operates according to the operation control information. The method and the device improve the running speed, shorten the running time and improve the working efficiency of the current debugging machine.

Description

Six-axis mechanical arm control method and system
Technical Field
The invention relates to the field of unmanned cold drink dispensing machines, in particular to a six-axis mechanical arm control method and a six-axis mechanical arm control system.
Background
Nowadays, the artificial intelligence technology is rapidly developed, various types of unmanned vending machines are more and more appeared in the field of vision of people, wherein the cold drink dispensing machine occupies a large sales market. The main body for making the cold drink unmanned machine is mainly six-axis mechanical arms. As the mechanical arm is widely applied in the field of unmanned cold drink selling, the speed control is very important when the mechanical arm transports cold drinks, the cold drinks can spill and overflow at a high speed, and the cold drinks can also spill if the cold drink cup tilts during point-to-point movement. The existing cold drink mixing machine has low working efficiency and needs to be further improved.
Disclosure of Invention
In order to solve the problem that the working efficiency of the existing cold drink dispenser is low, the embodiment of the application provides a six-axis mechanical arm control method and a six-axis mechanical arm control system, the running speed can be increased, the running time can be shortened, and the working efficiency of a vending machine can be improved.
In a first aspect, an embodiment of the present application provides a six-axis robot arm control method, including:
the processing module receives order information, controls the running track of the six-axis mechanical arm according to the order information and determines a point-to-point running distance L;
the processing module sends operation control information of the six-axis mechanical arm to the PWM control module, wherein the operation control information comprises acceleration information;
the PWM control module converts the operation control information into a PWM output signal and sends the PWM output signal to the six-axis mechanical arm through the data transmission module;
and the six-axis mechanical arm operates according to the operation control information.
Wherein the operation control information includes: six-axis mechanical arm runs at first acceleration a and t1Time, the six-axis robot arm reaches maximum speed VmaxThen the six-axis robot arm at maximum speed VmaxOperation t2Time, then the six-axis robot arm is operated at a second acceleration-a1Time, the running speed is zero when moving to the end point.
Wherein, according to the calculation formula t1＝VmaxA, where a is the first acceleration, is calculated to obtain t1；
According to the calculation formula t2＝(L-at1 2)/VmaxCalculating to obtain t2Where L is the point-to-point travel distance.
Wherein the processing module is STM 32.
In a second aspect, the application provides a six-axis robot arm control system, which comprises a processing module, a PWM control module, a data transmission module, and a six-axis robot arm;
the processing module is used for receiving order information, controlling the running track of the six-axis mechanical arm according to the order information and determining a point-to-point running distance L;
the processing module is used for sending operation control information of the six-axis mechanical arm to the PWM control module, and the operation control information comprises acceleration information;
the PWM control module is used for converting the operation control information into a PWM output signal and sending the PWM output signal to the six-axis mechanical arm through the data transmission module;
and the six-axis mechanical arm is used for operating according to the operation control information.
Wherein the operation control information includes: six-axis mechanical arm runs at first acceleration a and t1Time, the six-axis robot arm reaches maximum speed VmaxThen the six-axis robot arm at maximum speed VmaxOperation t2Time, then the six-axis robot arm is operated at a second acceleration-a1Time, the running speed is zero when moving to the end point.
Wherein, according to the calculation formula t1＝VmaxA, where a is the first acceleration, is calculated to obtain t1；
According to the calculation formula t2＝(L-at1 2)/VmaxCalculating to obtain t2Where L is the point-to-point travel distance.
Wherein the processing module is STM 32.
In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program is used for implementing the steps of any one of the above methods when executed by a processor.
In a fourth aspect, embodiments of the present application provide a cold beverage dispenser comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any one of the above methods when executing the program.
The six-axis mechanical arm control method and the six-axis mechanical arm control system have the following beneficial effects:
in the application, a processing module receives order information, and the processing module controls the running track of the six-axis mechanical arm according to the order information and determines a point-to-point running distance L; the processing module sends operation control information of the six-axis mechanical arm to the PWM control module, wherein the operation control information comprises acceleration information; the PWM control module converts the operation control information into a PWM output signal and sends the PWM output signal to the six-axis mechanical arm through the data transmission module; and the six-axis mechanical arm operates according to the operation control information. The method and the device improve the running speed, shorten the running time and improve the working efficiency of the current debugging machine.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for controlling a six-axis robot according to an embodiment of the present disclosure;
FIG. 2 is another schematic flow chart illustrating a method for controlling a six-axis robot according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a six-axis robot arm control system according to an embodiment of the present application.
Detailed Description
The present application is further described with reference to the following figures and examples.
In the following description, the terms "first" and "second" are used for descriptive purposes only and are not intended to indicate or imply relative importance. The following description provides embodiments of the invention, which may be combined or substituted for various embodiments, and this application is therefore intended to cover all possible combinations of the same and/or different embodiments described. Thus, if one embodiment includes feature A, B, C and another embodiment includes feature B, D, then this application should also be considered to include an embodiment that includes one or more of all other possible combinations of A, B, C, D, even though this embodiment may not be explicitly recited in text below.
The following description provides examples, and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements described without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as appropriate. For example, the described methods may be performed in an order different than the order described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.
Nowadays, the artificial intelligence technology is rapidly developed, various types of unmanned vending machines are more and more appeared in the field of vision of people, wherein the cold drink dispensing machine occupies a large sales market. The main body of the preparation of the cold drink unmanned on-site machine mainly comprises six mechanical arms, and the scheme adopts STM32 as a control core and combines the PWM control technology to control the six mechanical arms, so that the accurate control of the movement speed and the point alignment of the mechanical arms is realized. As the mechanical arm is widely applied in the field of unmanned cold drink selling, the speed control is very important when the mechanical arm transports cold drinks, the cold drinks can spill and overflow at a high speed, and the cold drinks can also spill if the cold drink cup tilts during point-to-point movement.
In the prior art, point-to-point movement of a mechanical arm of a cold drink vending machine is generally low-speed and uniform-speed movement, and the time consumption is long. Moreover, the mechanical arm of the cold drink vending machine has the shaking problem when the mechanical arm starts to move at the starting point and finishes moving at the terminal point, so that cold drinks are scattered and overflowed.
The invention aims to provide an optimal control system for a six-axis mechanical arm by using STM32 as a control core. The problem of cold drink unmanned vending machine preparation time long, ornamental low is solved, the quick-witted work efficiency of present accent is improved. The problem of jitter when starting motion at the starting point and ending motion at the end point is solved.
As shown in fig. 1-2, the present application provides a six-axis robot arm control method, including the steps of: s101, a processing module receives order information, controls the running track of the six-axis mechanical arm according to the order information and determines a point-to-point running distance L; s103, the processing module sends operation control information of the six-axis mechanical arm to the PWM control module, wherein the operation control information comprises acceleration information; s105, the PWM control module converts the operation control information into a PWM output signal and sends the PWM output signal to the six-axis mechanical arm through the data transmission module; and S107, operating the six-axis mechanical arm according to the operation control information. Each step is described below.
S101, the processing module receives order information, controls the running track of the six-axis mechanical arm according to the order information, and determines a point-to-point running distance L.
The server side sends the order information to the processing module, and the processing module receives the order information. The processing module is STM 32. The STM32 series of ARM designed specifically for embedded applications requiring high performance, low cost, and low power consumption
Figure BDA0002655110820000051
M0, M0+, M3, M4 and M7 kernels. Before STM32F105 and STM32F107 interconnect type family microcontrollers, the intentional semiconductor has been introduced as STM32 base type family, enhanced type family, USB base type family, complementary type family; the new family of products continues to use the enhanced family of 72MHz processing frequencies. The memory includes 64KB to 256KB flash memory and 20KB to 64KB embedded SRAM. The new series adopts three kinds of encapsulation of LQFP64, LQFP100 and LFBGA100, and different encapsulation keeps the pin arrangement uniformity, combines the design theory of STM32 platform, and the developer can optimize function, memory, performance and pin quantity again through selecting the product, satisfies individualized application demand with minimum hardware change.
A six-axis robot is driven by six sets of motors at different positions, each of which is capable of providing rotational motion about an axial direction. From the concept of degrees of Freedom (freedoms), six-axis robots have satisfied six degrees of Freedom in three-dimensional space.
S103, the processing module sends operation control information of the six-axis mechanical arm to the PWM control module, wherein the operation control information comprises acceleration information; s105, the PWM control module converts the operation control information into a PWM output signal and sends the PWM output signal to the six-axis mechanical arm through the data transmission module; and S107, operating the six-axis mechanical arm according to the operation control information.
The pwm (pulse Width modulation) control technique is a technique for modulating the Width of a pulse, that is, modulating the Width of a series of pulses to equivalently obtain a required waveform (including shape and amplitude).
In some embodiments, the operation control information includes: six-axis mechanical arm runs at first acceleration a and t1Time, run t1After time, the six-axis mechanical arm reaches the maximum speed VmaxThen the six-axis robot arm is at maximum speed VmaxOperation t2Time, then the six-axis robot arm is operated at a second acceleration-a, t1Time, the running speed is zero when moving to the end point.
According to the calculation formula t1＝VmaxA, where a is the first acceleration, is calculated to obtain t1. The first acceleration a may be, for example, the maximum acceleration of the six-axis robot arm, and may be obtained by experimental means.
According to the calculation formula t2＝(L-at1 2)/VmaxCalculating to obtain t2Where L is the point-to-point travel distance. According to a formula
Figure BDA0002655110820000061
Can derive t2＝(L-at1 2)/Vmax。
Firstly, a server side sends order information to an STM32, an STM32 selects a running track of a mechanical arm according to an order, determines running distance L of each point to point, calculates time t from the movement of an optimal uniform acceleration a to the middle point of the running track according to the running distance, converts the time t1 and the time t2 into PWM output signals and transmits the PWM output signals to the mechanical arm through a data transmission module when at is greater than the maximum speed Vmax of the mechanical arm, the mechanical arm runs at the optimal uniform acceleration for t1 time after receiving the time t1 and the time t2 and converting the time t1 and the time t2 into the PWM output signals, then starts to run at the maximum speed Vmax for t2 time, runs at the uniform deceleration-a for t1 time, and the running speed. When at < > is the maximum speed Vmax of the mechanical arm, converting time t1 t and t 20 into PWM output signals and transmitting the PWM output signals to the mechanical arm through a data transmission module, after the mechanical arm receives the time t1 and converts the PWM output signals into the PWM output signals, after the optimal uniform acceleration operation time t1, the mechanical arm starts to operate for time t1 again by uniform deceleration-a, and when the mechanical arm moves to an end point, the operation speed is just zero; therefore, the operation speed of the mechanical arm can be increased, the working efficiency of unmanned on-line machine adjustment is improved, and the problem of shaking in the motion process is solved.
The principle of the application is simple, and the mechanical arm is controlled to operate through the PWM speed regulation principle. The system is stable, and cold drinks can be delivered to the hands of consumers at the highest speed. The control system is strong in universality and suitable for most of unmanned vending machines. The work efficiency of unmanned on-line machine of transferring is effectively improved. The problem of shaking in the motion process is solved.
This application has improved the functioning speed of arm, has improved unmanned work efficiency who transfers the machine at present. The problem of jitter when starting motion at the starting point and ending motion at the end point is solved. In this application, because the process that the arm began to move from the starting point and the motion was ended to the terminal point is the process that all accelerates, and speed one step increase so can not appear shaking, avoid the cold drink to spill and spill over.
As shown in fig. 3, the six-axis robot arm control system of the present application includes a processing module 201, a PWM control module 202, a data transmission module 203, and a six-axis robot arm 204;
the processing module is used for receiving the order information, controlling the running track of the six-axis mechanical arm according to the order information and determining a point-to-point running distance L;
the processing module is used for sending operation control information of the six-axis mechanical arm to the PWM control module, and the operation control information comprises acceleration information;
the PWM control module is used for converting the operation control information into a PWM output signal and transmitting the PWM output signal to the six-axis mechanical arm through the data transmission module;
the six-axis mechanical arm is used for operating according to the operation control information.
Wherein the operation control information includes: six-axis mechanical arm runs at first acceleration a and t1Time, six-axis mechanical arm reaches maximum speed VmaxThen the six-axis robot arm is at maximum speed VmaxOperation t2Time, then six-axis robot arm with second additionSpeed-a running t1Time, the running speed is zero when moving to the end point.
Wherein, according to the calculation formula t1＝VmaxA, where a is the first acceleration, is calculated to obtain t1；
According to the calculation formula t2＝(L-at1 2)/VmaxCalculating to obtain t2Where L is the point-to-point travel distance.
Wherein the processing module is STM 32.
The vending machine has the advantages that the running speed can be increased, the running time is shortened, and the working efficiency of the vending machine is improved.
In the present application, the embodiment of the six-axis robot arm control system is basically similar to the embodiment of the six-axis robot arm control method, and reference is made to the description of the embodiment of the six-axis robot arm control method for relevant points.
It is clear to a person skilled in the art that the solution according to the embodiments of the invention can be implemented by means of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can perform a specific function independently or in cooperation with other components, where the hardware may be, for example, an FPGA (Field-Programmable Gate Array), an IC (Integrated Circuit), or the like.
Each processing unit and/or module according to the embodiments of the present invention may be implemented by an analog circuit that implements the functions described in the embodiments of the present invention, or may be implemented by software that executes the functions described in the embodiments of the present invention.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the above-mentioned six-axis robot arm control method steps. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
A cold beverage dispenser comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program performing the steps of any one of the above methods.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
All functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A six-axis mechanical arm control method is characterized by comprising the following steps:
the processing module receives order information, controls the running track of the six-axis mechanical arm according to the order information and determines a point-to-point running distance L;
the processing module sends operation control information of the six-axis mechanical arm to the PWM control module, wherein the operation control information comprises acceleration information;
the PWM control module converts the operation control information into a PWM output signal and sends the PWM output signal to the six-axis mechanical arm through the data transmission module;
and the six-axis mechanical arm operates according to the operation control information.
2. The six-axis robot arm control method according to claim 1, wherein the operation control information includes: six-axis mechanical arm runs at first acceleration a and t1Time, the six-axis robot arm reaches maximum speed VmaxThen the six-axis robot arm at maximum speed VmaxOperation t2Time, then the six-axis robot arm is operated at a second acceleration-a1Time, the running speed is zero when moving to the end point.
3. The six-axis robot arm control method according to claim 2, wherein t is calculated according to t1＝VmaxA, where a is the first acceleration, is calculated to obtain t1；
According to the calculation formula t2＝(L-at1 2)/VmaxCalculating to obtain t2Where L is the point-to-point travel distance.
4. The six-axis robot arm control method according to any one of claims 1 to 3, wherein the process module is STM 32.
5. A six-axis mechanical arm control system is characterized by comprising a processing module, a PWM control module, a data transmission module and a six-axis mechanical arm;
the processing module is used for receiving order information, controlling the running track of the six-axis mechanical arm according to the order information and determining a point-to-point running distance L;
the processing module is used for sending operation control information of the six-axis mechanical arm to the PWM control module, and the operation control information comprises acceleration information;
the PWM control module is used for converting the operation control information into a PWM output signal and sending the PWM output signal to the six-axis mechanical arm through the data transmission module;
and the six-axis mechanical arm is used for operating according to the operation control information.
6. The six-axis robot arm control system of claim 5, wherein the operation control information comprises: six-axis mechanical arm runs at first acceleration a and t1Time, the six-axis robot arm reaches maximum speed VmaxThen the six-axis robot arm at maximum speed VmaxOperation t2Time, then the six-axis robot arm is operated at a second acceleration-a1Time, the running speed is zero when moving to the end point.
7. The six-axis robot arm control system of claim 6, wherein t is calculated according to equation1＝VmaxA, where a is the first acceleration, is calculated to obtain t1；
According to the calculation formula t2＝(L-at1 2)/VmaxCalculating to obtain t2Where L is the point-to-point travel distance.
8. The six-axis robotic arm control system according to any one of claims 5-7, wherein the processing module is STM 32.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
10. A cold beverage dispenser comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method of any one of claims 1 to 4.
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Application publication date: 20210112