CN112207831A

CN112207831A - Manipulator working method with small position deviation, computer readable storage medium and intelligent manipulator system

Info

Publication number: CN112207831A
Application number: CN202011105120.XA
Authority: CN
Inventors: 傅峰峰; 江志强; 林麟琪
Original assignee: Guangzhou Fugang Wanjia Intelligent Technology Co Ltd
Current assignee: Guangzhou Fugang Wanjia Intelligent Technology Co Ltd
Priority date: 2020-10-15
Filing date: 2020-10-15
Publication date: 2021-01-12

Abstract

The invention provides a manipulator working method with small position deviation, a computer readable storage medium and an intelligent manipulator system, wherein the method comprises the following steps: A. planning a motion path of the manipulator moving from the initial position to a plurality of target positions in sequence for working; B. enabling all joints of the manipulator to move in a matched mode so that the manipulator moves according to the movement path; in the step A, the motion path passes through the initial position halfway; and a step B0., executed during the step B, of resetting each joint of the manipulator when the manipulator passes through the initial position so as to restore the pose of the manipulator to the initial state, wherein the stress deformation between every two joints of the manipulator disappears, thereby eliminating the position deviation accumulated during the previous movement of the manipulator, reducing the position deviation of the overall movement work of the manipulator, and enabling the manipulator to work accurately.

Description

Manipulator working method with small position deviation, computer readable storage medium and intelligent manipulator system

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator working method with small position deviation, a computer readable storage medium and an intelligent manipulator system.

Background

With the rapid development of automation technology, robots are generally used in industrial production nowadays to reduce labor cost and improve production efficiency. The manipulator is an automatic operation device which can imitate the action of a human arm and grab and carry objects or operation tools according to a fixed program, and can freely move in a three-dimensional direction, so that the objects or the tools positioned on different stations can be operated. In order to realize free movement, the manipulator is usually provided with a plurality of joints, and the joints are mutually matched to move so as to realize free movement of the manipulator.

During the process of the mutual matching movement of the joints, slight stress deformation can be generated between every two joints, the slight stress deformation can cause slight position deviation of the manipulator during the movement process, the slight position deviation can be ignored under the normal condition, but the manipulator can continuously accumulate the slight position deviation during the continuous movement process, and finally a larger position deviation is formed and cannot be ignored, so that the manipulator cannot accurately work.

Disclosure of Invention

The technical problem to be solved by the invention is how to enable the manipulator to work accurately.

In order to solve the technical problem, the invention provides a manipulator working method with small position deviation, which comprises the following steps:

A. planning a motion path of the manipulator moving from the initial position to a plurality of target positions in sequence for working;

B. enabling all joints of the manipulator to move in a matched mode so that the manipulator moves according to the movement path;

in the step A, the motion path passes through the initial position halfway;

a step B0., which is executed during execution of the step B, resets the respective joints of the manipulator when the manipulator passes the initial position to restore the posture of the manipulator to the initial state.

Preferably, in the step B0, the respective joints of the manipulator are reset to the initial state, specifically: and resetting the actual movement path and/or the actual movement duration of the manipulator to zero, so that all joints except the part for grabbing the object in the manipulator are reset to an initial state.

Preferably, in the step a, after the movement path is planned, a preset movement path required by the manipulator to move along the movement path until the manipulator passes through the initial position is obtained; in step B0, when the robot arm moves to the preset movement path, it is known that the robot arm passes through the initial position.

Preferably, in the step a, a movement duration for the manipulator to move from an initial position to a plurality of target positions successively for working is further planned, and a preset movement duration required for the manipulator to move along the movement path until the manipulator passes through the initial position is obtained; in the step B0, when the movement of the manipulator reaches the preset movement duration, it is known that the manipulator passes through the initial position.

The invention also provides a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method as described above.

The invention also provides an intelligent manipulator system, which comprises a manipulator and a control device, wherein the control device is electrically connected with the manipulator, the control device comprises a computer readable storage medium and a processor which are connected with each other, the manipulator comprises at least two joints and motors for driving the joints to move, and the computer readable storage medium is as described above.

Preferably, during the execution of step B, the actual movement distance and/or the actual movement time length of the manipulator are/is obtained from the motor.

Preferably, the motor is a servo motor.

The invention has the following beneficial effects: because the planned motion path passes through the initial position halfway, when the manipulator moves according to the motion path and passes through the initial position, each joint of the manipulator is reset to restore the pose of the manipulator to the initial state, and the stress deformation between every two joints of the manipulator disappears at the moment, thereby eliminating the position deviation accumulated in the previous motion process of the manipulator, reducing the position deviation of the integral motion work of the manipulator and enabling the manipulator to accurately work.

Drawings

FIG. 1 is a block diagram of the electrical connections of an intelligent robot system;

fig. 2 is a schematic view of a coordinate plane on a table.

Description of reference numerals: 1-a manipulator; 2-control means.

Detailed Description

As shown in fig. 1, the intelligent manipulator system includes a manipulator 1 and a control device 2, and the control device 2 is electrically connected to the manipulator 1. In this embodiment, the manipulator 1 is provided with at least two joints, the joints between every two joints are moved by using gears driven by the servo motors, and the servo motors drive the joints to move in a mutually matched manner, so that the manipulator 1 can move freely.

In this embodiment, the robot arm 1 moves above a table on which a coordinate plane is drawn, and the coordinate plane on the table is shown in fig. 2. Before the manipulator 1 works, the pose thereof is in an initial state, the position of the manipulator 1 for grabbing the object is in an initial position point S on a coordinate plane in the initial state, and the positions of all joints of the manipulator 1 are recorded as initial positions. On the coordinate plane, point a is a first target position where a plurality of objects are placed; point B is the second target position to which the robot moves multiple objects, where point S is (8, 8) in coordinates (4, 13) in coordinates (13, 13) in coordinates optionally 5cm, 10cm, 15cm, etc.

Before the intelligent manipulator system moves to work, the control device 2 plans a movement path in which the manipulator 1 moves from the initial position point S to each target position point A, B in sequence to work. Then the control device 2 controls the relevant circuits to enable the manipulator 1 to move and work according to the movement path, and the specific movement and working processes are as follows: the manipulator 1 moves from the initial position point S to the first target position point a to grasp one of the objects, and then moves with the object to the second target position point B to place the object at the second target position point B. The control device 2 controls the manipulator 1 to continuously repeat the movement and the working process until all the objects on the workbench are placed at the second target position point, so that the whole work is completed.

In the process of the movement of the manipulator 1, because the movement of the manipulator 1 is realized by the mutual matching movement of at least two joints, stress deformation can be generated between every two joints, and the stress deformation can cause the manipulator 1 to deviate from a pre-planned movement path in the movement process so as to generate position deviation, so that the manipulator 1 cannot accurately work in the continuous movement process and cannot accurately place an object at a second target position. Therefore, a robot operation method with a small positional deviation is required, which is described in detail as follows: firstly, the control device 2 plans a motion path and a motion duration of the manipulator 1 moving from an initial position point S to a first target position point A to grab an object and then transporting the object to a second target position point B, wherein the motion path enables the manipulator 1 to pass through the initial position point S in the process of moving from the first target position point A to the second target position point B, then a preset motion path required by the manipulator 1 moving along the motion path until the manipulator passes through the initial position point S is obtained from the motion path, and a preset motion duration required by the manipulator 1 moving along the motion path until the manipulator passes through the initial position is obtained from the motion duration; then the control device 2 controls the related circuit to enable each joint of the manipulator 1 to move in a matched mode so that the manipulator 1 starts to move according to the motion path, in the motion process, the control device 2 obtains the actual motion path and the actual motion time length of the manipulator 1 from the servo motor, when the actual motion of the manipulator 1 reaches the preset motion path and/or the preset motion time length, the control device 2 accordingly knows that the manipulator 1 passes through the initial position point S, so that the actual motion path and/or the actual motion time length of the manipulator 1 are/is cleared according to a preset program, each joint of the manipulator 1 except the position for grabbing the object is reset, the pose of the manipulator 1 is restored to the initial state, at the moment, the stress deformation between every two joints of the manipulator 1 disappears, and the position deviation accumulated in the previous motion process of the manipulator 1 is eliminated, thus, when the manipulator 1 continues to transport the object to the second target position B, the object cannot be accurately transported to the second target position B due to the accumulated excessive positional deviation. After the first round of transportation operation is completed, the control device 2 controls the relevant circuits again to continue to make the manipulator 1 resume movement and work, so that the manipulator 1 moves to each target position point A, B successively to work (the specific movement and working process are the same as above, and are not repeated here), thus the position deviation accumulated by the manipulator 1 can be erased in the process of movement and work each time, the position deviation of the whole movement work of the manipulator 1 is reduced, and the manipulator 1 can work accurately.

The control device 2 comprises a computer readable storage medium and a processor which are connected with each other, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by the processor, the method for operating the manipulator is realized, and the intelligent movement and the operation of the manipulator 1 are controlled.

In the methods set forth directly or indirectly in the specification, various steps and operations are described in one possible order of operation, but those skilled in the art will recognize that steps and operations may be rearranged, substituted, or eliminated without necessarily departing from the spirit and scope of the invention. It is understood that the examples and embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Various modifications or alterations in view thereof will be suggested to those skilled in the art and are intended to be included within the scope of the claims of this application.

Claims

1. A mechanical arm working method with small position deviation comprises the following steps:

the method is characterized in that:

in the step A, the motion path passes through the initial position halfway;

2. The manipulator operating method according to claim 1, wherein in step B0, the joints of the manipulator are reset to the initial state, specifically: and resetting the actual movement path and/or the actual movement duration of the manipulator to zero, so that all joints except the part for grabbing the object in the manipulator are reset to an initial state.

3. The robot operating method according to claim 1, wherein: in the step A, after the movement path is planned, a preset movement path required by the manipulator to move along the movement path until the manipulator passes through the initial position is obtained; in step B0, when the robot arm moves to the preset movement path, it is known that the robot arm passes through the initial position.

4. The robot operating method according to claim 1, wherein: in the step A, the movement time length of the manipulator moving from the initial position to a plurality of target positions successively for working is planned, and the preset movement time length required by the manipulator moving along the movement path until the manipulator passes through the initial position is obtained; in the step B0, when the movement of the manipulator reaches the preset movement duration, it is known that the manipulator passes through the initial position.

5. 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.

6. An intelligent robot system comprising a robot and a control device, said control device being electrically connected to said robot, said control device comprising a computer readable storage medium and a processor connected to each other, said robot comprising at least two joints and a motor for driving the movement of each joint, characterized in that said computer readable storage medium is according to claim 5.

7. The intelligent manipulator system according to claim 6, wherein the actual movement path and/or the actual movement time length of the manipulator are/is obtained from the motor during the execution of the step B.

8. The smart manipulator system of claim 7, wherein the motor is a servo motor.