CN112264996B - Steel grabbing machine positioning control method and system - Google Patents
Steel grabbing machine positioning control method and system Download PDFInfo
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- CN112264996B CN112264996B CN202011107506.4A CN202011107506A CN112264996B CN 112264996 B CN112264996 B CN 112264996B CN 202011107506 A CN202011107506 A CN 202011107506A CN 112264996 B CN112264996 B CN 112264996B
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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
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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
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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
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention provides a steel grabbing machine positioning control method and a steel grabbing machine positioning control system, wherein the method comprises the following steps: acquiring first associated information of a steel grabbing machine, wherein the first associated information at least comprises one of the following information: attitude information of the chassis, position information of the chassis; establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine, and determining second associated information through the first associated information and the mapping relation, wherein the second associated information at least comprises one of the following information: attitude information of the end effector, position information of the end effector; controlling the steel grabbing machine according to the first associated information and the second associated information; according to the method, the first associated information of the steel grabbing machine is obtained, the mapping relation between the chassis of the steel grabbing machine and the end effector of the steel grabbing machine is established, the second associated information is determined through the first associated information and the mapping relation, the steel grabbing machine is controlled, the simultaneous obtaining of the positions and the postures of the chassis of the steel grabbing machine and the end effector is achieved, and the accuracy is high.
Description
Technical Field
The invention relates to the field of detection control, in particular to a steel grabbing machine positioning control method and system.
Background
In the process of steel scrap operation in a steel plant, a steel grabbing machine is usually used for grabbing, loading and other work on materials such as steel scrap, at present, the steel grabbing machine is usually positioned in a manual mode, the size of the steel grabbing machine is large, the steel grabbing machine is not convenient to position in the manual mode, the pose of a chassis of the steel grabbing machine and the pose of an end effector cannot be obtained simultaneously, the automation degree is low, the working efficiency is low, and potential safety hazards are easily generated.
Disclosure of Invention
In view of the above disadvantages of the prior art, the present invention provides a method and a system for controlling positioning of a steel gripper, so as to solve the problem that it is inconvenient to simultaneously obtain the positions and postures of a chassis and an end effector of the steel gripper in a manual manner in the prior art.
The invention provides a steel grabbing machine positioning control method, which comprises the following steps:
acquiring first associated information of a steel grabbing machine, wherein the first associated information at least comprises one of the following information: attitude information of the chassis, position information of the chassis;
establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine, and determining second associated information through the first associated information and the mapping relation, wherein the second associated information at least comprises one of the following information: attitude information of the end effector, position information of the end effector;
controlling the steel grabbing machine according to the first associated information and the second associated information;
the step of establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine and determining second associated information through the first associated information and the mapping relation comprises the following steps:
according to the size of the steel grabbing machine, establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine;
acquiring the rotation angle of each joint of the steel grabbing machine through an inertial sensor, and determining the position and the posture of an end effector of the steel grabbing machine relative to the chassis according to the first correlation information, the mapping relation and the rotation angle;
the step of determining the position and the posture of the end effector of the steel grabbing machine relative to the chassis according to the first correlation information, the mapping relation and the corner comprises the following steps:
respectively establishing a motion coordinate system at each joint of the steel grabbing machine according to the first correlation information and the mapping relation, and acquiring a homogeneous transformation matrix of the adjacent motion coordinate systems;
acquiring a rotation matrix of the tail end of the end effector relative to the chassis according to the homogeneous transformation matrix;
the corner of each joint of the steel grabbing machine is obtained through an inertial sensor, and the corner comprises: theta.theta.iAnd alphaiDetermining the position and the posture of the end effector relative to the chassis according to the corner and the homogeneous transformation matrix;
the mathematical expression of the rotation matrix is:
wherein the content of the first and second substances,
is a rotation matrix of the end effector relative to the chassis,
a homogeneous transformation matrix for the 1 st and 0 th of the motion coordinate systems,
and a homogeneous transformation matrix of the ith motion coordinate system and the (i-1) th motion coordinate system.
Optionally, the obtaining manner of the attitude information of the chassis includes:
acquiring initial angular velocity information and real-time angular velocity information of a chassis of a steel grab, and determining the posture of the chassis according to the initial angular velocity information and the real-time angular velocity information, wherein the real-time angular velocity information is acquired through an inertial sensor.
Optionally, the initial angular velocity information includes: angle information of the chassis on a reference coordinate system in an initial state, wherein the angle information comprises: (theta)x0，θy0，θz0) Wherein, θx0、θy0、θz0The included angles of the chassis and the x, y and z axes of the reference coordinate system in the initial state are respectively included; the real-time angular velocity information includes: step length sampling time and sampling time inertiaAngular velocity of the sensor in the x, y, z axes of the reference coordinate system.
Optionally, the mathematical expression of the step of determining the attitude of the chassis according to the initial angular velocity information and the real-time angular velocity information is as follows:
wherein, tnIs the step size sampling time theta'xn、θ′vn、θ′znAngular velocities of the inertial sensor in the x, y and z axes of the reference coordinate system at the time of the sampling, θx0、θy0、θz0Respectively the included angles theta between the chassis and the x, y and z axes of the reference coordinate system in the initial statexk、θyk、θzkThe included angles of the chassis and the x, y and z axes of the reference coordinate system in a real-time state are respectively included.
Optionally, the obtaining method of the position information of the chassis includes:
acquiring initial position information of the chassis, controlling a position sensor to acquire real-time position information of the chassis, and determining the position of the chassis according to the initial position information and the real-time position information.
Optionally, the initial position information includes position coordinates of the chassis on a reference coordinate system in an initial state, and the real-time position information includes a real-time position signal of the chassis, which is acquired by the position sensor.
Optionally, the mathematical expression of the homogeneous transformation matrix is as follows:
wherein, the
For the homogeneous change of the ith moving coordinate system and the (i-1) th moving coordinate systemChange the matrix, θiIs surrounded by ziAxis from xi-1Axis to xiAngle of the axis, c θi＝cosθi，sθi＝sinθi，αiIs along xiAxis from ziAxis to zi+1Angle of the shaft, cai＝cosαi，sαi＝sinαi，aiIs along xiAxis from ziThe axis moving to zi+1Distance of the axes, diIs along ziAxis from xi-1Axis to xiDistance of axis, ziThe axis is the z-axis, x, of the ith motion coordinate systemi-1The axis is the x axis, x, of the (i-1) th moving coordinate systemiThe axis is the x-axis, z, of the ith motion coordinate systemi+1The axis is the z-axis of the (i + 1) th motion coordinate system.
The invention also provides a steel grabbing machine positioning control system, which comprises:
the first processing module is used for acquiring first associated information of the steel grabbing machine, and the first associated information at least comprises one of the following information: position information of the chassis, posture information of the chassis;
the second processing module is used for establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine, and determining second associated information according to the first associated information and the mapping relation, wherein the second associated information at least comprises one of the following information: position information of the end effector and attitude information of the end effector;
the positioning control module is used for controlling the steel grabbing machine according to the first associated information and the second associated information; the first processing module, the second processing module and the positioning control module are connected in sequence;
the step of establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine and determining second associated information through the first associated information and the mapping relation comprises the following steps:
according to the size of the steel grabbing machine, establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine;
acquiring the rotation angle of each joint of the steel grasping machine through an inertial sensor, and determining the position and the posture of an end effector of the steel grasping machine relative to the chassis according to the first correlation information, the mapping relation and the rotation angle;
the step of determining the position and the posture of the end effector of the steel grabbing machine relative to the chassis according to the first correlation information, the mapping relation and the corner comprises the following steps:
respectively establishing a motion coordinate system at each joint of the steel grabbing machine according to the first correlation information and the mapping relation, and acquiring a homogeneous transformation matrix of the adjacent motion coordinate systems;
acquiring a rotation matrix of the tail end of the end effector relative to the chassis according to the homogeneous transformation matrix;
the corner of each joint of the steel grabbing machine is obtained through an inertial sensor, and the corner comprises: thetaiAnd alphaiDetermining the position and the posture of the end effector relative to the chassis according to the corner and the homogeneous transformation matrix;
the mathematical expression of the rotation matrix is:
wherein the content of the first and second substances,
is a rotation matrix of the end effector relative to the chassis,
a homogeneous transformation matrix for the 1 st and 0 th of the motion coordinate systems,
and a homogeneous transformation matrix of the ith motion coordinate system and the (i-1) th motion coordinate system.
The invention has the beneficial effects that: according to the steel grab positioning control method, the first associated information of the steel grab is obtained, the mapping relation between the chassis of the steel grab and the end effector of the steel grab is established, the second associated information is determined according to the first associated information and the mapping relation, the steel grab is controlled according to the first associated information and the second associated information, the position and posture of the chassis and the end effector of the steel grab are positioned, the simultaneous acquisition of the position and the posture of the chassis and the end effector of the steel grab is realized, and the accuracy is high.
Drawings
FIG. 1 is a schematic flow chart of a steel grabbing machine positioning control method in the embodiment of the invention;
FIG. 2 is another schematic flow chart of a steel grabbing machine positioning control method in the embodiment of the invention;
FIG. 3 is a schematic structural diagram of a positioning control system of the steel grasping machine in the embodiment of the invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, amount and proportion of each component in actual implementation can be changed freely, and the layout of the components can be more complicated.
The inventor finds that, at present, in the process of steel scrap operation in a steel plant, a steel grabbing machine is usually positioned in a manual mode, because the steel grabbing machine is large in size, the steel grabbing machine is not convenient to position in the manual mode, the pose of a chassis of the steel grabbing machine and the pose of an end effector cannot be simultaneously obtained, the automation degree is low, the working efficiency is low, and potential safety hazards are easily generated, the inventor provides a steel grabbing machine positioning control method and a steel grabbing machine positioning control system, the mapping relation between the chassis of the steel grabbing machine and the end effector is established by obtaining the pose information of the chassis of the steel grabbing machine and the position information of the end effector, the pose information of the end effector and the position information of the end effector are determined through the first correlation information and the mapping relation, and the steel grabbing machine is positioned and controlled through the pose information of the chassis, the position information of the chassis, the pose information of the end effector and the position information of the end effector, the pose of the chassis and the pose of the end effector of the steel grabbing machine can be obtained simultaneously, the accuracy is high, the unmanned degree is high, and the labor cost is effectively reduced.
As shown in fig. 1, the method for controlling the positioning of the steel grasping machine provided by the embodiment includes:
s101: acquiring first associated information of a steel grabbing machine, wherein the first associated information at least comprises one of the following information: attitude information of the chassis, position information of the chassis;
s102: establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine, and determining second associated information through the first associated information and the mapping relation, wherein the second associated information at least comprises one of the following information: attitude information of the end effector, position information of the end effector;
s103: controlling the steel grabbing machine according to the first associated information and the second associated information; in industrial production, because the positions and postures of the chassis and the end effector of the steel grab machine cannot be determined, and the postures of the chassis and the end effector are mutually influenced, the steel grab machine cannot be accurately positioned and controlled, wherein the postures are the positions and the postures, the mapping relation between the chassis and the end effector of the steel grab machine is established by acquiring first associated information of the steel grab machine, second associated information is determined by the first associated information and the mapping relation, and the steel grab machine is positioned and controlled by the first associated information and the second associated information, so that the unmanned degree is higher, the implementation is more convenient, the simultaneous positioning of the end effector of the chassis of the steel grab machine is realized, the positioning control of the steel grab machine is more accurate, the labor cost is reduced, and the potential safety hazard caused by the inaccurate positioning of the steel grab machine is reduced, for example: the method comprises the steps of obtaining attitude information of a chassis of the steel grabbing machine through an inertial sensor, further determining the attitude of the chassis, obtaining position information of the chassis through a position sensor, further determining the position of the chassis, establishing a mapping relation between the chassis of the steel grabbing machine and an end effector, obtaining position information and attitude information of the end effector of the steel grabbing machine according to the mapping relation, the attitude information and the position information of the chassis, further determining the position and the attitude of the chassis and the end effector of the steel grabbing machine, simultaneously positioning the positions of the chassis and the end effector of the steel grabbing machine, controlling the steel grabbing machine, achieving positioning of the position and the attitude of the steel grabbing machine, being high in accuracy, strong in operability and capable of reducing potential safety hazards.
In some embodiments, the end effector may be a gripper of a steel grasping machine.
In some embodiments, as shown in fig. 2, the method for controlling the positioning of the steel grasping machine provided by the present embodiment includes:
s201: acquiring initial angular velocity information and real-time angular velocity information of a chassis of a steel grab, and determining the posture of the chassis according to the initial angular velocity information and the real-time angular velocity information, wherein the real-time angular velocity information is acquired through an inertial sensor; in some embodiments, the inertial sensor may be an IMU sensor.
In some embodiments, the initial angular velocity information includes: angle information of the chassis on a reference coordinate system in an initial state, wherein the angle information comprises: (theta)x0,θy0,θz0) Wherein, thetax0、θy0、θz0The included angles of the chassis and the x, y and z axes of the reference coordinate system in the initial state are respectively included; the real-time angular velocity information includes: step sampling time, and angular speed of the inertial sensor on x, y and z axes of the reference coordinate system during sampling.
In some embodiments, the step of determining the attitude of the chassis from the initial angular velocity information and the real-time angular velocity information is mathematically expressed as:
wherein, tnIs the step size sampling time theta'xn、θ′yn、θ′znAngular velocities of the inertial sensor in the x, y and z axes of the reference coordinate system at the time of the sampling, θx0、θy0、θz0Respectively the included angles theta between the chassis and the x, y and z axes of the reference coordinate system in the initial statexk、θyk、θzkThe included angles of the chassis and the x, y and z axes of the reference coordinate system in a real-time state are respectively included.
S202: acquiring initial position information of the chassis, controlling a position sensor to acquire real-time position information of the chassis, and determining the position of the chassis according to the initial position information and the real-time position information; in some embodiments, the location sensor may be a GPS sensor.
In some embodiments, the initial position information includes position coordinates of the chassis on a reference coordinate system in an initial state, and the real-time position information includes real-time position signals of the chassis acquired by the position sensor.
S203: according to the size of the steel grabbing machine, establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine;
and acquiring the rotation angle of each joint of the steel grasping machine through an inertial sensor, and determining the position and the posture of the end effector of the steel grasping machine relative to the chassis according to the first correlation information, the mapping relation and the rotation angle.
In some embodiments, the step of obtaining the rotation angle of each joint of the steel grasping machine through an inertial sensor, and determining the position and the posture of the end effector of the steel grasping machine relative to the chassis according to the first correlation information, the mapping relation and the rotation angle comprises:
according to the first correlation information and the mapping relation, respectively establishing a motion coordinate system at each joint of the steel grabbing machine, and acquiring a homogeneous transformation matrix adjacent to the motion coordinate system, and further acquiring a rotation matrix of the end effector relative to the chassis, wherein the mathematical expression of the homogeneous transformation matrix is as follows:
wherein, the
A homogeneous transformation matrix theta for the ith motion coordinate system and the (i-1) th motion coordinate systemiIs surrounded by ziAxis from xi-1Axis to xiAngle of the axis, c θi＝cosθi，sθi＝sinθi，αiIs along xiAxis from ziAxis to zi+1Angle of the shaft, cai＝cosαi，sαi＝sinαi，aiIs along xiAxis from ziThe axis moving to zi+1Distance of the axes, diIs along ziAxis from xi-1Axis to xiDistance of axis, ziThe axis is the z-axis, x, of the ith motion coordinate systemi-1The axis is the x axis, x, of the (i-1) th moving coordinate systemiThe axis is the x-axis, z, of the ith motion coordinate systemi+1The axis is the z-axis of the (i + 1) th motion coordinate system, for example: according to the first correlation information and the mapping relation, respectively establishing a motion coordinate system at each joint of the steel grabbing machine, wherein the motion coordinate systems are respectively positioned on the joints of each connecting rod of the steel grabbing machine, acquiring a homogeneous transformation matrix of adjacent motion coordinate systems, describing the relative position and the attitude direction between the adjacent motion coordinate systems through a homogeneous coordinate, and further acquiring a rotation matrix of the end effector relative to the chassis.
S204: acquiring a rotation matrix of the tail end of the end effector relative to the chassis according to the homogeneous transformation matrix;
the corner of each joint of the steel grabbing machine is obtained through an inertial sensor, and the corner comprises: thetaiAnd alphaiDetermining the position and the posture of the end effector relative to the chassis according to the corner and the homogeneous transformation matrix;
the mathematical expression of the rotation matrix is:
wherein, the first and the second end of the pipe are connected with each other,
is a rotation matrix of the end effector relative to the chassis,
a homogeneous transformation matrix for the 1 st and 0 th of the motion coordinate systems,
and a homogeneous transformation matrix of the ith motion coordinate system and the (i-1) th motion coordinate system.
In some embodiments, the position information and the attitude information of the steel grabbing machine can be acquired through a position sensor and an inertial sensor, the position and the attitude of a chassis of the steel grabbing machine and the position and the attitude of an end effector at the tail end of the steel grabbing machine are calculated according to the position information and the attitude information, the high-precision positioning of the steel grabbing machine is realized, and the steel grabbing machine is controlled to realize unmanned steel grabbing operation.
Referring to fig. 3, the embodiment further provides a steel grasping machine positioning control system, including:
the first processing module is used for acquiring first associated information of the steel grabbing machine, and the first associated information at least comprises one of the following information: position information of the chassis and attitude information of the chassis;
the second processing module is used for establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine, and determining second associated information according to the first associated information and the mapping relation, wherein the second associated information at least comprises one of the following information: position information of the end effector and attitude information of the end effector;
the positioning control module is used for controlling the steel grabbing machine according to the first associated information and the second associated information; the first processing module, the second processing module and the positioning control module are connected in sequence; the method comprises the steps of establishing a mapping relation between a chassis of the steel grab and an end effector by acquiring first associated information of the steel grab, determining second associated information by the first associated information and the mapping relation, and positioning the pose of the steel grab by the first associated information and the second associated information, so that the unmanned degree is high, the implementation is convenient, the simultaneous positioning of the end effector of the chassis of the steel grab is realized, and the positioning control of the steel grab is more accurate.
In some embodiments, further comprising: the power supply module is used for providing operating voltage and the communication module is used for transmitting data information.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. A steel grabbing machine positioning control method is characterized by comprising the following steps:
acquiring first associated information of a steel grabbing machine, wherein the first associated information at least comprises one of the following information: attitude information of the chassis, position information of the chassis;
establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine, and determining second associated information through the first associated information and the mapping relation, wherein the second associated information at least comprises one of the following information: attitude information of the end effector, position information of the end effector;
controlling the steel grabbing machine according to the first associated information and the second associated information;
the step of establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine and determining second associated information through the first associated information and the mapping relation comprises the following steps:
according to the size of the steel grabbing machine, establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine;
acquiring the rotation angle of each joint of the steel grasping machine through an inertial sensor, and determining the position and the posture of an end effector of the steel grasping machine relative to the chassis according to the first correlation information, the mapping relation and the rotation angle;
the step of determining the position and the posture of the end effector of the steel grabbing machine relative to the chassis according to the first correlation information, the mapping relation and the corner comprises the following steps:
respectively establishing a motion coordinate system at each joint of the steel grabbing machine according to the first correlation information and the mapping relation, and acquiring a homogeneous transformation matrix of the adjacent motion coordinate systems;
acquiring a rotation matrix of the tail end of the end effector relative to the chassis according to the homogeneous transformation matrix;
the corner of each joint of the steel grabbing machine is obtained through an inertial sensor, and the corner comprises: theta.theta.iAnd alphaiDetermining the position and the posture of the end effector relative to the chassis according to the corner and the homogeneous transformation matrix;
the mathematical expression of the rotation matrix is:
wherein, the first and the second end of the pipe are connected with each other,
is a rotation matrix of the end effector relative to the chassis,
a homogeneous transformation matrix for the 1 st and 0 th of the motion coordinate systems,
a homogeneous transformation matrix theta for the ith motion coordinate system and the (i-1) th motion coordinate systemiIs surrounded by ziAxis from xi-1Axis to xiAngle of axis, αiIs along xiAxis from ziAxis to zi+1Angle of the axis, ziThe axis is the z-axis, x, of the ith motion coordinate systemi-1The axis is the x axis, x, of the (i-1) th moving coordinate systemiThe axis is the x-axis, z, of the ith motion coordinate systemi+1The axis is the z-axis of the (i + 1) th motion coordinate system.
2. The steel grab positioning control method according to claim 1, wherein the acquisition mode of the attitude information of the chassis comprises the following steps:
acquiring initial angular velocity information and real-time angular velocity information of a chassis of a steel grab, and determining the posture of the chassis according to the initial angular velocity information and the real-time angular velocity information, wherein the real-time angular velocity information is acquired through an inertial sensor.
3. The steel grab positioning control method according to claim 2, wherein the initial angular velocity information includes: angle information of the chassis on a reference coordinate system in an initial state, wherein the angle information comprises: (theta)x0,θy0,θz0) Wherein, thetax0、θy0、θz0The included angles of the chassis and the x, y and z axes of the reference coordinate system in the initial state are respectively included; the real-time angular velocity information includes: step sampling time, and angular speed of the inertial sensor on x, y and z axes of the reference coordinate system during sampling.
4. The steel grab positioning control method according to claim 3, wherein the mathematical expression of the step of determining the attitude of the chassis from the initial angular velocity information and the real-time angular velocity information is:
wherein, tnIs the step size sampling time theta'xn、θ′yn、θ′znAngular velocities of the inertial sensor in the x, y and z axes of the reference coordinate system at the time of sampling, thetax0、θy0、θz0Respectively the included angles theta between the chassis and the x, y and z axes of the reference coordinate system in the initial statexk、θyk、θzkThe included angles of the chassis and the x, y and z axes of the reference coordinate system in a real-time state are respectively included.
5. The steel grab positioning control method according to claim 1, wherein the acquisition mode of the position information of the chassis comprises the following steps:
acquiring initial position information of the chassis, controlling a position sensor to acquire real-time position information of the chassis, and determining the position of the chassis according to the initial position information and the real-time position information.
6. The steel grab positioning control method according to claim 5, wherein the initial position information comprises position coordinates of the chassis on a reference coordinate system in an initial state, and the real-time position information comprises real-time position signals of the chassis, which are acquired by the position sensor.
7. The steel grab positioning control method of claim 1, wherein the mathematical expression of the homogeneous transformation matrix is as follows:
wherein, the
A homogeneous transformation matrix theta for the ith motion coordinate system and the (i-1) th motion coordinate systemiIs surrounded by ziAxis from xi-1Axis to xiAngle of the axis, c θi＝cosθi，sθi＝sinθi，αiIs along xiAxis from ziAxis to zi+1Angle of the shaft, cai＝cosαi，sαi＝sinαi，aiIs along xiAxis from ziThe axis moving to zi+1Distance of the axes, diIs along ziAxis from xi-1Axis to xiDistance of axis, ziThe axis is the z-axis, x, of the ith motion coordinate systemi-1The axis is the x axis, x, of the (i-1) th moving coordinate systemiThe axis is the x-axis, z, of the ith motion coordinate systemi+1The axis is the z-axis of the (i + 1) th motion coordinate system.
8. The utility model provides a grab steel machine positioning control system which characterized in that includes:
the first processing module is used for acquiring first associated information of the steel grabbing machine, and the first associated information at least comprises one of the following information: position information of the chassis, posture information of the chassis;
the second processing module is used for establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine, and determining second associated information according to the first associated information and the mapping relation, wherein the second associated information at least comprises one of the following information: position information of the end effector and attitude information of the end effector;
the positioning control module is used for controlling the steel grabbing machine according to the first associated information and the second associated information; the first processing module, the second processing module and the positioning control module are connected in sequence;
the step of establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine and determining second associated information through the first associated information and the mapping relation comprises the following steps:
according to the size of the steel grabbing machine, establishing a mapping relation between a chassis of the steel grabbing machine and an end effector of the steel grabbing machine;
acquiring the rotation angle of each joint of the steel grabbing machine through an inertial sensor, and determining the position and the posture of an end effector of the steel grabbing machine relative to the chassis according to the first correlation information, the mapping relation and the rotation angle;
the step of determining the position and the posture of the end effector of the steel grabbing machine relative to the chassis according to the first correlation information, the mapping relation and the corner comprises the following steps:
respectively establishing a motion coordinate system at each joint of the steel grabbing machine according to the first correlation information and the mapping relation, and acquiring a homogeneous transformation matrix of the adjacent motion coordinate systems;
acquiring a rotation matrix of the tail end of the end effector relative to the chassis according to the homogeneous transformation matrix;
the corner of each joint of the steel grabbing machine is obtained through an inertial sensor, and the corner comprises: thetaiAnd alphaiDetermining the position and the posture of the end effector relative to the chassis according to the corner and the homogeneous transformation matrix;
the mathematical expression of the rotation matrix is:
wherein the content of the first and second substances,
is a rotation matrix of the end effector relative to the chassis,
for the exercise of item 1A homogeneous transformation matrix of the coordinate system and the 0 th motion coordinate system,
a homogeneous transformation matrix theta for the ith motion coordinate system and the (i-1) th motion coordinate systemiIs surrounded by ziAxis from xi-1Axis to xiAngle of axis, αiIs along xiAxis from ziAxis to zi+1Angle of the axis, ziThe axis is the z-axis, x, of the ith motion coordinate systemi-1The axis is the x axis, x, of the (i-1) th moving coordinate systemiThe axis is the x-axis, z, of the ith motion coordinate systemi+1The axis is the z-axis of the (i + 1) th motion coordinate system.
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| CN202011107506.4A CN112264996B (en) | 2020-10-16 | 2020-10-16 | Steel grabbing machine positioning control method and system |
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| CN113928847B (en) * | 2021-10-26 | 2023-05-12 | 中冶赛迪上海工程技术有限公司 | Method and system for determining gesture of steel grabbing machine |
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