CN112621747A - Robot posture adjustment control system - Google Patents
Robot posture adjustment control system Download PDFInfo
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- CN112621747A CN112621747A CN202011402498.6A CN202011402498A CN112621747A CN 112621747 A CN112621747 A CN 112621747A CN 202011402498 A CN202011402498 A CN 202011402498A CN 112621747 A CN112621747 A CN 112621747A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000012937 correction Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims 1
- 239000002994 raw material Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
- B25J9/1656—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
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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
Abstract
The invention discloses a robot posture adjustment control system, which comprises a posture acquisition unit, a posture sending unit and a posture adjustment unit, wherein the posture acquisition unit is used for monitoring the posture state of a robot in real time and recording parameters, the posture sending unit is used for receiving and sending the robot real-time posture information of the posture acquisition unit, and the posture adjustment unit is used for receiving the robot real-time posture information of the posture sending unit, comparing the real-time posture information with the preset posture information and calculating the adjustment parameters of the real-time posture information and the preset posture information. Simultaneously, teaching in for the conventional art is more accurate, and is more intelligent.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a robot posture adjusting and controlling system.
Background
With the development of science and technology, robots play more and more important roles in production and life players of human society, and the application of robots is spread in industries such as manufacturing, service, medical treatment and the like. Although a robot can realize various motions by controlling the output angles of joints, the motion of the robot is usually realized by teaching the robot in the prior art, but this method often causes the robot not to be used and adjusted sufficiently in time due to changes in the environment or other conditions when used, and therefore, improvement is required.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The invention is provided in view of the problems of the existing robot posture adjustment control system.
Therefore, the present invention aims to provide a robot posture adjustment control system, which is more flexible and applicable by monitoring the robot posture in real time through a posture acquisition unit and adjusting the robot posture in real time through a posture adjustment unit.
In order to solve the technical problems, the invention provides the following technical scheme: the robot posture adjustment control system comprises a posture acquisition unit, a posture sending unit and a posture adjustment unit, wherein the posture acquisition unit is used for monitoring the posture state of the robot in real time and recording parameters, the posture sending unit is used for receiving and sending the robot real-time posture information of the posture acquisition unit, and the posture adjustment unit is used for receiving the robot real-time posture information of the posture sending unit, comparing the real-time posture information with the preset posture information and calculating the adjustment parameters of the real-time posture information and the preset posture information.
As a preferable aspect of the robot posture adjustment control system of the present invention, wherein: the gesture acquisition unit comprises an acceleration sensor, a yaw rate sensor and a speed sensor, wherein the acceleration sensor is used for measuring the acceleration of the robot, the yaw rate sensor is used for measuring the yaw rate of the robot, and the speed sensor is used for measuring the real-time speed of the robot.
As a preferable aspect of the robot posture adjustment control system of the present invention, wherein: the preset posture information is standard posture information of each joint of the robot pre-stored in the posture adjusting unit.
As a preferable aspect of the robot posture adjustment control system of the present invention, wherein: the attitude adjusting unit comprises a PID controller, and the PID controller is used for adjusting PID parameters in the robot to realize center correction and debugging of the robot.
As a preferable aspect of the robot posture adjustment control system of the present invention, wherein: the attitude adjusting unit adopts a digital signal processing chip as a main control chip.
As a preferable aspect of the robot posture adjustment control system of the present invention, wherein: the attitude acquisition unit further comprises a memory for storing the monitored attitude status information.
The invention has the beneficial effects that: the robot posture real-time monitoring system is more flexible and applicable by monitoring the robot posture in real time through the posture acquisition unit and adjusting the robot posture in real time through the posture adjustment unit. Simultaneously, teaching in for the conventional art is more accurate, and is more intelligent.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic diagram of an overall framework structure of a robot posture adjustment control system according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Furthermore, the present invention is described in detail with reference to the drawings, and in the detailed description of the embodiments of the present invention, the cross-sectional view illustrating the structure of the device is not enlarged partially according to the general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Example 1
Referring to fig. 1, a robot posture adjustment control system according to a first embodiment of the present invention includes a posture acquisition unit, a posture transmission unit, and a posture adjustment unit, where the posture acquisition unit is configured to monitor a posture state of a robot in real time and record parameters.
The gesture sending unit receives and sends the real-time gesture information of the robot of the gesture obtaining unit, and in the invention, the gesture sending unit can send the real-time gesture information in a wireless communication mode. The gesture obtaining unit comprises an acceleration sensor, a yaw rate sensor and a speed sensor, wherein the acceleration sensor is used for measuring the acceleration of the robot, the yaw rate sensor is used for measuring the yaw rate of the robot, and the speed sensor is used for measuring the real-time speed of the robot.
The gesture adjusting unit receives the real-time gesture information of the robot of the gesture sending unit, compares the real-time gesture information with preset gesture information, and calculates adjusting parameters of the real-time gesture information and the preset gesture information. Specifically, the preset posture information is standard posture information of each joint of the robot prestored in the posture adjustment unit.
In the invention, the attitude adjusting unit adopts a digital signal processing chip as a main control chip and comprises a PID controller which is used for adjusting PID parameters in the robot so as to realize center correction and debugging of the robot.
Example 2
Referring to fig. 1, a second embodiment of the present invention, which is different from the first embodiment, is: the attitude acquisition unit further comprises a memory for storing the monitored attitude status information.
Compared with the embodiment 1, the robot posture adjustment control system further comprises a posture acquisition unit, a posture sending unit and a posture adjustment unit, wherein the posture acquisition unit is used for monitoring the posture state of the robot in real time and recording parameters.
The gesture sending unit receives and sends the real-time gesture information of the robot of the gesture obtaining unit, and in the invention, the gesture sending unit can send the real-time gesture information in a wireless communication mode. The gesture obtaining unit comprises an acceleration sensor, a yaw rate sensor and a speed sensor, wherein the acceleration sensor is used for measuring the acceleration of the robot, the yaw rate sensor is used for measuring the yaw rate of the robot, and the speed sensor is used for measuring the real-time speed of the robot.
The gesture adjusting unit receives the real-time gesture information of the robot of the gesture sending unit, compares the real-time gesture information with preset gesture information, and calculates adjusting parameters of the real-time gesture information and the preset gesture information. Specifically, the preset posture information is standard posture information of each joint of the robot prestored in the posture adjustment unit.
In the invention, the attitude adjusting unit adopts a digital signal processing chip as a main control chip and comprises a PID controller which is used for adjusting PID parameters in the robot so as to realize center correction and debugging of the robot.
In the invention, the attitude acquisition unit also comprises a memory, and the memory is used for storing the monitored attitude state information.
The rest of the structure is the same as that of embodiment 1.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (6)
1. A robot posture adjustment control system is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the attitude acquisition unit is used for monitoring the attitude state of the robot in real time and recording parameters;
the gesture sending unit receives and sends the real-time gesture information of the robot of the gesture obtaining unit;
and the attitude adjusting unit receives the real-time attitude information of the robot of the attitude sending unit, compares the real-time attitude information with preset attitude information and calculates adjusting parameters of the real-time attitude information and the preset attitude information.
2. The robot pose adjustment control system of claim 1, wherein: the gesture acquisition unit comprises an acceleration sensor, a yaw rate sensor and a speed sensor, wherein the acceleration sensor is used for measuring the acceleration of the robot, the yaw rate sensor is used for measuring the yaw rate of the robot, and the speed sensor is used for measuring the real-time speed of the robot.
3. The robot pose adjustment control system of claim 1, wherein: the preset posture information is standard posture information of each joint of the robot pre-stored in the posture adjusting unit.
4. The robot pose adjustment control system of claim 3, wherein: the attitude adjusting unit comprises a PID controller, and the PID controller is used for adjusting PID parameters in the robot to realize center correction and debugging of the robot.
5. The robot pose adjustment control system of claim 4, wherein: the attitude adjusting unit adopts a digital signal processing chip as a main control chip.
6. The robot pose adjustment control system of claim 5, wherein: the attitude acquisition unit further comprises a memory for storing the monitored attitude status information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011402498.6A CN112621747A (en) | 2020-12-02 | 2020-12-02 | Robot posture adjustment control system |
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| CN202011402498.6A CN112621747A (en) | 2020-12-02 | 2020-12-02 | Robot posture adjustment control system |
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| CN112621747A true CN112621747A (en) | 2021-04-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114516048A (en) * | 2022-02-21 | 2022-05-20 | 乐聚(深圳)机器人技术有限公司 | Zero point debugging method and device for robot, controller and storage medium |
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| CN107498557A (en) * | 2017-09-19 | 2017-12-22 | 坤同勃志智能科技（上海）有限公司 | The control method and system of a kind of robot |
| CN107562063A (en) * | 2016-06-30 | 2018-01-09 | 沈阳新松机器人自动化股份有限公司 | A kind of self-balance robot attitude control method and system |
| CN108121334A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of self-balance robot motion control method and device |
| CN111113412A (en) * | 2019-12-11 | 2020-05-08 | 桂林凯歌信息科技有限公司 | Robot based on motion posture anti-falling protection and control method thereof |
-
2020
- 2020-12-02 CN CN202011402498.6A patent/CN112621747A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090065004A (en) * | 2007-12-17 | 2009-06-22 | 한국과학기술연구원 | Apparatus and method for balancing and damping control in whole body coordination framework for biped humanoid robot |
| CN107562063A (en) * | 2016-06-30 | 2018-01-09 | 沈阳新松机器人自动化股份有限公司 | A kind of self-balance robot attitude control method and system |
| CN108121334A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of self-balance robot motion control method and device |
| CN107498557A (en) * | 2017-09-19 | 2017-12-22 | 坤同勃志智能科技（上海）有限公司 | The control method and system of a kind of robot |
| CN111113412A (en) * | 2019-12-11 | 2020-05-08 | 桂林凯歌信息科技有限公司 | Robot based on motion posture anti-falling protection and control method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114516048A (en) * | 2022-02-21 | 2022-05-20 | 乐聚(深圳)机器人技术有限公司 | Zero point debugging method and device for robot, controller and storage medium |
| CN114516048B (en) * | 2022-02-21 | 2024-01-09 | 乐聚(深圳)机器人技术有限公司 | Zero point debugging method and device for robot, controller and storage medium |
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Application publication date: 20210409 |
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