CN112643678A - Mechanical arm, control device thereof, control system of mechanical arm and control method - Google Patents
Mechanical arm, control device thereof, control system of mechanical arm and control method Download PDFInfo
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- CN112643678A CN112643678A CN202011604435.9A CN202011604435A CN112643678A CN 112643678 A CN112643678 A CN 112643678A CN 202011604435 A CN202011604435 A CN 202011604435A CN 112643678 A CN112643678 A CN 112643678A
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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
Abstract
The invention discloses a mechanical arm and a control device thereof, a control system and a control method of the mechanical arm, wherein the control method of the mechanical arm comprises the following steps: acquiring a pose matrix T of the tail end of the mechanical arm relative to a base of the mechanical arm at a first momentweAnd a matrix T of poses of the base at the second moment with respect to the base at the first momentwb(ii) a According to the formula Tbe＝Twb ‑1TweSolving a pose matrix TbeThe pose matrix TbeIn particular a pose matrix of the fixed position of the tip relative to the base at a second moment; according to the pose matrix TbeAnd calculating the rotation angle required by each joint of the mechanical arm, and controlling the joint to rotate according to the angle. According to the control method of the mechanical arm, the tail end of the mechanical arm can be kept stable conveniently no matter what type of floating platform the mechanical arm is placed on.
Description
Technical Field
The invention relates to the technical field of control, in particular to a mechanical arm and a control device thereof, and a control system and a control method of the mechanical arm.
Background
At present, the application field of the multi-degree-of-freedom mechanical arm is increasingly wide, and the multi-degree-of-freedom mechanical arm is also an important subject at present aiming at the pose control of the tail end of the mechanical arm.
In the prior art, in order to ensure that the end of the robot arm remains stable, it is common to plan the movement of the robot arm and a floating platform for holding a base of the robot arm as a whole, for example; if the degree of freedom of the mechanical arm is 6 and the degree of freedom of the floating platform is 3, the mechanical arm and the floating platform are controlled as a redundant robot with 9 degrees of freedom, namely the motion angle of each degree of freedom is obtained through inverse kinematics calculation, and then the tail end of the mechanical arm is controlled to be stable.
However, this results in a high coupling between the robot and the floating platform, which must be controlled based on the same controller, and is inconvenient because the robot needs to be recalculated when it is placed on another floating platform.
In summary, how to conveniently control the mechanical arms on different floating platforms is a technical problem that needs to be considered by those skilled in the art.
Disclosure of Invention
The invention aims to provide a mechanical arm, a control device thereof, a control system of the mechanical arm and a control method thereof, which can conveniently realize that the tail end of the mechanical arm is kept stable no matter what type of floating platform the mechanical arm is placed on.
In order to achieve the above object, the present invention provides a method for controlling a robot arm, including:
acquiring a pose matrix T of the tail end of the mechanical arm relative to a base of the mechanical arm at a first momentweAnd a matrix T of poses of the base at the second moment with respect to the base at the first momentwb；
According to the formula Tbe＝Twb -1TweSolving a pose matrix TbeThe pose matrix TbeIn particular a pose matrix of the fixed position of the tip relative to the base at a second moment;
according to the pose matrix TbeAnd calculating the rotation angle required by each joint of the mechanical arm, and controlling the joint to rotate according to the angle.
Optionally, the acquiring a pose matrix T of the tip of the robotic arm relative to the base of the robotic arm at a first time instantweThe method comprises the following steps:
acquiring initial rotation angles of all joints of the mechanical arm at a first moment;
calculating to obtain a pose matrix T of the tail end of the mechanical arm relative to the base of the mechanical arm according to the initial rotation anglewe。
Optionally, the obtaining of the pose matrix T of the base at the second time relative to the base at the first time is performedwbThe method comprises the following steps:
acquiring the angular velocity and the linear acceleration of the base at a second moment;
calculating a pose matrix T of the base at the second moment relative to the base at the first moment according to the angular velocity and the linear accelerationwb。
Optionally, the step of controlling the joint to rotate according to the angle includes:
sending the angle to a driver for controlling the joint to rotate, so that the driver drives the joint to rotate.
The present invention also provides a control system for a robot arm, including:
an acquisition unit configured to acquire a pose matrix T of the tip of the robot arm with respect to a base of the robot arm at a first timeweAnd a matrix T of poses of the base at the second moment with respect to the base at the first momentwb；
A calculation unit for calculating according to formula Tbe＝Twb -1TweSolving a pose matrix TbeThe pose matrix TbeSpecifically, on the premise that the position of the tail end is fixed, the tail end is relative to the position matrix T of the base at the second momentbe；
A control unit for controlling the pose matrix T according to the pose matrixbeAnd calculating the rotation angle required by each joint of the mechanical arm, and controlling the joint to rotate according to the angle.
Optionally, the obtaining unit includes:
the first acquisition subunit is used for acquiring the initial rotation angle of each joint of the mechanical arm at a first moment;
a first calculating subunit, configured to calculate, according to the initial rotation angle, a pose matrix T of the end of the mechanical arm relative to the base of the mechanical armwe。
Optionally, the obtaining unit includes:
the second acquisition subunit is used for acquiring the angular velocity and the linear acceleration of the base at a second moment;
a second calculating subunit, configured to calculate, according to the angular velocity and the linear acceleration, a pose matrix T of the base at the second time relative to the base at the first timewb。
Optionally, the control unit comprises:
and the sending subunit is used for sending the angle to a driver for controlling the joint to rotate so that the driver drives the joint to rotate.
The present invention further provides a control device for a robot arm, including:
a memory for storing a computer program;
a processor for implementing the steps of the method of controlling a robotic arm as claimed in any one of the preceding claims when executing said computer program.
The invention further provides a mechanical arm, which comprises the control device of the mechanical arm.
With respect to the above background art, in the control method of the robot arm provided in the embodiment of the present invention, first, a pose matrix T of the end of the robot arm with respect to the base of the robot arm at a first time is obtainedweAnd a matrix T of poses of the base at the second moment relative to the base at the first momentwb(ii) a Then according to the formula Tbe＝Twb -1TweSolving a pose matrix TbePose matrix TbeSpecifically, on the premise that the position of the tail end is fixed, the tail end is opposite to the position matrix T of the lower base at the second momentbe(ii) a Finally according to the position and pose matrix TbeAnd calculating the rotation angle required by each joint of the mechanical arm, and controlling the joint to rotate according to the angle.
The control method of the mechanical arm has the following beneficial effects;
first, no matter what type of floating platform the robotic arm is placed on, just by acquiring the pose matrix TweAnd pose matrix TwbI.e. according to the formula Tbe＝Twb -1TweSolving a pose matrix TbePose matrix TbeThen the position and posture matrix T of the tail end relative to the base at the second moment is obtained on the premise that the position of the tail end is fixedbeAnd then through the position and orientation matrix TbeCalculating to obtain the rotation angle required by each joint of the mechanical arm; it can be seen that the method can be applied to any floating platform, greatly improves the application universality and is not limited by the floating platform.
Secondly, acquiring the pose matrix TweAnd pose matrix TwbThe process of (a) is relatively simple, the acquisition can be realized without complex algorithm and device, and meanwhile, the formula Tbe＝Twb -1TweThe calculation is not complex, excessive calculation time is not needed to be consumed, and therefore the control method is easy to realize and can realize rapid control.
The mechanical arm, the control device thereof and the control system of the mechanical arm provided by the embodiment of the invention have the beneficial effects, and are not described again here.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a control method of a robot arm according to an embodiment of the present invention;
fig. 2 is a block diagram of a control system of a robot arm according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a robotic arm and floating platform according to an embodiment of the present invention;
figure 4 is a schematic diagram of a robot arm base as modified according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The control method of the mechanical arm 1 provided by the embodiment of the invention is shown in the attached drawing 1 in the description, and is combined with the attached drawings 3 and 4 in the description, and the control method comprises the following steps:
s1, acquiring a pose matrix T of the tail end of the mechanical arm 1 relative to the base of the mechanical arm 1 at the first momentweAnd a matrix T of poses of the base at the second moment relative to the base at the first momentwb；
S2, according to formula Tbe＝Twb -1TweSolving a pose matrix TbePose matrix TbeSpecifically, on the premise that the position of the tail end is fixed, the tail end is opposite to the position matrix T of the lower base at the second momentbe；
S3, according to the position matrix TbeAnd calculating the rotation angle required by each joint of the mechanical arm 1, and controlling the joint to rotate according to the angle.
With respect to step S1, a posture matrix T of the tip end of the robot arm 1 with respect to the base of the robot arm 1 at a first timing is acquiredweWhen the robot arm 1 is in a steady state, the coordinate system of the base of the robot arm 1 may be denoted as { w } and the coordinate system of the end of the robot arm 1 may be denoted as { e }, in conjunction with the description of fig. 4, the coordinate system may be obtainedPose of system { e } relative to coordinate system { w }, i.e. the pose matrix TwePose matrix TweAnd may be embodied as a homogeneous matrix of 4 x 4 order.
Acquiring a pose matrix T of the lower base at the second moment relative to the lower base at the first momentwbContinuing with the description of FIG. 4, at the second time, the base of the robot 1 moves under the action of the floating platform 2, the coordinate system of the base of the robot 1 changes from { w } to { b }, and the pose of the coordinate system { b } relative to the coordinate system { w } is the pose matrix TwbApparently, the pose matrix TwbIt should also be a homogeneous matrix of 4 x 4 order.
For step S2, when the pose matrix TweAnd pose matrix TwbAfter the acquisition is completed, in order to ensure that the end of the robot arm 1 is always at the position at the first moment, the formula T can be utilizedbe＝Twb -1TweSolving a pose matrix TbePose matrix TbeThe meaning of (A) is: and under the premise that the position of the tail end is fixed, the tail end is relative to the position matrix of the lower base at the second moment.
Aiming at the step S3, when the pose matrix T is solvedbeThen, the angle of rotation required by each joint of the mechanical arm 1 is calculated, and the joint rotation is controlled according to the angle, which is the inverse solution problem in kinematics and can be obtained according to the prior art.
It can be seen that no matter what type of floating platform 2 the base of the mechanical arm 1 is driven to move, the angle of rotation required by each joint of the mechanical arm 1 can be calculated by adopting the method, so that the tail end of the mechanical arm 1 is always in a fixed position, thus the application range of the control method is remarkably improved,
to facilitate acquisition of a pose matrix T of the tip of the robot arm 1 relative to the base of the robot arm 1 at a first timeweThe method can be obtained by means of a kinematic positive solution, specifically as follows:
firstly, acquiring an initial rotation angle of each joint of the mechanical arm 1 at a first moment;
then, according to the initial rotationCalculating the angle to obtain a pose matrix T of the tail end of the mechanical arm 1 relative to the base of the mechanical arm 1we。
That is, the initial rotation angle of each joint of the robot arm 1 at the first time, that is, the rotation matrix between two adjacent joints, is obtained, and then all the rotation matrices are multiplied in sequence to obtain the pose matrix T of the end of the robot arm 1 relative to the base of the robot arm 1we。
The advantage that so set up lies in, the acquisition mode of the initial rotation angle of each joint is very simple, can only acquire through the servo motor's of gathering joint department signal, or can learn the initial rotation angle of joint through components and parts such as angle sensor, need not to use complicated equipment or method, has greatly simplified the computational process.
For obtaining a pose matrix T of a base at a second time relative to a base at a first timewbMay comprise the steps of:
acquiring the angular velocity and the linear acceleration of the base of the mechanical arm 1 at the second moment;
calculating to obtain a pose matrix T of the base at the second moment relative to the base at the first moment according to the angular velocity and the linear accelerationwb。
With reference to fig. 3 of the drawings, the base of the robot arm 1 may be provided with an IMU3, referred to as an inertial measurement unit, typically used in equipment requiring motion control, for example: automobiles and robots. The inertial measurement unit can be used for measuring the three-axis attitude angle (or angular velocity) and acceleration of the object; generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, and measure angular velocity and acceleration of the object in three-dimensional space, and then solve the attitude of the object.
It can be seen that by using the IMU3 to obtain the angular velocity and linear acceleration of the base of the robotic arm 1 in real time, only the angular velocity and linear acceleration need to be integrated over time to obtain the current base relative to the previous basePose matrix T of base at momentwb。
In particular, the IMU3 may obtain the angular velocity and the linear acceleration of the base of the robot arm 1 at the second time, and obtain the matrix T of the poses of the base at the second time relative to the base at the first time by integrating the angular velocity and the linear accelerationwb。
Obviously, the process is simple and convenient, excessive calculation time is occupied in operation, and the control efficiency of the mechanical arm is improved.
In step S4, the step of controlling the joint rotation according to the angle includes:
the angle is sent to a driver that controls the joint rotation so that the driver drives the joint rotation.
The driver can be embodied as a servo motor or a steering engine, and the like, and can be used according to the pose matrix TbeAfter the rotation angle required by each joint of the mechanical arm 1 is calculated, different angles are sent to corresponding drivers so that the drivers can drive the joints; in this way, at the second time, although the base of the robot arm 1 and the floating platform 2 move synchronously, the rotation of each joint of the robot arm 1 keeps the end of the robot arm 1 at the current position all the time, and the position control of the end of the robot arm 1 is realized.
The embodiment of the present invention further provides a control system of a mechanical arm 1, where both the operation mode and the working principle of the control system of the mechanical arm 1 can refer to the above control method of the mechanical arm 1, and a structural block diagram of the control system of the mechanical arm 1 is as shown in fig. 2 of the specification, and includes:
an acquisition unit 101 for acquiring a pose matrix T of the tip of the robot arm 1 with respect to the base of the robot arm 1 at a first timingweAnd a matrix T of poses of the base at the second moment relative to the base at the first momentwb；
A calculation unit 102 for calculating the formula Tbe＝Twb -1TweSolving a pose matrix TbePose matrix TbeParticularly, on the premise that the position of the tail end is fixed, the tail end is opposite to the second timePose matrix T of engraved basebe；
A control unit 103 for determining the pose matrix TbeAnd calculating the rotation angle required by each joint of the mechanical arm 1, and controlling the joint to rotate according to the angle.
Wherein, the obtaining unit 101 includes:
a first acquiring subunit, configured to acquire an initial rotation angle of each joint of the mechanical arm 1 at a first time;
a first calculating subunit, configured to calculate, according to the initial rotation angle, a pose matrix T of the end of the mechanical arm 1 relative to the base of the mechanical arm 1we。
The acquisition unit 101 may further include:
the second acquisition subunit is used for acquiring the angular velocity and the linear acceleration of the base at a second moment;
a second calculating subunit, configured to calculate, according to the angular velocity and the linear acceleration, a pose matrix T of the base at the second time relative to the base at the first timewb。
Wherein the control unit 103 includes:
and the sending subunit is used for sending the angle to a driver for controlling the joint to rotate so that the driver drives the joint to rotate.
The embodiment of the present invention further provides a control device for a robot arm 1, including:
a memory for storing a computer program;
a processor for implementing the steps of the above-described method for controlling the robot arm 1 when executing the computer program.
The robot arm 1 provided by the embodiment of the invention comprises the control device of the robot arm 1, wherein the robot arm 1 can comprise a plurality of degrees of freedom, and other parts of the robot arm 1 can refer to the prior art and are not unfolded herein.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The robot arm, the control device thereof, the control system of the robot arm, and the control method of the robot arm according to the present invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A method for controlling a robot arm, comprising:
acquiring a pose matrix T of the tail end of the mechanical arm relative to a base of the mechanical arm at a first momentweAnd a matrix T of poses of the base at the second moment with respect to the base at the first momentwb；
According to the formula Tbe＝Twb -1TweSolving a pose matrix TbeThe pose matrix TbeIn particular a pose matrix of the fixed position of the tip relative to the base at a second moment;
according to the pose matrix TbeAnd calculating the rotation angle required by each joint of the mechanical arm, and controlling the joint to rotate according to the angle.
2. The method of controlling a robot arm according to claim 1, wherein the acquiring of the matrix T of poses of the tip of the robot arm with respect to the base of the robot arm at the first timingweThe method comprises the following steps:
acquiring initial rotation angles of all joints of the mechanical arm at a first moment;
calculating to obtain a pose matrix T of the tail end of the mechanical arm relative to the base of the mechanical arm according to the initial rotation anglewe。
3. The method of controlling a robot arm according to claim 1 or 2, wherein the acquiring of the matrix T of poses of the base at the second time with respect to the base at the first time is performedwbThe method comprises the following steps:
acquiring the angular velocity and the linear acceleration of the base at a second moment;
calculating a pose matrix T of the base at the second moment relative to the base at the first moment according to the angular velocity and the linear accelerationwb。
4. The method of controlling a robot arm according to claim 1 or 2, wherein the step of controlling the joint rotation according to the angle comprises:
sending the angle to a driver for controlling the joint to rotate, so that the driver drives the joint to rotate.
5. A control system for a robot arm, comprising:
an acquisition unit configured to acquire a pose matrix T of the tip of the robot arm with respect to a base of the robot arm at a first timeweAnd a matrix T of poses of the base at the second moment with respect to the base at the first momentwb；
A calculation unit for calculating according to formula Tbe＝Twb -1TweSolving a pose matrix TbeThe pose matrix TbeSpecifically, on the premise that the position of the tail end is fixed, the tail end is relative to the position matrix T of the base at the second momentbe；
A control unit for controlling the pose matrix T according to the pose matrixbeAnd calculating the rotation angle required by each joint of the mechanical arm, and controlling the joint to rotate according to the angle.
6. The control system of a robot arm according to claim 5, wherein the acquisition unit comprises:
the first acquisition subunit is used for acquiring the initial rotation angle of each joint of the mechanical arm at a first moment;
a first calculating subunit, configured to calculate, according to the initial rotation angle, a pose matrix T of the end of the mechanical arm relative to the base of the mechanical armwe。
7. The control system of a robot arm according to claim 5 or 6, wherein the acquisition unit comprises:
the second acquisition subunit is used for acquiring the angular velocity and the linear acceleration of the base at a second moment;
a second calculating subunit, configured to calculate, according to the angular velocity and the linear acceleration, a pose matrix T of the base at the second time relative to the base at the first timewb。
8. The control system of a robot arm according to claim 5 or 6, wherein the control unit comprises:
and the sending subunit is used for sending the angle to a driver for controlling the joint to rotate so that the driver drives the joint to rotate.
9. A control device for a robot arm, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of controlling a robot arm according to any of claims 1 to 4 when executing said computer program.
10. A robot arm comprising a control device of the robot arm according to claim 9.
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| CN114434445A (en) * | 2022-01-26 | 2022-05-06 | 深圳市越疆科技有限公司 | Mechanical arm installation angle calibration method and device, installation control device and medium |
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Application publication date: 20210413 |
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