CN113246133B - Rotation instruction calculation method and rotation control method and system for multiple joints of mechanical arm - Google Patents
Rotation instruction calculation method and rotation control method and system for multiple joints of mechanical arm Download PDFInfo
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- CN113246133B CN113246133B CN202110593084.4A CN202110593084A CN113246133B CN 113246133 B CN113246133 B CN 113246133B CN 202110593084 A CN202110593084 A CN 202110593084A CN 113246133 B CN113246133 B CN 113246133B
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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 calculation method of rotation instructions of multiple joints of a mechanical arm, a rotation control method and a rotation control system. The relative coordinate rotation instruction of the child node is obtained, and then the child node is controlled to rotate according to the relative coordinate rotation instruction. Because the relative coordinate rotation instruction of the child node is the relative coordinate rotation instruction of the child node relative to the father node, the rotation angle of the child node relative to the root node does not need to be calculated, and further the calculation amount of the rotation angle of the child node is reduced.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a method for calculating rotation instructions of multiple joints of a mechanical arm, a method for controlling rotation and a system.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs and unique operation flexibility. Has been widely applied in the fields of industrial assembly, safety, explosion prevention and the like. The robot arm is made up of 5 joints connected, the first link is the base of the robot arm, typically fixed, and each joint has a specific degree of freedom, including X, Y degrees of rotation and three degrees of freedom in the Z-axis.
When the mechanical arm rotates, after the father node rotates, the son node also rotates to a certain degree. When the child node needs to rotate, the rotation of the child node needs to subtract the previous rotation amount according to the world coordinate principle. For example, the parent node is first rotated 30 ° around the X-axis, and when the child node is required to be 90 ° from the X-axis in the world coordinate system, the child node is required to be rotated 60 ° (90 ° -30 °) because the child node has rotated 30 ° following its parent node.
However, when the child node has several levels of parent nodes, the calculation amount of the angle that the child node needs to rotate after the parent node rotates becomes huge. Therefore, the existing child node calculation method becomes an important technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a method for calculating a rotation command of multiple joints of a robot arm, a method for controlling rotation, and a system thereof, so as to solve the problems caused by the conventional child node calculation method.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention discloses a rotation control method of multiple joints of a mechanical arm in a first aspect, which comprises the following steps:
acquiring a relative coordinate rotation instruction of a child node;
and controlling the child nodes to rotate according to the relative coordinate rotation instruction.
Preferably, the relative coordinate rotation instruction includes: the rotation direction and the rotation angle of the child node relative to the first-level parent node of the child node;
the controlling the child node to rotate according to the relative coordinate rotation instruction comprises:
and controlling the child node to rotate relative to the first-level parent node according to the relative coordinate rotation instruction.
Preferably, the method further comprises the following steps:
and generating a relative coordinate rotation instruction of the child node.
Preferably, the generating the relative coordinate rotation instruction of the child node includes:
decomposing each joint point according to the structure of the mechanical arm to obtain a parent-child hierarchical relationship;
acquiring rotation data of each joint in real time;
and analyzing the rotation data and assigning the rotation data to the rotation values of all joints of the mechanical arm in real time to generate a relative coordinate rotation instruction of the sub-node.
Preferably, the acquiring rotation data of each joint in real time includes:
acquiring motion data of the simulation platform and a rotation angle of a physical end of the mechanical arm through communication;
and (4) real-time driving based on simulation engineering.
Preferably, the communication acquiring rotation angle of the simulation platform and the physical end of the mechanical arm includes:
transmitting motion data for modeling by the simulation platform through the TCP module;
and reading the actual rotation angle of each joint from the motors of the joints of the mechanical arm in real time.
Preferably, the real-time driving based on simulation engineering includes:
and driving actions of components corresponding to the 3D model based on the motion data of the simulation platform, so as to realize 3D visualization in a virtual scene.
Preferably, the analyzing the rotation data includes:
and storing the corresponding values of the rotation data in real time according to the rule of key value pairs and the key names.
The second aspect of the invention discloses a method for calculating a rotation instruction of multiple joints of a mechanical arm, which comprises the following steps:
decomposing each joint point according to the structure of the mechanical arm to obtain a parent-child hierarchical relationship;
acquiring rotation data of each joint in real time;
and analyzing the rotation data and assigning the rotation data to the rotation values of all joints of the mechanical arm in real time to generate a relative coordinate rotation instruction of the sub-node.
The third aspect of the present invention discloses a rotation control system for multiple joints of a robot arm, including: a simulation platform and a visual terminal;
the simulation platform is used for transmitting motion data for modeling to the view end;
and the view end is used for acquiring the rotation angle of the physical end of the mechanical arm and generating a relative coordinate rotation instruction of the sub-node.
According to the technical scheme, the method for calculating the rotation command of the multiple joints of the mechanical arm, the method for controlling the rotation and the system are provided. The relative coordinate rotation instruction of the child node is obtained, and then the child node is controlled to rotate according to the relative coordinate rotation instruction, and because the relative coordinate rotation instruction of the child node is the relative coordinate rotation instruction of the child node relative to the father node, the rotation angle of the child node relative to the root node does not need to be calculated, and further the calculation amount of the rotation angle of the child node is reduced.
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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for controlling rotation of multiple joints of a robot arm according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a relative coordinate rotation instruction for generating child nodes according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of acquiring rotation data of each joint in real time according to an embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating a process of acquiring a rotation angle of a simulation platform and a physical end of a mechanical arm according to communication provided in an embodiment of the present invention;
fig. 5 is a schematic flowchart of a method for calculating a rotation command of multiple joints of a robot arm according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a multi-joint rotation control system of a robot arm according to an embodiment of the present invention;
FIG. 7 is a schematic control diagram of a robotic arm according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of TCP communication according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a view end driving scheme according to an embodiment of the present invention;
FIG. 10 is a communication flow chart based on simulation engineering according to an embodiment of the present invention;
FIG. 11 is a diagram illustrating a source code for receiving data according to an embodiment of the present invention;
fig. 12 is a schematic diagram of data reception and application 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 this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The invention provides a method for calculating a rotation instruction of multiple joints of a mechanical arm, a method for controlling rotation and a system for controlling rotation, aiming at solving the problems brought by the conventional sub-node calculation mode, wherein the system for controlling the rotation of the multiple joints of the mechanical arm consists of a simulation platform and a visual end, and motion data for modeling is transmitted to the visual end through the simulation platform; and the view end acquires the rotation angle of the physical end of the mechanical arm and generates a relative coordinate rotation instruction of the sub-node. By the rotation control method and the rotation control system for the multiple joints of the mechanical arm, calculation of the rotation angle and the direction of the sub-node can be simplified. The calculation process of the rotation angle and the direction of the child node can be realized by the following embodiments.
An embodiment of the present invention provides a rotation control method for multiple joints of a mechanical arm, referring to fig. 1, where fig. 1 is a schematic flow chart of the rotation control method for multiple joints of a mechanical arm, and the rotation control method for multiple joints of a mechanical arm at least includes the following steps:
s101, acquiring a relative coordinate rotation instruction of the child node.
It should be noted that the relative coordinate rotation instruction of the child node refers to a relative coordinate rotation instruction of the child node relative to the parent node, and the relative coordinate rotation instruction includes a rotation angle and a direction of the child node.
And S102, controlling the child nodes to rotate according to the relative coordinate rotation instruction.
It should be noted that, by acquiring a relative coordinate rotation instruction of a child node, and then controlling the child node to rotate according to the relative coordinate rotation instruction, since the relative coordinate rotation instruction of the child node is a relative coordinate rotation instruction of the child node relative to a parent node, it is not necessary to calculate a rotation angle of the child node relative to a root node, thereby reducing a calculation amount of the rotation angle of the child node.
As shown in fig. 1, first, the main control computer transmits the relative coordinates (relative to the rotation amount of its parent object on X, Y and Z axis) of each joint of the mechanical arm to the physical robot through CAN communication (controller area network), and the physical robot performs corresponding rotation through the built-in algorithm module.
Specifically, the relative coordinate rotation instruction is a rotation direction and a rotation angle of the child node relative to the first-level parent node, and in the step S102, the specific execution process of the step S102 includes:
and controlling the child node to rotate relative to the first-level parent node according to the relative coordinate rotation instruction.
It should be noted that, because the relative coordinate rotation instruction is the rotation direction and rotation angle of the child node relative to the first-level parent node, when the child node is controlled to rotate relative to the first-level parent node according to the relative coordinate rotation instruction, the child node only needs to rotate according to the rotation direction and rotation angle of the first-level parent node, and does not need to excessively calculate the angle between the child node and the node except the first-level parent node, so that the amount of calculation by the computer is reduced, and the rotation efficiency of the mechanical arm is effectively improved.
Further, the rotation control method of the mechanical arm multi-joint further comprises the following steps:
and S100, generating a relative coordinate rotation command of the child node.
It should be noted that, by generating the relative coordinate rotation instruction of the child node, that is, generating the relative coordinate rotation instruction of the child node relative to the parent node thereof, the calculation of the rotation angle of the child node is effectively reduced, and the calculation speed and efficiency of the rotation angle of the child node are further improved, compared with the coordinate rotation instruction of the root node in the prior art.
Specifically, referring to fig. 2, in the process of executing step S100, the process of executing the relative coordinate rotation instruction of the child node at least includes the following steps:
s201, decomposing all the joint points according to the structure of the mechanical arm to obtain the hierarchical relationship between the father and the son.
And S202, acquiring rotation data of each joint in real time.
And S203, analyzing the rotation data, assigning the rotation data to the rotation value of each joint of the mechanical arm in real time, and generating a relative coordinate rotation instruction of the child node.
It should be noted that, each joint point is decomposed according to the structure of the mechanical arm, and parent-child hierarchical relationships can be obtained; then, acquiring rotation data of each joint in real time; and finally, analyzing the rotation data and assigning the rotation data to the rotation values of all joints of the mechanical arm in real time to generate relative coordinate rotation instructions of the sub-nodes, wherein the rotation data of all the joints are acquired in real time, so that the analyzed rotation data are assigned to the rotation values of all the joints of the mechanical arm in real time to generate the relative coordinate rotation instructions of the sub-nodes, and after the sub-nodes receive the corresponding relative coordinate rotation instructions, the sub-nodes can directly rotate without calculation, thereby effectively improving the rotation efficiency of the sub-nodes.
Specifically, referring to fig. 3, in the process of executing step S202, the executing process of acquiring the rotation data of each joint in real time at least includes the following steps:
s301, acquiring motion data of the simulation platform and the rotation angle of the physical end of the mechanical arm through communication.
And S302, real-time driving based on simulation engineering.
It should be noted that the motion data of the simulation platform and the rotation angle of the physical end of the mechanical arm are obtained through communication, and then the rotation data of each joint can be obtained based on the real-time driving of the simulation engineering.
Further, referring to fig. 4, in the step S301, the specific implementation process of obtaining the rotation angle of the simulation platform and the physical end of the mechanical arm through communication at least includes the following steps:
and S401, transmitting motion data for modeling by the simulation platform through a TCP module.
And S402, reading the actual rotation angle of each joint from the motor of each joint of the mechanical arm in real time.
It should be noted that the motion data for modeling is transmitted by the simulation platform through the TCP module, the actual rotation angle of each joint is read from the motor of each joint of the robot arm in real time, and then the actual rotation angle can be sent to the view end. In the visual display system, the whole mechanical arm is also divided into several same parts to be controlled respectively, and the specific process is described in detail below.
Further, in the process of executing step S302, the specific execution process of the real-time driving based on the simulation engineering at least includes the following steps:
and driving actions of components corresponding to the 3D model based on the motion data of the simulation platform, so as to realize 3D visualization in a virtual scene. In this embodiment, the view portion is made by Unity3D software, and the simulation portion is a GCAir simulation platform.
It should be noted that, in the scheme, the mechanical arm is visualized and moved to obtain the relative rotation data of each child node relative to the first-level parent node of each child node, instead of obtaining one root node fixedly, which is different from the prior art that a computing process is performed in a world coordinate mode, and the processing process is more efficient. Further, in the process of executing step S203, the specific execution process of analyzing the rotation data is:
and storing the corresponding values of the rotation data in real time according to the rule of key value pairs and the key names.
It should be noted that the key-value pairs are also called name-value pairs, the data model may be represented as a tuple set < name, value >, each element is a key-value pair, and after the rotation data is stored in real time according to the rule of the key-value pairs and the key names, the rotation angle and the rotation direction of the child node may be obtained by analyzing the rotation data at the view end in the present application at the data receiving layer.
To facilitate the understanding of key-value pairs, the following examples are given.
The data receiving layer receives < J1,30>, determines that the rotation axis is Y, and the child node 1 is rotated by 30 °.
Referring to fig. 5, an embodiment of the present invention further discloses a method for calculating a rotation instruction of multiple joints of a mechanical arm, where the method for calculating a rotation instruction of multiple joints of a mechanical arm at least includes the following steps:
s501, decomposing all joint points according to the structure of the mechanical arm to obtain the hierarchical relationship between the father and the son.
And S502, acquiring rotation data of each joint in real time.
And S503, analyzing the rotation data, assigning the rotation data to rotation values of all joints of the mechanical arm in real time, and generating relative coordinate rotation instructions of the sub-nodes.
It should be noted that, each joint point is decomposed according to the structure of the mechanical arm to obtain the hierarchical relationship between the father and son nodes; then, acquiring rotation data of each joint in real time; and finally, analyzing the rotation data and assigning the rotation data to the rotation values of all joints of the mechanical arm in real time to generate a relative coordinate rotation instruction of the sub-nodes. The rotation data of each joint is acquired in real time, so that the analyzed rotation data is assigned to the rotation values of each joint of the mechanical arm in real time, relative coordinate rotation instructions of the child nodes can be generated, and the child nodes can directly rotate without calculation after receiving the corresponding relative coordinate rotation instructions, so that the rotation efficiency of the child nodes is effectively improved.
Referring to fig. 6, based on the above-disclosed rotation control method for multiple joints of a mechanical arm and a rotation instruction calculation method for multiple joints of a mechanical arm, an embodiment of the present invention provides a rotation control system for multiple joints of a mechanical arm, which includes: a simulation platform 100 and a view end 200;
the simulation platform 100 is used for transmitting motion data for modeling to the view end 200;
the view end 200 is used for acquiring the rotation angle of the mechanical arm object end 300 and generating a relative coordinate rotation instruction of the sub-node.
It should be noted that, the motion data for modeling is transmitted to the view end 200 through the simulation platform 100; the view end 200 acquires the rotation angle of the physical end 300 of the mechanical arm and generates the relative coordinate rotation instruction of the sub-node, and the rotation data of each joint is acquired in real time, so that the analyzed rotation data is assigned to the rotation value of each joint of the mechanical arm in real time to generate the relative coordinate rotation instruction of the sub-node, and after the sub-node receives the corresponding relative coordinate rotation instruction, the sub-node can directly rotate without calculation, thereby effectively improving the rotation efficiency of the sub-node.
To facilitate understanding of the above solution, the solution is further described below with reference to fig. 1 to 6.
By using the relative coordinates, the rotation degree is needed when one node is required to rotate to the target posture, and the rotation degree is needed only by looking at the first-level father node relative to the node. Certainly, the mechanical arm of the multi-level child node needs to rotate from the highest-level father node, and the rotation of the whole mechanical arm can be ensured only by ensuring that the father node rotates rightly and the child node rotates relative to the father node.
The specific scheme comprises the following steps:
1. firstly, decomposing each joint point at a view end according to the structure of the mechanical arm, and taking the lowest level joint as the lowest layer in the hierarchical relationship according to the parent-child relationship of each joint. The parent objects at the highest level have a hierarchy of 1, and are arranged in sequence.
The 5 th layer is used as a sub-object of the 4 th layer, and the 4 th layer can drive the 5 th layer to rotate together when rotating; the 4 th layer is used as a sub-object of the 3 rd layer, and the 3 rd layer can drive the 4 th layer and the 5 th layer to rotate together when rotating; similarly, the 2 nd level is used as a sub-object of the 1 st level, and the 1 st level rotates to drive the 2 nd level, the 3 rd level, the 4 th level and the 5 th level below the 1 st level to rotate together.
2. Real-time acquisition of data of each joint rotation
2.1, communicating the communication view end reserved data driving interface with GCAir simulation software. (GCair simulation software is the data source of the visual end).
When the GCAir simulation platform is used for modeling, a TCP module is used for transmitting data required by the 3D model from a TCP port to Unity3D so as to realize simulation data-driven 3D visual demonstration.
Controlling one: the simulation platform runs on an EtherCat bus of the simulation mainboard, data are transmitted to the view end in real time, and the view end analyzes all received data and then controls the rotation of each joint point of the mechanical arm in real time.
And controlling: the data sent to the physical end and the visual end of the mechanical arm by the simulation platform are the same, but the physical object of the mechanical arm belongs to physical movement, and delay always exists in the movement process, so that the movement of the physical end and the visual end of the mechanical arm is kept synchronous, the actual rotation angle of each joint is read from the motor of each joint of the mechanical arm in real time, and then the data is sent to the visual end in real time.
2.2 real-time Driving based on simulation engineering
A mathematical/semi-physical simulation test based on a GCAir simulation platform supports the collection of data of a mathematical model port or a physical hardware port in a simulation project, and the data are transmitted to a Unity3D visual project in real time through a TCP communication module for driving the action of a corresponding component of a 3D model so as to realize a 3D visualization function in a virtual scene.
3. Data parsing and application
At the data receiving layer, i.e. the viewing end, the data is analyzed according to the established rules.
A rule is a rule that stores data in key-value pairs (also called name-value pairs, where the data model may be represented as a set of tuples < name, value >, each element being a key-value pair), with the corresponding value stored in real-time in key-name.
And then assigning the values to the rotation values of all joints of the mechanical arm in real time.
The invention can more easily control the rotation of each node of the mechanical arm, simplify the flow lifting rate, and enable the mechanical arm to work more smoothly and freely, much like a real arm.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments, which are substantially similar to the method embodiments, are described in a relatively simple manner, and reference may be made to some descriptions of the method embodiments for relevant points. The above-described system and system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement without inventive effort.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. A rotation control method for multiple joints of a mechanical arm is characterized by comprising the following steps:
generating relative coordinate rotation instructions for child nodes, comprising: decomposing each joint point according to the structure of the mechanical arm to obtain a parent-child hierarchical relationship, acquiring rotation data of each joint in real time, analyzing the rotation data and assigning the rotation data to the rotation value of each joint of the mechanical arm in real time to generate a relative coordinate rotation instruction of the child node; the real-time acquisition of the rotation data of each joint comprises the following steps: acquiring motion data of the simulation platform and a rotation angle of a physical end of the mechanical arm through communication, and driving in real time based on simulation engineering; the communication obtains the rotation angle of simulation platform and arm entity end, includes: the motion data for modeling is transmitted by the simulation platform through a TCP module, and the actual rotation angle of each joint is read from the motor of each joint of the mechanical arm in real time; the real-time driving based on simulation engineering comprises the following steps: based on the motion data of the simulation platform, driving the action of the corresponding component of the 3D model to realize 3D visualization in a virtual scene; the parsing the rotation data includes: storing the corresponding values of the rotation data in real time according to the key name and the rule of the key value pair;
acquiring a relative coordinate rotation instruction of a child node;
and controlling the child nodes to rotate according to the relative coordinate rotation instruction.
2. The control method according to claim 1, wherein the relative coordinate rotation instruction includes: the rotation direction and the rotation angle of the child node relative to the first-level parent node of the child node;
the controlling the child node to rotate according to the relative coordinate rotation instruction comprises:
and controlling the child node to rotate relative to the first-level parent node according to the relative coordinate rotation instruction.
3. A method for calculating a rotation command of multiple joints of a mechanical arm is characterized by comprising the following steps:
decomposing each joint point according to the structure of the mechanical arm to obtain a parent-child hierarchical relationship;
acquiring rotation data of each joint in real time, wherein the rotation data comprises the following steps: acquiring motion data of the simulation platform and a rotation angle of a physical end of the mechanical arm through communication, and driving in real time based on simulation engineering; the communication obtains the rotation angle of simulation platform and arm entity end, includes: the motion data for modeling is transmitted by the simulation platform through a TCP module, and the actual rotation angle of each joint is read from the motor of each joint of the mechanical arm in real time; the real-time driving based on simulation engineering comprises the following steps: based on the motion data of the simulation platform, driving the action of the corresponding component of the 3D model to realize 3D visualization in a virtual scene;
analyzing the rotation data and assigning the rotation data to the rotation values of all joints of the mechanical arm in real time to generate a relative coordinate rotation instruction of the sub-node; the parsing the rotation data includes: and storing the corresponding values of the rotation data in real time according to the rule of key value pairs and the key names.
4. A multi-joint rotation control system for a robot arm, comprising: a simulation platform and a visual terminal;
the simulation platform is used for transmitting motion data for modeling to the view end;
the view end is used for acquiring the rotation angle of the physical end of the mechanical arm and generating a relative coordinate rotation instruction of the sub-node; the generating relative coordinate rotation instructions of the child nodes comprises: decomposing each joint point according to the structure of the mechanical arm to obtain a parent-child hierarchical relationship, acquiring rotation data of each joint in real time, analyzing the rotation data and assigning the rotation data to the rotation value of each joint of the mechanical arm in real time to generate a relative coordinate rotation instruction of the child node; the real-time acquisition of the rotation data of each joint comprises the following steps: acquiring motion data of the simulation platform and a rotation angle of a physical end of the mechanical arm through communication, and driving in real time based on simulation engineering; the communication obtains the rotation angle of simulation platform and arm entity end, includes: the motion data for modeling is transmitted by the simulation platform through a TCP module, and the actual rotation angle of each joint is read from the motor of each joint of the mechanical arm in real time; the real-time driving based on simulation engineering comprises the following steps: based on the motion data of the simulation platform, driving the action of the corresponding component of the 3D model to realize 3D visualization in the virtual scene; the parsing the rotation data includes: and storing the corresponding values of the rotation data in real time according to the rule of key value pairs and the key names.
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| JP5929224B2 (en) * | 2012-01-20 | 2016-06-01 | セイコーエプソン株式会社 | robot |
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| CN107589934B (en) * | 2017-07-24 | 2020-04-07 | 大连理工大学 | Solving method for inverse kinematics analytic solution of joint type mechanical arm |
| CN108942943B (en) * | 2018-08-16 | 2020-03-17 | 居鹤华 | Positive kinematics calculation method of multi-axis robot based on axis invariants |
| CN109910016B (en) * | 2019-04-22 | 2020-10-23 | 亿嘉和科技股份有限公司 | Visual acquisition calibration method, device and system based on multi-degree-of-freedom mechanical arm |
| CN110176062A (en) * | 2019-05-05 | 2019-08-27 | 北京当红齐天国际文化发展集团有限公司 | A kind of control method of the virtual human body based on movement capturing data |
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