CN113814974B - Six-joint mechanical arm motion control debugging method - Google Patents
Six-joint mechanical arm motion control debugging method Download PDFInfo
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
A six-joint mechanical arm motion control debugging method comprises the following steps: analyzing each joint debugging method of the six-joint mechanical arm to form a joint debugging queue; obtaining a debugging method according to the mapping relation, and setting the initial state of the six-joint mechanical arm according to the characteristics of the joint to be debugged; planning the motion track of the six-joint mechanical arm; identifying key motion points in the debugging, and establishing a debugging reference coordinate system; collecting the movement tracks of key points in the movement process of the six-joint mechanical arm to form a key movement point track dot matrix which is stored in a database; calculating an alignment value sequence; calculating an evaluation value of the joint control related parameter; calculating an optimization improvement method of the joint control parameters according to the joint control parameter evaluation value, modifying the control parameters, debugging for one round, and circulating until the evaluation value is satisfied; and judging whether the joint debugging queue is empty, if so, completing debugging by the six-joint mechanical arm, and otherwise, taking out the node at the head of the queue from the debugging queue.
Description
Technical Field
The invention relates to a six-joint mechanical arm motion control debugging method, and belongs to the field of double-arm robot debugging.
Background
The arm is the core constitution that removes double-armed robot platform, and its joint motion control level direct influence double-armed robot application effect, and the articulated motion control level height of arm has very big relation with the debugging of arm, and the good arm of joint motion control debugging links up when the motion, smooth-going, does not have the arm motion process shake of debugging, and the skew is set for the orbit, direct influence double-armed robot's result of use. Each arm is composed of multiple joints, and debugging of the control driver is more difficult compared with that of the previous single-shaft control driver, (1) the control driver is sealed in one mechanical joint after assembly, and debugging interfaces such as a USB interface and a serial port are inconvenient to lead out; (2) one mechanical arm is controlled by multiple shafts, each joint is not debugged to the optimal whole mechanical arm to move smoothly, and the multiple shafts on the mechanical arm are matched with each other to achieve smooth movement of the whole mechanical arm according to the position of each shaft, stress and other factors.
The mechanical arm which is mature and stable on the market has a joint self-tuning function, the function is based on a set of algorithm of dynamics kinematics, and plays a great role in assisting the debugging of the mechanical arm, but in the practical application process, in order to further improve the performance of the mechanical arm, manual intervention debugging is also needed, and a debugging method is usually used: (1) setting a motion path of the mechanical arm; (2) setting a reference object; (3) sending an instruction to enable the mechanical arm to move according to a set movement path; (4) manually observing the deviation between the motion track and a reference object; (5) and manually evaluating the deviation size by feeling to adjust the related parameters. When the manual debugging process is analyzed, the method needs to be observed through human eyes, so that a lot of human errors are generated, the deviation of the motion trail from the reference object cannot be accurately reflected, the evaluation result is influenced, the parameter adjusting method cannot be rapidly and accurately given, and the debugging period can be increased.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method comprises the steps of selecting key motion points on the mechanical arm, establishing a reference coordinate system, setting a motion path, collecting motion tracks of the key points, analyzing, comparing and evaluating data, giving a recommended adjustment scheme, and achieving the purpose of debugging the motion of the six-joint mechanical arm.
The technical scheme of the invention is as follows: a six-joint mechanical arm motion control debugging method comprises a visual recognition device for collecting motion tracks of a multi-joint mechanical arm, wherein the device is composed of a visual recognition camera, a data processing server and a tablet personal computer; the visual recognition camera is used for acquiring motion data of the mechanical arm; the data processing server is used for collecting data, analyzing and processing the data; the tablet personal computer is used for man-machine interaction and comprises the following steps:
(1) identifying the structure of the six-joint mechanical arm through a visual identification system, analyzing each joint debugging method of the six-joint mechanical arm, and forming a joint debugging queue;
(2) taking out the queue head node from the joint debugging queue, obtaining a debugging method according to the mapping relation, and setting the initial state of the six-joint mechanical arm according to the characteristics of the joint to be debugged;
(3) planning the motion trail of the six-joint mechanical arm;
(4) identifying key motion points in the debugging through a visual identification system, and establishing a debugging reference coordinate system in the visual identification system according to the key motion points;
(5) acquiring a key point motion track in the motion process of the six-joint mechanical arm through a visual recognition system to form a key motion point track dot matrix which is stored in a database;
(6) analyzing and comparing the key motion point data, and calculating a motion track deviation value through a comparison algorithm;
(7) calculating an evaluation value of the joint control related parameter through an evaluation algorithm according to the comparison value sequence, if the evaluation value is within a satisfaction degree range, entering a step (9), and if the evaluation value is not within the satisfaction degree range, optimizing the control parameter, and entering a step (8);
(8) calculating an optimization improvement method of the joint control parameters according to the evaluation values of the joint control parameters, modifying the control parameters, debugging the six-joint mechanical arm with the modified parameters again by using the methods of the steps (4) to (7), and circulating the steps until the evaluation values are satisfied;
(9) and (4) judging whether the joint debugging queue is empty, if so, completing debugging by the six-joint mechanical arm, otherwise, taking out the node at the head of the queue from the debugging queue, and completing debugging of the node according to the steps (3) to (8).
The specific process of the step (1) is as follows:
11) defining a six-joint mechanical arm joint structure:
the sequence from the mechanical arm base to the mechanical arm front end joint is as follows: joint 1, joint 2, joint 3, joint 4, joint 5, joint 6;
the joint installation angle follows: the motor axes of the joint 2, the joint 3 and the joint 5 are parallel to a horizontal plane, the motor axis of the joint 1 is vertical to the horizontal plane, the motor axis of the joint 4 is vertical to the motor axes of the joint 3 and the joint 5, and the motor axis of the joint 6 is vertical to the motor axis of the joint 5;
the mechanical arm section clamped by the joint 2 and the joint 3 is an arm section 2, the mechanical arm section clamped by the joint 3 and the joint 4 is an arm section 3, the mechanical arm section clamped by the joint 4 and the joint 5 is an arm section 4, and the mechanical arm section clamped by the joint 5 and the joint 6 is an arm section 5;
an included angle theta h2 formed by the arm section 2 and the horizontal direction, an included angle theta 3 formed by the arm section 2 and the arm section 3, an included angle theta v3 formed by the arm section 3 and the vertical direction, an included angle theta 5 formed by the arm section 4 and the arm section 5, and an included angle theta h5 formed by the arm section 5 and the horizontal direction;
12) carrying out structure recognition on the six-joint mechanical arm through a visual recognition system, and determining a joint 1, a joint 2, a joint 3, a joint 4, a joint 5 and a joint 6; the six-joint mechanical arm is debugged sequentially to form the joints 2, 3 and 5, and the adjustment of the joints 2, 3 and 5 at key parts is completed by a six-joint mechanical arm motion control debugging method;
13) the six-joint mechanical arm joint is identified through a visual identification system, a visual joint debugging queue { joint 2, joint 3 and joint 5} is formed, a queue head node is taken out, the node is deleted from the queue, a corresponding node debugging strategy is obtained from a database, joint debugging is carried out, and the head node is taken out from the debugging queue until the queue is empty after debugging is finished.
The specific process of the step (2) is as follows:
the initial state of the mechanical arm is set:
a debugging and coping method of a joint 2 in a mechanical arm comprises the following steps:
adjusting the joint 2 to enable an included angle theta h2 formed by the arm section 2 and the horizontal direction to be between 5 and 80 degrees;
adjusting the joint 3 to enable the arm section 3 and the arm section 2 to form an included angle theta 3 of 180 degrees;
adjusting the joint 5 to enable the included angle theta 5 formed by the arm section 5 and the arm section 4 to be 180 degrees;
a debugging and coping method of a joint 3 in a mechanical arm comprises the following steps:
adjusting the joint 2 to enable an included angle theta h2 formed by the arm section 2 and the horizontal direction to be between 10 and 80 degrees;
adjusting the joint 3 to enable an included angle theta v3 formed by the arm section 3 and the vertical direction to be between 5 degrees and 85 degrees;
adjusting the joint 5 to make an included angle theta h5 formed by the arm section 5 and the horizontal direction equal to 90 degrees;
a debugging and coping method of a joint 5 in a mechanical arm comprises the following steps:
adjusting the joint 2 to enable an included angle theta h2 formed by the arm section 2 and the horizontal direction to be between 10 and 80 degrees;
adjusting the joint 3 to enable an included angle theta v3 formed by the arm section 3 and the vertical direction to be between 5 degrees and 85 degrees;
the adjusting joint 5 makes the arm section 5 form an angle θ h5 of 90 ° with the horizontal direction.
The specific process of the step (3) is as follows:
joint 2 debugging coping method:
only the joint 2 is rotated, and the other joints are kept still, so that the joint 2 is rotated by an angle theta r along one direction, wherein the angle theta r is 10 degrees <70 degrees;
the joint 6 is moved for a certain distance along the horizontal direction, only the joint 2 and the joint 3 are required to be rotated, and the rest joints are kept still;
adjusting and coping methods of the joint 5:
allowing joint 6 to move a distance in the vertical direction requires only rotating joint 2, joint 3 and joint 5, the remaining joints remaining immobile.
The specific process of the step (4) is as follows:
joint 2 debugging coping method:
the center of mass of the joint 2 is taken as an origin;
taking a horizontal line passing through the origin as an X axis;
taking a line which passes through the origin and is vertical to the horizontal line as a Y axis;
the right direction of the Y axis is taken as the positive direction of the X axis;
taking the direction of the X axis as the positive direction of the Y axis;
the center of mass of the joint 6 is taken as an origin;
taking a horizontal line passing through the origin as an X axis;
the direction of the movement of the joint 6 is taken as the positive direction of the X axis;
taking a line which passes through the origin and is vertical to the horizontal line as a Y axis;
the direction perpendicular to the horizontal line and upward is the positive direction of the Y axis.
Adjusting and coping methods of the joint 5:
the center of mass of the joint 6 is taken as an origin;
taking a horizontal line passing through the origin as an X axis;
taking a line which passes through the origin and is vertical to the horizontal line as a Y axis;
the motion direction of the joint 6 is taken as the positive direction of the Y axis;
the direction away from the joint 1 is the positive direction of the X axis.
The specific process of the step (5) is as follows:
the joint 2 coping method comprises the following steps:
starting the mechanical arm to move according to a set target track, and recording a motion curve L2 of the centroid A of the joint 6 by the visual recognition camera;
the joint 3 coping method comprises the following steps:
starting the mechanical arm to move according to a set target track, and recording a motion curve L3 of the mass center of the joint 6 by the vision recognition camera;
the joint 5 coping method comprises the following steps:
the mechanical arm is started to move according to the set target track, and the motion curve L5 of the center of mass of the joint 6 is recorded by the vision recognition camera.
The specific process of the step (6) is as follows:
the joint 2 coping method comprises the following steps:
the moment when the joint 2 starts to rotate is 0, the moment when the joint 2 stops rotating is TR, and the time period TR of the joint 2 movement is | TR-0 |;
equally dividing the time period TR into n parts, and recording the time t0, t1 and t2 … … tn of the equally dividing point on a time axis;
when t is t0, t1 and t2 … … tn, the position coordinates P0(X0 and Y0), P1(X1 and Y1) and P2(X2 and Y2) … … Pn (Xn and Yn) of the joint 6 on the curve L2 are obtained according to the curve L2;
calculating a theoretical average time period turning angle ā ═ thetar/n;
calculating an angle theta r1 rotated from a time point t0 to a time point a t1, an angle theta r2 rotated from a time point t1 to a time point a t2 and the like according to the position coordinates P0, P1, P2 … … Pn and the origin coordinate, and rotating an angle theta ri rotated from a time point t (i-1) to a time point ti;
calculating to obtain a motion track deviation value E2 of the joint 2;
the joint 3 coping method comprises the following steps:
projecting the motion curve L3 to an X axis to obtain a line segment L3X;
equally dividing the line segment L3X into n parts, and recording the positions X0, X1 and X2 … … Xn of the equally dividing points on the X-axis coordinate;
according to the curve L3, when X is X0, X1 and X2 … … Xn, the values Y0, Y1 and Y2 … … Yn corresponding to Y are obtained;
calculating to obtain a deviation value E3 of the movement track of the joint 3;
the joint 5 coping method comprises the following steps:
projecting the motion curve L5 to the Y axis to obtain a line segment L5Y;
equally dividing the line segment L5Y into n parts, and recording positions Y0, Y1 and Y2 … … Yn of an average division point on a Y-axis coordinate;
according to the curve L5, when Y takes the values of Y0, Y1 and Y2 … … Yn, the values X0, X1 and X2 … … Xn corresponding to X are obtained;
and calculating to obtain a deviation value E5 of the motion trail of the joint 5.
Deviation value of motion track of the joint 2
The specific method for calculating the deviation value E3 of the movement locus of the joint 3 comprises the following steps: calculating the average value of the Y0, Y1 and Y2 … … Yn series, namely the motion trajectory deviation value E3 of the joint 3; the specific method for calculating the deviation value E5 of the movement locus of the joint 5 comprises the following steps: and calculating the average value of the X0, X1 and X2 … … Xn series, namely the motion trajectory deviation value E5 of the joint 5.
In the step (7), the specific processes of the satisfaction degree interval division and the joint evaluation are as follows:
the joint 2 coping method comprises the following steps:
and (3) dividing a satisfaction degree interval: dividing the satisfaction into 6 intervals, namely a satisfaction interval I, a satisfaction interval II, a satisfaction interval III, a satisfaction interval IV, a satisfaction interval V and a satisfaction interval VI; each grade corresponds to a numerical interval, and an upper limit value and a lower limit value of each interval are set; setting 6 sets of joint driving control parameter optimization schemes according to the 6 satisfaction degree intervals, and establishing a one-to-one correspondence relationship between the satisfaction degree intervals and the optimization schemes;
joint assessment and management method: comparing the joint 2 motion track deviation value E2 with 6 satisfaction degree interval values to determine a satisfaction degree interval in which the joint 2 motion track deviation value E2 falls; when the motion track deviation value E2 of the joint 2 falls into the satisfaction degree interval I, indicating that the drive control parameters of the joint 2 meet the requirements, finishing the debugging of the joint 2, taking out the head node from the debugging queue, and entering the debugging of the next joint; when the motion trajectory deviation value E2 of the joint 2 falls into 5 intervals except the satisfaction degree interval I, establishing a one-to-one correspondence relationship according to the satisfaction degree interval and the optimization scheme, and finding a corresponding joint driving control parameter optimization scheme; adjusting the proportional gain of the drive control parameter according to the optimization scheme of the joint drive control parameter; after the drive control parameters are modified, debugging a new round of joint 2 is started;
the joint 3 coping method comprises the following steps:
and (3) dividing a satisfaction degree interval: dividing the satisfaction into 12 intervals, namely a satisfaction interval I, a satisfaction interval II, a satisfaction interval III, a satisfaction interval IV, a satisfaction interval V, a satisfaction interval VI, a satisfaction interval-I, a satisfaction interval-II, a satisfaction interval-III, a satisfaction interval-IV, a satisfaction interval-V and a satisfaction interval-VI; each grade corresponds to a numerical interval, and an upper limit value and a lower limit value of each interval are set; setting 12 sets of joint driving control parameter optimization schemes according to 12 satisfaction degree intervals, and establishing a one-to-one correspondence relationship between the satisfaction degree intervals and the optimization schemes;
joint assessment and management method: comparing the joint 3 motion track deviation value E3 with 12 satisfaction degree interval values to determine a satisfaction degree interval in which the joint 3 motion track deviation value E3 falls; when the motion trajectory deviation value E3 of the joint 3 falls into the satisfaction degree interval I and the satisfaction degree interval-I, indicating that the drive control parameters of the joint 3 meet the requirements, finishing the debugging of the joint 3, taking out a head node from the debugging queue, and entering the debugging of the next joint; when the motion trajectory deviation value E3 of the joint 3 falls into 10 intervals except the satisfaction degree interval I and the satisfaction degree interval-I, establishing a one-to-one correspondence relationship between the satisfaction degree interval and the optimization scheme, and finding a corresponding joint driving control parameter optimization scheme; adjusting the proportional gain of the drive control parameter according to the optimization scheme of the joint drive control parameter; after the drive control parameters are modified, debugging a new round of joint 3 is started;
the joint 5 coping method comprises the following steps:
and (3) dividing a satisfaction degree interval: dividing the satisfaction into 12 intervals, namely a satisfaction interval I, a satisfaction interval II, a satisfaction interval III, a satisfaction interval IV, a satisfaction interval V, a satisfaction interval VI, a satisfaction interval-I, a satisfaction interval-II, a satisfaction interval-III, a satisfaction interval-IV, a satisfaction interval-V and a satisfaction interval-VI; each grade corresponds to a numerical interval, and an upper limit value and a lower limit value of each interval are set; setting 12 sets of joint driving control parameter optimization schemes according to 12 satisfaction degree intervals, and establishing a one-to-one correspondence relationship between the satisfaction degree intervals and the optimization schemes;
joint evaluation and coping method: comparing the joint 5 motion track deviation value E5 with 12 satisfaction degree interval values to determine a satisfaction degree interval in which the joint 5 motion track deviation value E5 falls; when the motion trajectory deviation value E5 of the joint 5 falls into the satisfaction degree interval I and the satisfaction degree interval-I, indicating that the drive control parameters of the joint 5 meet the requirements, finishing debugging the joint 5, namely finishing debugging the six-axis mechanical arm; when the motion trajectory deviation value E5 of the joint 5 falls into 5 intervals except the satisfaction degree interval I and the satisfaction degree interval-I, establishing a one-to-one correspondence relationship between the satisfaction degree interval and the optimization scheme, and finding a corresponding joint driving control parameter optimization scheme; adjusting the proportional gain of the drive control parameter according to the optimization scheme of the joint drive control parameter; and after the drive control parameters are modified, debugging the joint 5 in a new round.
Compared with the prior art, the invention has the advantages that:
(1) the position of the mechanical arm can be more accurately identified by using a visual identification method, the motion track of the mechanical arm is recorded, a physical reference object required in manual measurement can be omitted, and the reliability of motion track measurement can be improved;
(2) the motion track analysis method is used for digitizing and quantifying the track analysis, so that errors caused by human factors in the comparison process are reduced;
(3) the test evaluation method is used for digitizing and quantifying the evaluation process, so that the debugging improvement method can be positioned more accurately, and the debugging progress is accelerated.
Drawings
FIG. 1 is a layout diagram of six-axis robot arm motion control debugging
FIG. 2 is a flowchart of a six-axis robot arm debugging sequence
FIG. 3 is a flowchart of a single joint debugging process
FIG. 4 is a six-axis robot arm configuration definition
FIG. 5 shows the initial state of the mechanical arm (Joint 2 adjustment)
FIG. 6 shows the initial state of the mechanical arm (Joint 3 debug)
FIG. 7 shows X-axis sampling point selection (Joint 3 adjustment)
FIG. 8 shows a visual recognition curve 1 (Joint 3 adjustment)
FIG. 9 shows a visual recognition curve 2 (Joint 3 adjustment)
FIG. 10 shows the initial state of the arm (Joint 5 adjustment)
FIG. 11 is Y-axis sample selection (Joint 5 adjustment)
FIG. 12 shows a visual recognition curve 1 (Joint 5 adjustment)
FIG. 13 shows a visual recognition curve 2 (Joint 5 adjustment)
Detailed Description
The joint structure of the six-joint mechanical arm is defined as shown in figure 4:
(1) the sequence from the mechanical arm base to the mechanical arm front end joint is as follows: joint 1, joint 2, joint 3, joint 4, joint 5, joint 6;
(2) the joint installation angle follows: the motor axes of the joint 2, the joint 3 and the joint 5 are parallel to a horizontal plane, the motor axis of the joint 1 is vertical to the horizontal plane, the motor axis of the joint 4 is vertical to the motor axes of the joint 3 and the joint 5, and the motor axis of the joint 6 is vertical to the motor axis of the joint 5;
(3) the mechanical arm section clamped by the joint 2 and the joint 3 is an arm section 2, the mechanical arm section clamped by the joint 3 and the joint 4 is an arm section 3, the mechanical arm section clamped by the joint 4 and the joint 5 is an arm section 4, and the mechanical arm section clamped by the joint 5 and the joint 6 is an arm section 5;
(4) an included angle theta h2 formed by the arm section 2 and the horizontal direction, an included angle theta 3 formed by the arm section 2 and the arm section 3, an included angle theta v3 formed by the arm section 3 and the vertical direction, an included angle theta 5 formed by the arm section 4 and the arm section 5, and an included angle theta h5 formed by the arm section 5 and the horizontal direction.
The six-joint mechanical arm is subjected to structure recognition through a visual recognition system, and joints J1, J2, J3, J4, J5 and J6 are determined, as shown in the figure 1. The six-joint mechanical arm debugging sequence is J2, J3 and J5, and the adjustment of key joints J2, J3 and J5 can be completed by the six-joint mechanical arm motion control debugging method.
As shown in fig. 2, the robot arm joints are identified by the visual identification system, a visual joint debugging queue { J2, J3, J5} is formed, the head node of the queue is taken out, the node is deleted from the queue, the corresponding node debugging strategy is obtained from the database, the joint debugging is carried out, and after the debugging is finished, the head node is taken out from the debugging queue until the queue is empty.
Fig. 3 shows a joint debugging process, which involves a joint J2 debugging strategy, a joint J3 debugging strategy, and a joint J5 debugging strategy.
Joint J2 debugging strategy
1. The initial state of the mechanical arm is set: as shown in fig. 5, the mechanical arm is adjusted to be in a straight state, (1) the joint 2 is adjusted to enable the included angle theta h2 formed by the arm section 2 and the horizontal direction to be between 5 degrees and 80 degrees; (2) adjusting the joint 3 to enable the arm section 3 and the arm section 2 to form an included angle theta 3 of 180 degrees; (5) the adjusting joint 5 makes the angle theta 5 formed by the arm segment 5 and the arm segment 4 equal to 180 degrees.
2. Planning the motion track of the mechanical arm: only the joint 2 is rotated and the remaining joints remain stationary, so that the joint 2 is rotated in one direction by an angle of theta < r > of 10 < theta <70 deg..
3. Initializing a visual recognition camera coordinate system: (1) taking the center of mass of the joint 2 in the initial state as the origin; (2) taking a horizontal line passing through the origin as an X axis; (3) taking a line which passes through the origin and is vertical to the horizontal line as a Y axis; (4) the right direction of the Y axis is taken as the positive direction of the X axis; (5) the direction in the X-axis direction is the positive direction of the Y-axis.
4. The mechanical arm is started to move according to the set target track, and the motion curve L2 of the mass center A of the joint 6 is recorded by the vision recognition camera.
5. Analyzing a motion track: (1) the moment when the joint 2 starts to rotate is 0, the moment when the joint 2 stops rotating is TR, and the time period TR of the joint 2 movement is | TR-0 |; (2) equally dividing the time period TR into n parts, and recording the time t0, t1 and t2 … … tn of the equally dividing point on a time axis; (3) obtaining position coordinates P0(X0 and Y0), P1(X1 and Y1), P2(X2 and Y2) … … Pn (Xn and Yn) of A on the curve L2 when t takes the values of t0, t1 and t2 … … tn according to the curve L2; (4) calculating a theoretical average time period turning angle ā ═ thetar/n; (5) calculating an angle theta r1 rotated from the time t0 to the time t 1A, an angle theta r2 rotated from the time t1 to the time t 2A, and the like according to the position coordinates P0, P1, P2 … … Pn and the origin coordinate, and calculating an angle theta ri rotated from the time t (i-1) to the time ti A; (5) calculating the deviation value of the movement track of the joint 2
6. And (3) dividing a satisfaction degree interval: (1) dividing the satisfaction into 6 intervals, namely a satisfaction interval I, a satisfaction interval II, a satisfaction interval III, a satisfaction interval IV, a satisfaction interval V and a satisfaction interval VI; (2) each grade corresponds to a numerical interval, and an upper limit value and a lower limit value of each interval are set; (3) and setting 6 sets of joint driving control parameter optimization schemes according to the 6 satisfaction degree intervals, and establishing a one-to-one correspondence relationship between the satisfaction degree intervals and the optimization schemes.
Satisfaction degree interval I is [0,0.05), and the optimization scheme is as follows: keeping the proportional gain P of the joint J2 unchanged, finishing the debugging of the joint J2, and entering the debugging of the joint J3;
the satisfaction degree interval II is [0.05,0.1), and the optimization scheme is as follows: increasing the proportional gain P of the joint J2 to be 1.05 times of the previous gain P, and debugging a new round of joint J2;
the satisfaction degree interval III is [0.1,0.5), and the optimization scheme is as follows: the proportional gain P of the joint J2 is increased to be 1.1 times of the previous gain P, and a new round of debugging of the joint J2 is carried out;
the satisfaction degree interval IV is [0.5,1), and the optimization scheme is as follows: increasing the proportional gain P of the joint J2 to be 1.2 times of the previous gain P, and debugging a new round of joint J2;
satisfaction degree interval V [1,2), optimization scheme: increasing the proportional gain P of the joint J2 to be 1.3 times of the previous gain P, and debugging a new round of joint J2;
satisfaction interval VI [2, + ∞)), optimization scheme: the proportional gain P of the joint J2 is increased by 1.4 times before, and a new round of debugging of the joint J2 is performed.
7. Joint assessment and management method: (1) comparing the joint 2 motion track deviation value E2 with 6 satisfaction degree interval values to determine a satisfaction degree interval in which the joint 2 motion track deviation value E2 falls; (2) when the motion track deviation value E2 of the joint 2 falls into the satisfaction degree interval I, the driving control parameters of the joint 2 meet the requirements, the debugging of the joint 2 can be finished, and the head node is taken out from the debugging queue and enters the debugging of the next joint; (3) when the motion trajectory deviation value E2 of the joint 2 falls into 5 intervals except the satisfaction degree interval I, establishing a one-to-one correspondence relationship between the satisfaction degree interval and the optimization scheme, and finding a corresponding joint driving control parameter optimization scheme; (4) adjusting the proportional gain of the drive control parameter according to the optimization scheme of the joint drive control parameter; (5) and after the drive control parameters are modified, debugging the joint 2 in a new round.
Second, joint J3 debugging strategy
1. The initial state of the mechanical arm is set: as shown in fig. 6, the mechanical arm is adjusted to a bent state, (1) the joint 2 is adjusted to make an included angle θ h2 between the arm section 2 and the horizontal direction be 10 ° to 80 °; (2) adjusting the joint 3 to enable an included angle theta v3 formed by the arm section 3 and the vertical direction to be between 5 degrees and 85 degrees; (3) the joint 5 is adjusted so that the arm section 5 forms an angle θ h5 of 90 ° with the horizontal.
2. Planning the motion track of the mechanical arm: the joint 6 is allowed to move a certain distance along the horizontal direction, and only the joint 2 and the joint 3 are required to rotate, and the rest joints are required to keep still.
3. Initializing a visual recognition camera coordinate system: (1) taking the center of mass of the joint 6 in the initial state as the origin; (2) taking a horizontal line passing through the origin as an X axis; (3) the direction of the movement of the joint 6 is taken as the positive direction of the X axis; (4) taking a line which passes through the origin and is vertical to the horizontal line as a Y axis; (5) the direction perpendicular to the horizontal line and upward is the positive direction of the Y axis.
4. The mechanical arm is started to move according to the set target track, and the motion curve L3 of the point A of the center of mass of the joint 6 is recorded by the vision recognition camera.
Analyzing a motion track: two situations may occur in the motion trail of the point a, such as fig. 8 and 9, wherein the motion trail of fig. 8 shows that the response of the joint J3 is too high, and the motion trail of fig. 9 shows that the response of the joint J3 is insufficient. (1) Projecting the motion curve L3 to an X axis to obtain a line segment L3X; (2) dividing the line segment L3X into n parts, and recording the positions X0, X1 and X2 … … Xn of the dividing point on the X-axis coordinate, as shown in FIG. 7; (3) according to the curve L3, when X is X0, X1 and X2 … … Xn, the values Y0, Y1 and Y2 … … Yn corresponding to Y are obtained; (4) and calculating the average value of the series of Y0, Y1 and Y2 … … Yn, wherein E3 is (Y0+ Y1+ … … Yn)/n, namely the deviation value of the motion track of the joint 3.
5. And (3) dividing a satisfaction degree interval: (1) dividing the satisfaction into 12 intervals, namely a satisfaction interval I, a satisfaction interval II, a satisfaction interval III, a satisfaction interval IV, a satisfaction interval V, a satisfaction interval VI, a satisfaction interval-I, a satisfaction interval-II, a satisfaction interval-III, a satisfaction interval-IV, a satisfaction interval-V and a satisfaction interval-VI; (2) each grade corresponds to a numerical interval, and an upper limit value and a lower limit value of each interval are set; (3) and setting 6 sets of joint driving control parameter optimization schemes according to the 6 satisfaction degree intervals, and establishing a one-to-one correspondence relationship between the satisfaction degree intervals and the optimization schemes.
The satisfaction degree interval I is [0,0.1), and the optimization scheme is as follows: keeping the proportional gain P of the joint J3 unchanged, finishing the debugging of the joint J3, and entering the debugging of the joint J5;
the satisfaction degree interval II is [0.1,0.4), and the optimization scheme is as follows: increasing the proportional gain P of the joint J3 to be 1.05 times of the previous gain P, and debugging a new round of joint J3;
the satisfaction degree interval III is [0.4,0.8), and the optimization scheme is as follows: increasing the proportional gain P of the joint J3 to be 1.1 times of the previous gain P, and debugging a new round of joint J3;
the satisfaction degree interval IV is [0.8,1.3), and the optimization scheme is as follows: increasing the proportional gain P of the joint J3 to be 1.2 times of the previous gain P, and debugging a new round of joint J3;
satisfaction degree interval V [1.3,2), optimization scheme: increasing the proportional gain P of the joint J3 to be 1.3 times of the previous gain P, and debugging a new round of joint J3;
satisfaction interval VI [2, + ∞)), optimization scheme: increasing the proportional gain P of the joint J3 to be 1.4 times of the previous gain P, and debugging a new round of joint J3;
the satisfaction degree interval-I is (-0.1, 0), and the optimization scheme is that the proportional gain P of the joint J3 is kept unchanged, the debugging of the joint J3 is finished, and the debugging of the joint J5 is started;
the satisfaction degree interval-II is (-0.4, -0.1), and the optimization scheme is that the proportional gain P of the joint J3 is reduced to be 0.96 times of the previous gain P, and the next round of debugging of the joint J3 is carried out;
the satisfaction degree interval-III is (-0.8, -0.4), and the optimization scheme is that the proportional gain P of the joint J3 is reduced to 0.9 times of the previous gain P, and the next round of debugging of the joint J3 is carried out;
the satisfaction degree interval-IV is (-1.3, -0.8), and the optimization scheme is that the proportional gain P of the joint J3 is reduced to be 0.85 times of the previous gain P, and the next round of debugging of the joint J3 is carried out;
the satisfaction degree interval-V (-2, -1.3), the optimization scheme is that the proportional gain P of the joint J3 is reduced to be 0.78 times of the previous proportional gain P, and the next round of debugging of the joint J3 is carried out;
6. and a satisfaction range-VI (- ∞ -2), wherein the proportional gain P of the joint J3 is reduced to 0.7 times of the previous proportional gain P, and the next round of debugging of the joint J3 is carried out.
7. Joint assessment and management method: (1) comparing the joint 3 motion track deviation value E3 with 12 satisfaction degree interval values, and determining a satisfaction degree interval in which the joint 3 motion track deviation value E3 falls; (2) when the motion trajectory deviation value E3 of the joint 3 falls into the satisfaction degree interval I and the satisfaction degree interval-I, the driving control parameter of the joint 3 is shown to meet the requirement, the debugging of the joint 3 can be finished, and the head node is taken out from the debugging queue and enters the debugging of the next joint; (3) when the motion trajectory deviation value E3 of the joint 3 falls into 10 intervals except the satisfaction degree interval I and the satisfaction degree interval-I, establishing a one-to-one correspondence relation according to the satisfaction degree interval and the optimization scheme, and finding a corresponding joint driving control parameter optimization scheme; (4) adjusting the proportional gain of the drive control parameter according to the optimization scheme of the joint drive control parameter; (5) and after the drive control parameters are modified, debugging the joint 3 in a new round.
Third, joint J5 debugging strategy
1. Initial state of the mechanical arm: as shown in fig. 10, the mechanical arm is adjusted to a bent state, (1) the joint 2 is adjusted to make an included angle θ h2 between the arm section 2 and the horizontal direction be 10 ° to 80 °; (2) adjusting the joint 3 to enable an included angle theta v3 formed by the arm section 3 and the vertical direction to be between 5 degrees and 85 degrees; (3) the joint 5 is adjusted so that the arm section 5 forms an angle θ h5 of 90 ° with the horizontal.
2. Planning the motion track of the mechanical arm: allowing joint 6 to move a distance in the vertical direction requires only rotating joint 2, joint 3 and joint 5, the remaining joints remaining immobile.
3. Initializing a visual recognition camera coordinate system: (1) the center of mass of the joint 6 is taken as an origin; (2) taking a horizontal line passing through the origin as an X axis; (3) taking a line which passes through the origin and is vertical to the horizontal line as a Y axis; (4) the motion direction of the joint 6 is taken as the positive direction of the Y axis; (5) the direction away from the joint 1 is the positive direction of the X axis.
4. The mechanical arm is started to move according to the set target track, and the motion curve L5 of the centroid A of the joint 6 is recorded by the vision recognition camera.
Analyzing a motion track: two situations may occur in the motion track of point a, such as fig. 12 and 13, where the motion track of fig. 12 indicates insufficient joint response, and the motion track of fig. 13 indicates too high joint response. (1) Projecting the motion curve L5 to a Y axis to obtain a line segment L5Y; (2) dividing the line segment L5Y into n parts, and recording the positions Y0, Y1 and Y2 … … Yn of the dividing points on the Y-axis coordinate, as shown in FIG. 11; (3) according to the curve L5, when Y takes the values of Y0, Y1 and Y2 … … Yn, the values X0, X1 and X2 … … Xn corresponding to X are obtained; (4) and calculating the average value of the X0, X1 and X2 … … Xn sequences, wherein E5 is (X0+ X1+ … … Xn)/n, namely the deviation value of the motion track of the joint 5.
5. And (3) dividing a satisfaction degree interval: (1) dividing the satisfaction into 12 intervals, namely a satisfaction interval I, a satisfaction interval II, a satisfaction interval III, a satisfaction interval IV, a satisfaction interval V, a satisfaction interval VI, a satisfaction interval-I, a satisfaction interval-II, a satisfaction interval-III, a satisfaction interval-IV, a satisfaction interval-V and a satisfaction interval-VI; (2) each grade corresponds to a numerical interval, and an upper limit value and a lower limit value of each interval are set; (3) and setting 12 sets of joint driving control parameter optimization schemes according to the 12 satisfaction degree intervals, and establishing a one-to-one correspondence relationship between the satisfaction degree intervals and the optimization schemes.
The satisfaction degree interval I is [0,0.1), and the optimization scheme is as follows: keeping the proportional gain P of the joint J5 unchanged, finishing the debugging of the joint J5 and finishing the debugging of the joint;
the satisfaction degree interval II is [0.1,0.4), and the optimization scheme is as follows: increasing the proportional gain P of the joint J5 to be 1.05 times of the previous gain P, and debugging a new round of joint J5;
the satisfaction degree interval III is [0.4,0.8), and the optimization scheme is as follows: increasing the proportional gain P of the joint J5 to be 1.1 times of the previous gain P, and debugging a new round of joint J5;
the satisfaction degree interval IV is [0.8,1.3), and the optimization scheme is as follows: increasing the proportional gain P of the joint J5 to be 1.2 times of the previous gain P, and debugging a new round of joint J5;
satisfaction degree interval V [1.3,2), optimization scheme: increasing the proportional gain P of the joint J5 to be 1.3 times of the previous gain P, and debugging a new round of joint J5;
satisfaction interval VI [2, + ∞)), optimization scheme: increasing the proportional gain P of the joint J5 to be 1.4 times of the previous gain P, and debugging a new round of joint J5;
the satisfaction degree interval-I is (-0.1, 0), and the optimization scheme is that the proportional gain P of the joint J5 is kept unchanged, the joint J5 debugging is finished, and the joint debugging is finished;
the satisfaction degree interval-II is (-0.4, -0.1), and the optimization scheme is that the proportional gain P of the joint J5 is reduced to be 0.96 times of the previous gain P, and the next round of debugging of the joint J5 is carried out;
the satisfaction degree interval-III is (-0.8, -0.4), and the optimization scheme is that the proportional gain P of the joint J5 is reduced to 0.9 times of the previous gain P, and the next round of debugging of the joint J5 is carried out;
the satisfaction degree interval-IV is (-1.3, -0.8), the optimization scheme is that the proportional gain P of the joint J5 is reduced to be 0.85 times of the previous proportional gain P, and the next round of debugging of the joint J5 is carried out;
the satisfaction degree interval-V (-2, -1.3), the optimization scheme is that the proportional gain P of the joint J5 is reduced to be 0.78 times of the previous gain P, and the next round of debugging of the joint J5 is carried out;
and a satisfaction range-VI (- ∞ -2), wherein the proportional gain P of the joint J5 is reduced to 0.7 times of the previous proportional gain P, and the next round of debugging of the joint J5 is carried out.
6. Joint assessment and management method: (1) comparing the joint 5 motion track deviation value E5 with 12 satisfaction degree interval values to determine a satisfaction degree interval in which the joint 5 motion track deviation value E5 falls; (2) when the motion trajectory deviation value E5 of the joint 5 falls into the satisfaction degree interval I and the satisfaction degree interval-I, the driving control parameter of the joint 5 meets the requirement, and the debugging of the joint 5 can be finished, namely the debugging of the six-axis mechanical arm is finished; (3) when the motion trajectory deviation value E5 of the joint 5 falls into 10 intervals except the satisfaction degree interval I and the satisfaction degree interval-I, establishing a one-to-one correspondence relationship between the satisfaction degree interval and the optimization scheme, and finding a corresponding joint driving control parameter optimization scheme; (4) adjusting the proportional gain of the drive control parameter according to the optimization scheme of the joint drive control parameter; (5) and after the drive control parameters are modified, debugging the joint 5 in a new round.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make modifications and variations of the present invention without departing from the spirit and scope of the present invention.
Claims (10)
1. A six-joint mechanical arm motion control debugging method comprises a visual recognition device for collecting motion tracks of a multi-joint mechanical arm, wherein the device is composed of a visual recognition camera, a data processing server and a tablet personal computer; the visual recognition camera is used for acquiring motion data of the mechanical arm; the data processing server is used for acquiring data and analyzing and processing the data; the tablet personal computer is used for man-machine interaction and is characterized by comprising the following steps:
(1) identifying the structure of the six-joint mechanical arm through a visual identification system, analyzing each joint debugging method of the six-joint mechanical arm, and forming a joint debugging queue;
(2) taking out the head node from the joint debugging queue, obtaining a debugging method according to the mapping relation, and setting the initial state of the six-joint mechanical arm according to the characteristics of the joint to be debugged;
(3) planning the motion trail of the six-joint mechanical arm;
(4) identifying key motion points in the debugging through a visual identification system, and establishing a debugging reference coordinate system in the visual identification system according to the key motion points;
(5) acquiring a key motion point motion track in the motion process of the six-joint mechanical arm through a visual recognition system to form a key motion point track dot matrix which is stored in a database;
(6) analyzing and comparing the key motion point data, and calculating a motion track deviation value through a comparison algorithm;
(7) calculating an evaluation value of the joint control related parameter through an evaluation algorithm according to the comparison value sequence, if the evaluation value is within a satisfaction degree range, entering a step (9), and if the evaluation value is not within the satisfaction degree range, optimizing the control parameter, and entering a step (8);
(8) calculating an optimization improvement method of the joint control parameters according to the evaluation values of the joint control parameters, modifying the control parameters, debugging the six-joint mechanical arm with the modified parameters again by using the methods of the steps (4) to (7), and circulating the steps until the evaluation values are satisfied;
(9) and (4) judging whether the joint debugging queue is empty, if so, completing debugging by the six-joint mechanical arm, otherwise, taking out the node at the head of the queue from the debugging queue, and completing debugging of the node according to the steps (3) to (8).
2. The six-joint mechanical arm motion control debugging method according to claim 1, characterized in that: the specific process of the step (1) is as follows:
11) defining a six-joint mechanical arm joint structure:
the sequence from the mechanical arm base to the mechanical arm front end joint is as follows: joint 1, joint 2, joint 3, joint 4, joint 5, joint 6;
the joint installation angle follows: the motor axes of the joint 2, the joint 3 and the joint 5 are parallel to a horizontal plane, the motor axis of the joint 1 is vertical to the horizontal plane, the motor axis of the joint 4 is vertical to the motor axes of the joint 3 and the joint 5, and the motor axis of the joint 6 is vertical to the motor axis of the joint 5;
the mechanical arm section clamped by the joint 2 and the joint 3 is an arm section 2, the mechanical arm section clamped by the joint 3 and the joint 4 is an arm section 3, the mechanical arm section clamped by the joint 4 and the joint 5 is an arm section 4, and the mechanical arm section clamped by the joint 5 and the joint 6 is an arm section 5;
an included angle theta h2 formed by the arm section 2 and the horizontal direction, an included angle theta 3 formed by the arm section 2 and the arm section 3, an included angle theta v3 formed by the arm section 3 and the vertical direction, an included angle theta 5 formed by the arm section 4 and the arm section 5, and an included angle theta h5 formed by the arm section 5 and the horizontal direction;
12) carrying out structure recognition on the six-joint mechanical arm through a visual recognition system, and determining a joint 1, a joint 2, a joint 3, a joint 4, a joint 5 and a joint 6; the six-joint mechanical arm is debugged sequentially for joints 2, 3 and 5, and the debugging of the joints 2, 3 and 5 at key parts is completed by a six-joint mechanical arm motion control debugging method;
13) the six-joint mechanical arm joint is identified through a visual identification system, a visual joint debugging queue { joint 2, joint 3 and joint 5} is formed, a queue head node is taken out, the node is deleted from the queue, a corresponding node debugging strategy is obtained from a database, joint debugging is carried out, and the queue head node is taken out from the debugging queue until the queue is empty after debugging is finished.
3. The six-joint mechanical arm motion control debugging method according to claim 2, characterized in that: the specific process of the step (2) is as follows:
the initial state of the mechanical arm is set:
a debugging coping method of a joint 2 in a mechanical arm comprises the following steps:
adjusting the joint 2 to enable an included angle theta h2 formed by the arm section 2 and the horizontal direction to be between 5 degrees and 80 degrees;
adjusting the joint 3 to enable the arm section 3 and the arm section 2 to form an included angle theta 3 of 180 degrees;
adjusting the joint 5 to enable the included angle theta 5 formed by the arm section 5 and the arm section 4 to be 180 degrees;
a debugging and coping method of a joint 3 in a mechanical arm comprises the following steps:
adjusting the joint 2 to enable an included angle theta h2 formed by the arm section 2 and the horizontal direction to be between 10 and 80 degrees;
adjusting the joint 3 to enable an included angle theta v3 formed by the arm section 3 and the vertical direction to be between 5 degrees and 85 degrees;
adjusting the joint 5 to make an included angle theta h5 formed by the arm section 5 and the horizontal direction equal to 90 degrees;
a debugging and coping method of a joint 5 in a mechanical arm comprises the following steps:
adjusting the joint 2 to enable an included angle theta h2 formed by the arm section 2 and the horizontal direction to be between 10 and 80 degrees;
adjusting the joint 3 to enable an included angle theta v3 formed by the arm section 3 and the vertical direction to be between 5 degrees and 85 degrees;
the joint 5 is adjusted so that the arm section 5 forms an angle θ h5 of 90 ° with the horizontal.
4. The six-joint mechanical arm motion control debugging method according to claim 3, characterized in that: the specific process of the step (3) is as follows:
adjusting and coping methods of the joint 2:
only the joint 2 is rotated, and the other joints are kept still, so that the joint 2 is rotated by an angle theta r along one direction, wherein the angle theta r is 10 degrees <70 degrees;
joint 3 debugging coping method:
the joint 6 is moved for a certain distance along the horizontal direction, only the joint 2 and the joint 3 are required to be rotated, and the rest joints are kept still;
adjusting and coping methods of the joint 5:
allowing joint 6 to move a distance in the vertical direction requires only rotating joint 2, joint 3 and joint 5, the remaining joints remaining immobile.
5. The six-joint mechanical arm motion control debugging method of claim 4, characterized in that: the specific process of the step (4) is as follows:
joint 2 debugging coping method:
the center of mass of the joint 2 is taken as an origin;
taking a horizontal line passing through the origin as an X axis;
taking a line which passes through the origin and is vertical to the horizontal line as a Y axis;
the right direction of the Y axis is taken as the positive direction of the X axis;
taking the direction of the X axis as the positive direction of the Y axis;
joint 3 debugging coping method:
the center of mass of the joint 6 is taken as an origin;
taking a horizontal line passing through the origin as an X axis;
the direction of the movement of the joint 6 is taken as the positive direction of the X axis;
taking a line which passes through the origin and is vertical to the horizontal line as a Y axis;
taking the direction vertical to the horizontal line as the positive direction of the Y axis;
adjusting and coping methods of the joint 5:
the center of mass of the joint 6 is taken as an origin;
taking a horizontal line passing through the origin as an X axis;
taking a line which passes through the origin and is vertical to the horizontal line as a Y axis;
the motion direction of the joint 6 is taken as the positive direction of the Y axis;
the direction away from the joint 1 is the positive direction of the X axis.
6. The six-joint mechanical arm motion control debugging method according to claim 1, characterized in that: the specific process of the step (5) is as follows:
the joint 2 coping method comprises the following steps:
starting the mechanical arm to move according to a set target track, and recording a motion curve L2 of the centroid A of the joint 6 by the visual recognition camera;
the joint 3 coping method comprises the following steps:
starting the mechanical arm to move according to a set target track, and recording a motion curve L3 of the center of mass of the joint 6 by the vision recognition camera;
the joint 5 coping method comprises the following steps:
the mechanical arm is started to move according to the set target track, and the motion curve L5 of the center of mass of the joint 6 is recorded by the vision recognition camera.
7. The six-joint mechanical arm motion control debugging method of claim 6, characterized in that: the specific process of the step (6) is as follows:
the joint 2 coping method comprises the following steps:
the moment when the joint 2 starts to rotate is 0, the moment when the joint 2 stops rotating is TR, and the time period TR of the joint 2 movement is | TR-0 |;
equally dividing the time period TR into n parts, and recording the time t0, t1 and t2 … … tn of the equally dividing point on a time axis;
when t is t0, t1 and t2 … … tn, the position coordinates P0(X0 and Y0), P1(X1 and Y1) and P2(X2 and Y2) … … Pn (Xn and Yn) of the joint 6 on the motion curve L2 are obtained according to the motion curve L2;
calculating the turning angle of the theoretically uniform time period
Calculating an angle theta r1 rotated from a time point t0 to a time point a t1, an angle theta r2 rotated from a time point t1 to a time point a t2 and the like according to the position coordinates P0, P1, P2 … … Pn and the origin coordinate, and rotating an angle theta ri rotated from a time point t (i-1) to a time point ti;
calculating to obtain a deviation value E2 of the motion track of the joint 2;
the joint 3 coping method comprises the following steps:
projecting the motion curve L3 to an X axis to obtain a line segment L3X;
dividing the line segment L3X into n parts equally, and recording the positions X0, X1 and X2 … … Xn of the dividing point on the X-axis coordinate;
according to the motion curve L3, when X is X0, X1 and X2 … … Xn, the values Y0, Y1 and Y2 … … Yn corresponding to Y are obtained;
calculating to obtain a deviation value E3 of the movement track of the joint 3;
the joint 5 coping method comprises the following steps:
projecting the motion curve L5 to the Y axis to obtain a line segment L5Y;
equally dividing the line segment L5Y into n parts, and recording positions Y0, Y1 and Y2 … … Yn of an average division point on a Y-axis coordinate;
according to the motion curve L5, when Y is Y0, Y1 and Y2 … … Yn, the values X0, X1 and X2 … … Xn corresponding to X are obtained;
and calculating to obtain a deviation value E5 of the motion trail of the joint 5.
8. The six-joint mechanical arm motion control debugging method of claim 7, characterized in that: deviation value of motion track of the joint 2
9. The six-joint mechanical arm motion control debugging method of claim 7, characterized in that: the specific method for calculating the deviation value E3 of the movement locus of the joint 3 comprises the following steps: calculating the average value of the Y0, Y1 and Y2 … … Yn series, namely the motion trajectory deviation value E3 of the joint 3; the specific method for calculating the deviation value E5 of the movement locus of the joint 5 comprises the following steps: and calculating the average value of the X0, X1 and X2 … … Xn series, namely the motion trajectory deviation value E5 of the joint 5.
10. The six-joint mechanical arm motion control debugging method of claim 7, wherein: in the step (7), the specific processes of the satisfaction degree interval division and the joint evaluation are as follows:
the joint 2 coping method comprises the following steps:
and (3) dividing a satisfaction degree interval: dividing the satisfaction into 6 intervals, namely a satisfaction interval I, a satisfaction interval II, a satisfaction interval III, a satisfaction interval IV, a satisfaction interval V and a satisfaction interval VI; each grade corresponds to a numerical interval, and an upper limit value and a lower limit value of each interval are set; setting 6 sets of joint driving control parameter optimization schemes according to the 6 satisfaction degree intervals, and establishing a one-to-one correspondence relationship between the satisfaction degree intervals and the optimization schemes;
joint assessment and management method: comparing the joint 2 motion track deviation value E2 with 6 satisfaction degree interval values to determine a satisfaction degree interval in which the joint 2 motion track deviation value E2 falls; when the motion track deviation value E2 of the joint 2 falls into the satisfaction degree interval I, indicating that the drive control parameters of the joint 2 meet the requirements, finishing the debugging of the joint 2, taking out the queue head node from the debugging queue, and entering the debugging of the next joint; when the motion trajectory deviation value E2 of the joint 2 falls into 5 intervals except the satisfaction degree interval I, establishing a one-to-one correspondence relationship according to the satisfaction degree interval and the optimization scheme, and finding a corresponding joint driving control parameter optimization scheme; adjusting the proportional gain of the drive control parameter according to the optimization scheme of the joint drive control parameter; after the drive control parameters are modified, debugging a new round of joint 2 is started;
the joint 3 coping method comprises the following steps:
and (3) dividing a satisfaction degree interval: dividing the satisfaction into 12 intervals, namely a satisfaction interval I, a satisfaction interval II, a satisfaction interval III, a satisfaction interval IV, a satisfaction interval V, a satisfaction interval VI, a satisfaction interval-I, a satisfaction interval-II, a satisfaction interval-III, a satisfaction interval-IV, a satisfaction interval-V and a satisfaction interval-VI; each grade corresponds to a numerical interval, and an upper limit value and a lower limit value of each interval are set; setting 12 sets of joint driving control parameter optimization schemes according to 12 satisfaction degree intervals, and establishing a one-to-one correspondence relationship between the satisfaction degree intervals and the optimization schemes;
joint assessment and management method: comparing the joint 3 motion track deviation value E3 with 12 satisfaction degree interval values to determine a satisfaction degree interval in which the joint 3 motion track deviation value E3 falls; when the motion trajectory deviation value E3 of the joint 3 falls into the satisfaction degree interval I and the satisfaction degree interval-I, indicating that the drive control parameters of the joint 3 meet the requirements, finishing the debugging of the joint 3, taking out the queue head node from the debugging queue, and entering the debugging of the next joint; when the motion trajectory deviation value E3 of the joint 3 falls into 10 intervals except the satisfaction degree interval I and the satisfaction degree interval-I, establishing a one-to-one correspondence relationship between the satisfaction degree interval and the optimization scheme, and finding a corresponding joint driving control parameter optimization scheme; adjusting the proportional gain of the drive control parameter according to the optimization scheme of the joint drive control parameter; after the drive control parameters are modified, debugging a new round of joint 3 is started;
the joint 5 coping method comprises the following steps:
and (3) dividing a satisfaction degree interval: dividing the satisfaction into 12 intervals, namely a satisfaction interval I, a satisfaction interval II, a satisfaction interval III, a satisfaction interval IV, a satisfaction interval V, a satisfaction interval VI, a satisfaction interval-I, a satisfaction interval-II, a satisfaction interval-III, a satisfaction interval-IV, a satisfaction interval-V and a satisfaction interval-VI; each grade corresponds to a numerical interval, and an upper limit value and a lower limit value of each interval are set; setting 12 sets of joint driving control parameter optimization schemes according to 12 satisfaction degree intervals, and establishing a one-to-one correspondence relationship between the satisfaction degree intervals and the optimization schemes;
joint assessment and management method: comparing the joint 5 motion track deviation value E5 with 12 satisfaction degree interval values to determine a satisfaction degree interval in which the joint 5 motion track deviation value E5 falls; when the motion trajectory deviation value E5 of the joint 5 falls into the satisfaction degree interval I and the satisfaction degree interval-I, indicating that the drive control parameters of the joint 5 meet the requirements, finishing debugging the joint 5, namely finishing debugging the six-axis mechanical arm; when the motion trajectory deviation value E5 of the joint 5 falls into 5 intervals except the satisfaction degree interval I and the satisfaction degree interval-I, establishing a one-to-one correspondence relationship between the satisfaction degree interval and the optimization scheme, and finding a corresponding joint driving control parameter optimization scheme; adjusting the proportional gain of the drive control parameter according to the optimization scheme of the joint drive control parameter; and after the drive control parameters are modified, debugging the joint 5 in a new round.
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| US7239908B1 (en) * | 1998-09-14 | 2007-07-03 | The Board Of Trustees Of The Leland Stanford Junior University | Assessing the condition of a joint and devising treatment |
| US6194860B1 (en) * | 1999-11-01 | 2001-02-27 | Yoder Software, Inc. | Mobile camera-space manipulation |
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