CN113954073A - Trajectory analysis method and device for movable part of robot and robot equipment - Google Patents
Trajectory analysis method and device for movable part of robot and robot equipment Download PDFInfo
- Publication number
- CN113954073A CN113954073A CN202111314979.6A CN202111314979A CN113954073A CN 113954073 A CN113954073 A CN 113954073A CN 202111314979 A CN202111314979 A CN 202111314979A CN 113954073 A CN113954073 A CN 113954073A
- Authority
- CN
- China
- Prior art keywords
- robot
- joint
- path
- trajectory analysis
- tool
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004458 analytical method Methods 0.000 title claims description 49
- 238000000034 method Methods 0.000 claims abstract description 20
- 230000000694 effects Effects 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 description 7
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Images
Classifications
-
- 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
- B25J9/1666—Avoiding collision or forbidden zones
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method and a device for analyzing a track of a movable part of a robot and robot equipment. Wherein, the method comprises the following steps: acquiring current coordinates of a tool clamped by the tail end of a mechanical arm of a preset robot, wherein the number of movable parts on the preset robot is more than or equal to two; analyzing a moving path of the tool from the current coordinate to the target position, wherein the moving path comprises a plurality of path points; and reversely calculating the motion track of each motion part based on the motion path of the tool and each path point on the motion path. The invention solves the technical problem that collision is easily caused by only considering the tool moving path of the robot and not considering the moving paths of other moving parts in the related technology.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a method and a device for analyzing a track of a movable part of a robot and robot equipment.
Background
In the related art, when the moving path of the robot is displayed, only the moving path of a tool (mainly a tool center point TCP, which is independent of the robot) mounted at the front end of a mechanical arm of the robot is often displayed, and this moving path display mode has obvious disadvantages: in the process, if the robot travels according to the original tool movement path without considering the movement paths of other movable parts (such as a mechanical arm and an elbow) of the robot, the movable parts of other robots are easy to collide with obstacles, so that the operation errors of the robot are caused, otherwise, a large enough movement space needs to be reserved for each robot to avoid the collision with other objects, but the processing mode often causes the number of the robots installed in one movement space to be greatly reduced, and the working efficiency is obviously reduced.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a method and a device for analyzing a track of a movable part of a robot and robot equipment, and aims to at least solve the technical problem that collision is easily caused by considering only a tool movable path of the robot and not considering movable paths of other movable parts in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a trajectory analysis method of a movable part of a robot, including: acquiring current coordinates of a tool clamped by the tail end of a mechanical arm of a preset robot, wherein the number of movable parts on the preset robot is more than or equal to two; analyzing a movement path of the tool from the current coordinates to a target position, wherein the movement path comprises a plurality of path points; and reversely calculating the motion track of each motion part based on the motion path of the tool and each path point on the motion path.
Optionally, the types of the movable part include: robot joint, robot elbow, robot shoulder, flange.
Optionally, when the type of the movable part is a robot joint, the trajectory analysis method further includes: receiving a joint rotation instruction, wherein the joint rotation instruction comprises: joint identification of a target robot joint of which a track is to be determined; calculating a joint angle difference of a target robot joint corresponding to the joint identification when the target robot joint moves based on the joint rotation instruction; calculating a joint rotation angle of the target robot joint based on the joint angle difference and the number of points of the discrete points; judging whether the target robot joint touches an obstacle when rotating or not based on the joint rotation angle; if the target robot joint touches an obstacle when rotating, the joint rotation angle is adjusted.
Optionally, before calculating the joint rotation angle of the target robot joint based on the joint angle difference and the number of discrete points, the trajectory analysis method further includes: receiving a discrete angle parameter input by an external terminal; and calculating the number of discrete points based on the joint angle difference and the discrete angle parameter.
Optionally, after adjusting the joint rotation angle, the trajectory analysis method further includes: calculating a next position point based on the current coordinate and the adjusted joint rotation angle of the robot joint; controlling the target robot joint to move to the next location point.
Optionally, the trajectory analysis method further includes: determining a track identification color corresponding to the movable part; and displaying the activity track of the activity part based on the track identification color.
According to another aspect of the embodiments of the present invention, there is also provided a trajectory analysis device of a movable part of a robot, including: the device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring the current coordinates of a tool clamped by the tail end of a mechanical arm of a preset robot, and the number of movable parts on the preset robot is more than or equal to two; an analysis unit, configured to analyze a movement path of the tool from the current coordinate to a target position, wherein the movement path includes a plurality of path points; and the calculating unit is used for reversely calculating the motion track of each motion part based on the motion path of the tool and each path point on the motion path.
Optionally, the types of the movable part include: robot joint, robot elbow, robot shoulder, flange.
Optionally, when the type of the movable part is a robot joint, the trajectory analysis device for the robot movable part further includes: a first receiving unit configured to receive a joint rotation instruction, wherein the joint rotation instruction includes: joint identification of a target robot joint of which a track is to be determined; the first calculation module is used for calculating a joint angle difference of a target robot joint corresponding to the joint identification when the target robot joint moves based on the joint rotation instruction; calculating a joint rotation angle of the target robot joint based on the joint angle difference and the number of points of the discrete points; the first judgment module is used for judging whether the target robot joint touches an obstacle during rotation based on the joint rotation angle; the first adjusting module is used for adjusting the rotation angle of the joint when the target robot joint touches an obstacle during rotation.
Optionally, the trajectory analysis device for the movable part of the robot further includes: a second receiving unit for receiving a discrete angle parameter input from an external terminal before calculating a joint rotation angle of the target robot joint based on the joint angle difference and the number of discrete points; and the second calculation module is used for calculating the number of discrete points based on the joint angle difference and the discrete angle parameter.
Optionally, the trajectory analysis device for the movable part of the robot further includes: a third calculation module, configured to calculate a next position point based on the current coordinate and the adjusted joint rotation angle of the robot joint after adjusting the joint rotation angle; and the control module is used for controlling the target robot joint to move to the next position point.
Optionally, the trajectory analysis device for the movable part of the robot further includes: a determination module for determining a trajectory identification color corresponding to the movable part; and the display module is used for displaying the activity track of the activity part based on the track identification color.
According to another aspect of the embodiments of the present invention, there is also provided a robot apparatus including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the method of trajectory analysis of a robot active component of any of the above via execution of the executable instructions.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned trajectory analysis methods for a robot moving part.
In the embodiment of the invention, the current coordinates of a tool clamped by the tail end of a mechanical arm of a preset robot are acquired, wherein the number of movable parts on the preset robot is more than or equal to two, a moving path of the tool from the current coordinates to a target position is analyzed, the moving path comprises a plurality of path points, and the moving track of each movable part is reversely calculated based on the moving path of the tool and each path point on the moving path. In the embodiment, the moving paths of the moving parts of other robots, which are not tools, can be displayed, and then the moving paths of the tools and the moving paths of the moving parts can be timely considered and adjusted through the relative positions of the displayed moving paths and other obstacles if collision occurs, so that the collision with the obstacles is reduced, and the technical problem that the collision is easily caused because only the moving paths of the tools of the robots are considered and the moving paths of other moving parts are not considered in the related art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of an alternative method of trajectory analysis of a movable part of a robot in accordance with an embodiment of the present invention;
fig. 2 is a schematic diagram of an alternative trajectory analysis device for a movable part of a robot according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for trajectory analysis of a movable part of a robot, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of an alternative method for analyzing a trajectory of a movable part of a robot according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, acquiring current coordinates of a tool clamped by the tail end of a mechanical arm of a preset robot, wherein the number of movable parts on the preset robot is more than or equal to two;
step S104, analyzing a moving path of the tool from the current coordinate to the target position, wherein the moving path comprises a plurality of path points;
and step S106, reversely calculating the motion track of each motion part based on the motion path of the tool and each path point on the motion path.
Through the steps, the current coordinates of the tool clamped by the tail end of the mechanical arm of the preset robot can be obtained, wherein the number of the movable parts on the preset robot is more than or equal to two, the moving path of the tool from the current coordinates to the target position is analyzed, the moving path comprises a plurality of path points, and the moving track of each movable part is reversely calculated based on the moving path of the tool and each path point on the moving path. In the embodiment, the moving paths of the moving parts of other robots, which are not tools, can be displayed, and then the moving paths of the tools and the moving paths of the moving parts can be timely considered and adjusted through the relative positions of the displayed moving paths and other obstacles if collision occurs, so that the collision with the obstacles is reduced, and the technical problem that the collision is easily caused because only the moving paths of the tools of the robots are considered and the moving paths of other moving parts are not considered in the related art is solved.
The robot involved in the present embodiment includes but is not limited to: industrial robots and educational robots, having 3 to 6 degrees of freedom, the present embodiment is schematically illustrated with 6 degrees of freedom, corresponding to J1-J6 joints, the robot includes: base, elbow, wrist, arm (arm, press from both sides through the instrument and get each work piece), flange etc. the robot is inside to include: servo motor, conveyer belt, gas outlet etc..
Optionally, the present embodiment may be applied to various actual working scenarios, for example, a welding scenario, a palletizing scenario, a spraying scenario, and the like.
The following describes embodiments of the present invention in detail with reference to the above-described respective implementation steps.
Step S102, obtaining current coordinates of a tool clamped by the tail end of a mechanical arm of a preset robot, wherein the number of movable parts on the preset robot is more than or equal to two.
In this embodiment, the tool may be understood as an end effector of a robot, and the current coordinates of the tool mainly refer to current coordinates of a center point TCP of the tool, and the current coordinates use a center of a base of the robot as a coordinate origin to construct coordinates determined by three-dimensional coordinates of the robot.
In the present embodiment, the types of the movable parts include: robot joint, robot elbow, robot shoulder, flange. In this embodiment, the movable part mainly refers to an operation arm of the robot, and includes a plurality of robot joints, for example, the movable trajectories of J1-J6 joints are respectively determined, and the movable path of each robot joint is determined by the coordinate trajectory of the joint center point of the joint.
And step S104, analyzing a moving path of the tool moving from the current coordinate to the target position, wherein the moving path comprises a plurality of path points.
And step S106, reversely calculating the motion track of each motion part based on the motion path of the tool and each path point on the motion path.
And solving the coordinates of the position points of each joint by adopting inverse kinematics for each path point through the moving path of the tool and each path point on the moving path.
Optionally, when the type of the movable part is a robot joint, the trajectory analysis method further includes: receiving a joint rotation instruction, wherein the joint rotation instruction comprises: joint identification of a target robot joint of which a track is to be determined; calculating a joint angle difference of the target robot joint corresponding to the joint identification when the target robot joint moves based on the joint rotation instruction; calculating the joint rotation angle of the target robot joint based on the joint angle difference and the number of discrete points; judging whether the target robot joint touches an obstacle during rotation based on the joint rotation angle; if the target robot joint touches an obstacle when rotating, the joint rotation angle is adjusted.
In the process of calculating the motion path of other movable parts than the tool, the joint angle rotation command between the departure point and the destination point is considered, the determined target joint is determined to be a rotation trajectory line, the maximum joint angle difference is calculated (by taking the maximum angle difference through J1'-J1, J2' -J2 … FL '-FL, wherein J1' is the coordinate value of the first joint when reaching the target position point, J1 is the coordinate value of the first joint when the tool is at the current coordinate, and similarly, by calculating the angle differences of a plurality of joints and then selecting the maximum angle difference), and the number of discrete points is determined by dividing the maximum rotation angle difference by the discrete angle parameters (such as 1 degree, 2 degrees and 5 degrees).
In this embodiment, before calculating the joint rotation angle of the target robot joint based on the joint angle difference and the number of discrete points, the trajectory analysis method further includes: receiving a discrete angle parameter input by an external terminal; and calculating the number of discrete points based on the joint angle difference and the discrete angle parameter.
Optionally, after adjusting the joint rotation angle, the trajectory analysis method further includes: calculating a next position point based on the current coordinate and the adjusted joint rotation angle of the robot joint; and controlling the target robot joint to move to the next position point.
Taking the nth joint as an example, through the first formula: (Jn '-Jn) ÷ k) × n + Jn' calculates the joint rotation angle of all the movable joints, and calculates the next position point by combining the current position of the movable joints, so as to ensure that the movable joints are smooth enough. Wherein Jn is a coordinate value when the nth joint reaches the target position point, Jn is a coordinate value of the nth joint when the current coordinate is reached, and k is the point number of the discrete point.
Optionally, the trajectory analysis method further includes: determining a track identification color corresponding to the movable part; and displaying the activity track of the activity part based on the track identification color.
In this embodiment, the track identification colors include, but are not limited to: red, green, yellow, white, black, etc.
The invention is described below in connection with an alternative embodiment.
Example two
The embodiment provides a trajectory analysis device for a movable part of a robot, which comprises a plurality of implementation units, wherein each implementation unit corresponds to each implementation step in the first embodiment.
Fig. 2 is a schematic diagram of an alternative trajectory analysis device for a movable part of a robot according to an embodiment of the present invention, and as shown in fig. 2, the trajectory analysis device may include: an acquisition unit 21, an analysis unit 23, a calculation unit 25, wherein,
the acquiring unit 21 is configured to acquire current coordinates of a tool gripped by a tail end of a mechanical arm of a preset robot, where the number of movable parts on the preset robot is greater than or equal to two;
an analysis unit 23, configured to analyze a moving path of the tool from the current coordinate to the target position, where the moving path includes a plurality of path points;
and a calculating unit 25, configured to reversely calculate an activity track of each active part based on the moving path of the tool and each path point on the moving path.
The trajectory analysis device of the robot moving part can acquire the current coordinate of the tool clamped by the tail end of the mechanical arm of the preset robot through the acquisition unit 21, wherein the number of the moving parts on the preset robot is more than or equal to two, the analysis unit 23 is used for analyzing the moving path of the tool from the current coordinate to the target position, the moving path comprises a plurality of path points, and the calculating unit 25 is used for reversely calculating the moving trajectory of each moving part based on the moving path of the tool and each path point on the moving path. In the embodiment, the moving paths of the moving parts of other robots, which are not tools, can be displayed, and then the moving paths of the tools and the moving paths of the moving parts can be timely considered and adjusted through the relative positions of the displayed moving paths and other obstacles if collision occurs, so that the collision with the obstacles is reduced, and the technical problem that the collision is easily caused because only the moving paths of the tools of the robots are considered and the moving paths of other moving parts are not considered in the related art is solved.
Optionally, the types of the movable part include: robot joint, robot elbow, robot shoulder, flange.
Optionally, when the type of the movable part is a robot joint, the trajectory analysis device for the robot movable part further includes: a first receiving unit configured to receive a joint rotation instruction, wherein the joint rotation instruction includes: joint identification of a target robot joint of which a track is to be determined; the first calculation module is used for calculating the joint angle difference of the target robot joint corresponding to the joint identification when the target robot joint moves based on the joint rotation instruction; calculating the joint rotation angle of the target robot joint based on the joint angle difference and the number of discrete points; the first judgment module is used for judging whether the target robot joint touches an obstacle during rotation based on the joint rotation angle; the first adjusting module is used for adjusting the rotation angle of the joint when the target robot joint touches an obstacle during rotation.
Alternatively, the trajectory analysis device for the movable part of the robot further includes: a second receiving unit for receiving a discrete angle parameter input from an external terminal before calculating a joint rotation angle of a target robot joint based on a joint angle difference and the number of discrete points; and the second calculation module is used for calculating the number of discrete points based on the joint angle difference and the discrete angle parameters.
Optionally, the trajectory analysis device for the movable part of the robot further includes: the third calculation module is used for calculating the next position point based on the current coordinate and the adjusted joint rotation angle of the robot joint after the joint rotation angle is adjusted; and the control module is used for controlling the target robot joint to move to the next position point.
In this embodiment, the trajectory analysis device for the movable part of the robot further includes: the determining module is used for determining the track identification color corresponding to the movable part; and the display module is used for displaying the activity track of the activity part based on the track identification color.
The trajectory analysis device of the robot moving part may further include a processor and a memory, the acquiring unit 21, the analyzing unit 23, the calculating unit 25, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory. The kernel can set one or more, and the activity track of each activity part is reversely calculated based on the movement path of the tool and each path point on the movement path by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to another aspect of the embodiments of the present invention, there is also provided a robot apparatus including: a processor; and a memory for storing executable instructions for the processor; wherein the processor is configured to perform the trajectory analysis method of a robot active part of any of the above via execution of executable instructions.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, the apparatus on which the computer-readable storage medium is located is controlled to execute any one of the above-mentioned trajectory analysis methods for the movable part of the robot.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: acquiring current coordinates of a tool clamped by the tail end of a mechanical arm of a preset robot, wherein the number of movable parts on the preset robot is more than or equal to two; analyzing a moving path of the tool from the current coordinate to the target position, wherein the moving path comprises a plurality of path points; and reversely calculating the motion track of each motion part based on the motion path of the tool and each path point on the motion path.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
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 units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for analyzing the trajectory of a movable part of a robot, comprising:
acquiring current coordinates of a tool clamped by the tail end of a mechanical arm of a preset robot, wherein the number of movable parts on the preset robot is more than or equal to two;
analyzing a movement path of the tool from the current coordinates to a target position, wherein the movement path comprises a plurality of path points;
and reversely calculating the motion track of each motion part based on the motion path of the tool and each path point on the motion path.
2. The trajectory analysis method according to claim 1, wherein the type of the movable part includes: robot joint, robot elbow, robot shoulder, flange.
3. The trajectory analysis method according to claim 2, wherein when the type of the movable part is a robot joint, the trajectory analysis method further comprises:
receiving a joint rotation instruction, wherein the joint rotation instruction comprises: joint identification of a target robot joint of which a track is to be determined;
calculating a joint angle difference of a target robot joint corresponding to the joint identification when the target robot joint moves based on the joint rotation instruction;
calculating a joint rotation angle of the target robot joint based on the joint angle difference and the number of points of the discrete points;
judging whether the target robot joint touches an obstacle when rotating or not based on the joint rotation angle;
if the target robot joint touches an obstacle when rotating, the joint rotation angle is adjusted.
4. The trajectory analysis method according to claim 3, wherein before calculating the joint rotation angle of the target robot joint based on the joint angle difference and the number of points of discrete points, the trajectory analysis method further comprises:
receiving a discrete angle parameter input by an external terminal;
and calculating the number of discrete points based on the joint angle difference and the discrete angle parameter.
5. The trajectory analysis method according to claim 3, wherein after adjusting the joint rotation angle, the trajectory analysis method further comprises:
calculating a next position point based on the current coordinate and the adjusted joint rotation angle of the robot joint;
controlling the target robot joint to move to the next location point.
6. The trajectory analysis method according to claim 1, further comprising:
determining a track identification color corresponding to the movable part;
and displaying the activity track of the activity part based on the track identification color.
7. A trajectory analysis device for a movable part of a robot, comprising:
the device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring the current coordinates of a tool clamped by the tail end of a mechanical arm of a preset robot, and the number of movable parts on the preset robot is more than or equal to two;
an analysis unit, configured to analyze a movement path of the tool from the current coordinate to a target position, wherein the movement path includes a plurality of path points;
and the calculating unit is used for reversely calculating the motion track of each motion part based on the motion path of the tool and each path point on the motion path.
8. The trajectory analysis device of claim 7, wherein the types of the moving parts include: robot joint, robot elbow, robot shoulder, flange.
9. A robotic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of trajectory analysis of a robot activity part of any of claims 1 to 6 via execution of the executable instructions.
10. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method for trajectory analysis of a movable part of a robot according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111314979.6A CN113954073B (en) | 2021-11-08 | 2021-11-08 | Track analysis method and device for movable part of robot and robot equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111314979.6A CN113954073B (en) | 2021-11-08 | 2021-11-08 | Track analysis method and device for movable part of robot and robot equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113954073A true CN113954073A (en) | 2022-01-21 |
| CN113954073B CN113954073B (en) | 2024-03-22 |
Family
ID=79469625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111314979.6A Active CN113954073B (en) | 2021-11-08 | 2021-11-08 | Track analysis method and device for movable part of robot and robot equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113954073B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110083341A (en) * | 2010-01-14 | 2011-07-20 | 삼성전자주식회사 | Manipulator and control method thereof |
| CN105437232A (en) * | 2016-01-11 | 2016-03-30 | 湖南拓视觉信息技术有限公司 | Method and device for controlling multi-joint moving robot to avoid obstacle |
| CN108638055A (en) * | 2018-04-11 | 2018-10-12 | 北京控制工程研究所 | A kind of seven freedom space manipulator automatic obstacle avoiding planing method |
| CN110116405A (en) * | 2018-02-05 | 2019-08-13 | 佳能株式会社 | Orbit generation method and track generating means |
| CN111328305A (en) * | 2018-10-15 | 2020-06-23 | 牧今科技 | Control apparatus, work robot, program, and control method |
| CN111504328A (en) * | 2020-05-22 | 2020-08-07 | 梅卡曼德（北京）机器人科技有限公司 | Robot motion planning method, path planning method, grabbing method and device |
| CN112549016A (en) * | 2020-10-21 | 2021-03-26 | 西安工程大学 | Mechanical arm motion planning method |
| CN112894817A (en) * | 2021-01-27 | 2021-06-04 | 杭州电子科技大学 | Mechanical arm motion planning method in task space |
| CN113290553A (en) * | 2020-02-05 | 2021-08-24 | 株式会社电装 | Trajectory generation device, multi-link system, and trajectory generation method |
-
2021
- 2021-11-08 CN CN202111314979.6A patent/CN113954073B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110083341A (en) * | 2010-01-14 | 2011-07-20 | 삼성전자주식회사 | Manipulator and control method thereof |
| CN105437232A (en) * | 2016-01-11 | 2016-03-30 | 湖南拓视觉信息技术有限公司 | Method and device for controlling multi-joint moving robot to avoid obstacle |
| CN110116405A (en) * | 2018-02-05 | 2019-08-13 | 佳能株式会社 | Orbit generation method and track generating means |
| CN108638055A (en) * | 2018-04-11 | 2018-10-12 | 北京控制工程研究所 | A kind of seven freedom space manipulator automatic obstacle avoiding planing method |
| CN111328305A (en) * | 2018-10-15 | 2020-06-23 | 牧今科技 | Control apparatus, work robot, program, and control method |
| CN113290553A (en) * | 2020-02-05 | 2021-08-24 | 株式会社电装 | Trajectory generation device, multi-link system, and trajectory generation method |
| CN111504328A (en) * | 2020-05-22 | 2020-08-07 | 梅卡曼德（北京）机器人科技有限公司 | Robot motion planning method, path planning method, grabbing method and device |
| CN112549016A (en) * | 2020-10-21 | 2021-03-26 | 西安工程大学 | Mechanical arm motion planning method |
| CN112894817A (en) * | 2021-01-27 | 2021-06-04 | 杭州电子科技大学 | Mechanical arm motion planning method in task space |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113954073B (en) | 2024-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11458626B2 (en) | Trajectory generating method, and trajectory generating apparatus | |
| US11577393B2 (en) | Method for collision-free motion planning | |
| US9919421B2 (en) | Method and apparatus for robot path teaching | |
| US9849595B2 (en) | Contact force limiting with haptic feedback for a tele-operated robot | |
| US20150151431A1 (en) | Robot simulator, robot teaching device, and robot teaching method | |
| EP1901151B1 (en) | A method and a device for avoiding collisions between an industrial robot and an object | |
| JP2014104581A (en) | Robot system calibration method | |
| CN108687767B (en) | Offline programming device and offline programming method | |
| US20160096269A1 (en) | Robot teaching device for teaching robot offline | |
| CN111093911B (en) | Robot system and method for operating the same | |
| Glogowski et al. | Extended calculation of the dynamic separation distance for robot speed adaption in the human-robot interaction | |
| Ortenzi et al. | Vision-guided state estimation and control of robotic manipulators which lack proprioceptive sensors | |
| CN113954073A (en) | Trajectory analysis method and device for movable part of robot and robot equipment | |
| Becker et al. | Automation of post-processing in additive manufacturing with industrial robots | |
| US20210046643A1 (en) | Method and system for teaching robot | |
| Ikeda et al. | On-line optimization of avoidance ability for redundant manipulator | |
| EP0830921B1 (en) | A method for handling metal sheets in a working area comprising a machine tool and a robot | |
| CN114029950B (en) | Robot coordinate system analysis method and device, robot equipment and storage medium | |
| CN107520838B (en) | Mechanical arm and control method and device thereof | |
| Wu et al. | Application of visual servoing for grasping and placing operation in slaughterhouse | |
| Wagner et al. | Reachability analysis for cooperative processing with industrial robots | |
| Winkler et al. | Dynamic collision avoidance of industrial cooperating robots using virtual force fields | |
| CN109807891B (en) | Equipment motion processing method and device | |
| JPH07223181A (en) | Interference checking device for manipulator | |
| Winkler et al. | Vision based collision avoidance of industrial robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |