CN114029961B - Robot control method and system for high-precision transmission of mechanical arm - Google Patents
Robot control method and system for high-precision transmission of mechanical arm Download PDFInfo
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- CN114029961B CN114029961B CN202111546179.7A CN202111546179A CN114029961B CN 114029961 B CN114029961 B CN 114029961B CN 202111546179 A CN202111546179 A CN 202111546179A CN 114029961 B CN114029961 B CN 114029961B
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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
- B25J9/1656—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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
Abstract
The invention discloses a robot control method and system for high-precision transmission of a mechanical arm, which are used for obtaining first target position information and first initial position information of a first robot and constructing a three-dimensional rectangular coordinate system; obtaining a predetermined motion control parameter of the first robot; adjusting a preset motion control parameter through a first adjustment parameter obtained by the configuration motion parameter adjustment model, performing motion control on the first robot, and acquiring a motion track of the first robot through an image acquisition device to obtain a first track deviation result; and acquiring the pressure of the fitting target of the first robot through a pressure acquisition sensor to obtain a first position deviation result, and correcting the motion of the first robot based on the first track deviation result and the first position deviation result. The technical problem that accurate control and correction of the robot cannot be carried out according to actual work information of the robot in the prior art is solved.
Description
Technical Field
The invention relates to the field related to intelligent robot control, in particular to a robot control method and system for high-precision transmission of a mechanical arm.
Background
With the rapid development of the robot industry, robots currently researched and developed are widely varied and widely used in the industrial field. Robots produced and applied at the present stage generally have three or more degrees of freedom and are mainly used for finishing repetitive work such as welding, stacking, spraying, packaging and the like. However, when some assembly tasks with high precision requirements are involved, the control precision of the robot is affected due to the influence of mechanical arm mass distribution, load change, vibration and the like caused by mechanical machining precision, assembly error, transmission error, environmental influence and the like.
However, in the process of implementing the technical scheme of the invention in the application, the technology at least has the following technical problems:
the technical problem that the robot cannot be accurately controlled and corrected according to actual work information of the robot exists in the prior art.
Disclosure of Invention
The robot control method and the robot control system solve the technical problem that in the prior art, accurate control and correction of the robot cannot be performed according to actual working information of the robot, control and correction of the robot are performed by collecting historical working information and real-time motion parameters of the robot, and therefore the technical effect of improving the control precision of the robot is achieved.
In view of the above problems, the present application provides a robot control method and system for high precision transmission of a robot arm.
In a first aspect, the application provides a robot control method for high-precision transmission of a mechanical arm, the method is applied to a robot correction control system, the system is in communication connection with an image acquisition device and a pressure sensor, and the method comprises the following steps: acquiring first target position information and first initial position information of a first robot, and constructing a three-dimensional rectangular coordinate system; obtaining predetermined motion control parameters of the first robot; inputting the first target position information and the first initial position information into a configuration motion parameter adjustment model to obtain a first adjustment parameter; adjusting the preset motion control parameter according to the first adjustment parameter to obtain a first correction control parameter; performing motion control on the first robot through the first correction control parameter, and performing motion track acquisition on the first robot through the image acquisition device to obtain a first track deviation result; and acquiring the pressure of the fitting target of the first robot through the pressure acquisition sensor to obtain a first position deviation result, and correcting the motion of the first robot based on the first track deviation result and the first position deviation result.
On the other hand, this application still provides a robot control system of arm high accuracy transmission, the system includes: the first obtaining unit is used for obtaining first target position information and first initial position information of the first robot and constructing a three-dimensional rectangular coordinate system; a second obtaining unit for obtaining a predetermined motion control parameter of the first robot; a third obtaining unit, configured to input the first target position information and the first initial position information into a configuration motion parameter adjustment model to obtain a first adjustment parameter; a fourth obtaining unit, configured to perform adjustment on the predetermined motion control parameter according to the first adjustment parameter, so as to obtain a first correction control parameter; a fifth obtaining unit, configured to perform motion control on the first robot according to the first corrected control parameter, and perform motion trajectory acquisition on the first robot through an image acquisition device to obtain a first trajectory deviation result; the first correction unit is used for acquiring the pressure of the fitting target of the first robot through a pressure acquisition sensor, acquiring a first position deviation result, and correcting the motion of the first robot based on the first track deviation result and the first position deviation result.
In a third aspect, the present invention provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect when executing the program.
One or more technical solutions provided in the present application have at least the following technical effects or advantages:
the method comprises the steps of obtaining first target position information and first initial position information of a first robot, and constructing a three-dimensional rectangular coordinate system; obtaining predetermined motion control parameters of the first robot; inputting the first target position information and the first initial position information into a configuration motion parameter adjustment model to obtain a first adjustment parameter; adjusting the preset motion control parameter according to the first adjustment parameter to obtain a first correction control parameter; the motion control of the first robot is carried out through the first correction control parameter, the motion track of the first robot is collected through the image collecting device, and a first track deviation result is obtained; and acquiring the pressure of the fitting target of the first robot through the pressure acquisition sensor to obtain a first position deviation result, and correcting the motion of the first robot based on the first track deviation result and the first position deviation result. The control and correction of the robot are carried out by collecting the historical work information and the real-time motion parameters of the robot, so that the technical effect of improving the control precision of the robot is achieved.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
FIG. 1 is a schematic flow chart of a robot control method for high-precision transmission of a mechanical arm according to the present application;
FIG. 2 is a schematic flow chart of a first trajectory deviation result obtained by the robot control method for high-precision transmission of the robot arm according to the present application;
FIG. 3 is a schematic diagram illustrating a trajectory comparison process of a robot control method for high-precision mechanical arm transmission according to the present application;
FIG. 4 is a schematic flow chart of deceleration control of a robot control method for high-precision transmission of a mechanical arm according to the present application;
FIG. 5 is a schematic structural diagram of a robot control system for high precision transmission of a robot arm according to the present application;
fig. 6 is a schematic structural diagram of an electronic device according to the present application.
Description of reference numerals: a first obtaining unit 11, a second obtaining unit 12, a third obtaining unit 13, a fourth obtaining unit 14, a fifth obtaining unit 15, a first correcting unit 16, an electronic device 50, a processor 51, a memory 52, an input device 53, and an output device 54.
Detailed Description
The robot control method and the robot control system solve the technical problem that in the prior art, accurate control and correction of the robot cannot be performed according to actual working information of the robot, control and correction of the robot are performed by collecting historical working information and real-time motion parameters of the robot, and therefore the technical effect of improving the control precision of the robot is achieved. Embodiments of the present application are described below with reference to the accompanying drawings. As can be appreciated by those skilled in the art, with the development of technology and the emergence of new scenarios, the technical solutions provided in the present application are also applicable to similar technical problems.
The terms "first," "second," and the like in the description and in the claims of the present application and in the above-described drawings 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 terms so used are interchangeable under appropriate circumstances and are merely descriptive of the various embodiments of the application and how objects of the same nature can be distinguished. 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 elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Summary of the application
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. It can accept human command and operate according to the program programmed in advance. However, the prior art has the technical problem that the robot cannot be accurately controlled and corrected according to the actual work information of the robot.
In view of the above technical problems, the technical solution provided by the present application has the following general idea:
the application provides a robot control method for high-precision transmission of a mechanical arm, which is applied to a robot correction control system, wherein the system is in communication connection with an image acquisition device and a pressure sensor, and the method comprises the following steps: acquiring first target position information and first initial position information of a first robot, and constructing a three-dimensional rectangular coordinate system; obtaining predetermined motion control parameters of the first robot; inputting the first target position information and the first initial position information into a configuration motion parameter adjustment model to obtain a first adjustment parameter; adjusting the preset motion control parameter according to the first adjustment parameter to obtain a first correction control parameter; performing motion control on the first robot through the first correction control parameter, and performing motion track acquisition on the first robot through the image acquisition device to obtain a first track deviation result; and acquiring the pressure of the fitting target of the first robot through the pressure acquisition sensor to obtain a first position deviation result, and correcting the motion of the first robot based on the first track deviation result and the first position deviation result.
Having thus described the general principles of the present application, various non-limiting embodiments thereof will now be described in detail with reference to the accompanying drawings.
Example one
As shown in fig. 1, the present application provides a robot control method for high precision transmission of a robot arm, the method is applied to a robot calibration control system, the system is connected with an image acquisition device and a pressure sensor in communication, and the method comprises:
step S100: acquiring first target position information and first initial position information of a first robot, and constructing a three-dimensional rectangular coordinate system;
specifically, the robot control correction system is a system for acquiring and analyzing parameters in the working process of the robot, generating correction data and correcting the working parameters of the robot, the image acquisition device is a machine vision product, namely an image pickup device, generally comprising a CMOS and a CCD, which can convert an object to be picked into an image signal, and the pressure sensor is a device or apparatus which can sense a pressure signal and can convert the pressure signal into a usable output electric signal. The image acquisition device and the pressure sensor are respectively in communication connection with the robot correction control system and can perform mutual information interaction. The first robot is a robot which is controlled and corrected manually, the first target position information is position information of a target where the first robot works, for example, the first target may be a workpiece to be assembled, the first target position information is calibration position information of the workpiece to be assembled, namely target information that the workpiece to be assembled should be placed in a standard manner, and the first initial position information is current-stage position information of the first robot, namely zero point information of the robot. The three-dimensional rectangular coordinate system is a three-dimensional cartesian coordinate system, which is a unique standard coordinate system that encompasses the first target position information and the first initial position information, and its origin may be the first initial position or may be defined arbitrarily. Through the acquisition of the first target position information and the first initial position information, the construction of the three-dimensional rectangular coordinate system restrains all the positions by using the unified standard coordinate, and provides support for the subsequent accurate control and correction of the robot.
Step S200: obtaining predetermined motion control parameters of the first robot;
step S300: inputting the first target position information and the first initial position information into a configuration motion parameter adjustment model to obtain a first adjustment parameter;
step S400: adjusting the preset motion control parameter according to the first adjustment parameter to obtain a first correction control parameter;
specifically, the predetermined motion control parameter is a programmed control parameter for the first robot to perform the movement from the first initial position to the first target position by three-dimensional software. Further, a three-dimensional simulation control environment is obtained, simulation of control parameters from the first initial position to the first target position is performed on the first robot based on the three-dimensional simulation control environment, and predetermined motion control parameters in the case of a standard environment and standard equipment information are obtained according to required information such as feed speed and path selection. The behavior motion parameter adjusting model is a model constructed by monitoring the historical motion information of the first robot, comparing the monitoring result of the historical motion information with the deviation of the preset motion information under the corresponding motion control parameter, analyzing the motion characteristics of the first robot based on the configuration motion parameter adjusting model, further performing conventional motion control compensation to obtain a first adjusting parameter, wherein the first adjusting parameter is a controlled compensation parameter, and adjusting the preset motion control parameter based on the first adjusting parameter, namely adjusting the preset motion control parameter to adapt to the motion control characteristic of the first robot to obtain a first corrected control parameter. And acquiring the first adjustment parameter through the configuration motion parameter adjustment model, thereby achieving the technical effect of more accurately controlling and correcting the robot parameters.
Step S500: performing motion control on the first robot through the first correction control parameter, and performing motion track acquisition on the first robot through the image acquisition device to obtain a first track deviation result;
specifically, the three-dimensional motion simulation of the control of the first robot is performed through the first correction control parameter, and a first preset motion trajectory of the first robot is obtained according to the motion trajectory of the first robot and the three-dimensional rectangular coordinate system in simulation data. Firstly, the position distribution of the image acquisition devices is carried out, and the image acquisition devices at least comprise a first image acquisition device and a second image acquisition device. And performing motion control on the first robot through the first correction control parameter, performing real-time image acquisition through the first image acquisition device and the second image acquisition device in the process of performing motion on the first robot, wherein the image acquisition result has corresponding time identification and position identification. And fitting the motion of the first robot according to an image acquisition result with a time mark and a position mark to obtain a first actual motion track of the first robot, and obtaining a first track deviation result according to the first actual motion track and the first preset motion track. And the first track deviation result is obtained by analyzing the motion of the first robot, so that data support is provided for subsequent accurate control and correction.
Step S600: and acquiring the pressure of the fitting target of the first robot through the pressure acquisition sensor to obtain a first position deviation result, and correcting the motion of the first robot based on the first track deviation result and the first position deviation result.
Specifically, the pressure acquisition devices are devices distributed at the contact tail ends of the first robot and the assembly workpiece and used for acquiring the contact pressure of the first robot and the workpiece. When the first robot reaches the first target position, the movement of the first robot is completed, and at the moment, the pressure acquisition device acquires the contact pressure between the first robot and the workpiece, comparing the pressure acquisition result with preset pressure information, acquiring the position deviation information of the first robot in the pressure acquisition direction according to the deviation of the compared pressure, namely the first position deviation result, and performing correction control of the motion of the first robot by using the first trajectory deviation result and the first position deviation result as correction parameters for completing the motion control of the first robot from the first initial position to the first target position, the control and correction of the robot are carried out by collecting the historical working information and the real-time motion parameters of the robot, so that the technical effect of improving the control precision of the robot is achieved.
Further, as shown in fig. 2, the acquiring, by the image acquiring device, the motion trajectory of the first robot to obtain a first trajectory deviation result, where the step S500 of the present application further includes:
step S510: obtaining a first image set, wherein the first image set is an image set acquired by the image acquisition device through the motion trail of the first robot;
step S520: performing contour feature analysis based on the first image set to obtain a contour feature analysis result;
step S530: performing image noise evaluation on the first image set to obtain a first image noise evaluation result;
step S540: carrying out contour correction on the contour feature analysis result according to the first image noise evaluation result to obtain a first contour correction result;
step S550: and obtaining the first track deviation result according to the first contour correction result.
Specifically, the first image set is an image set acquired by an image acquisition device arranged in an environment where the first robot is located, in order to reflect more accurate position information of the first robot, the image acquisition device at least comprises two image acquisition devices at different angles, and the image acquisition device acquires images of the first robot during a motion process to obtain the first image set. And sequencing the images in the first image set according to a time sequence, carrying out position analysis on the images collected at the same time node, and obtaining first actual motion track information according to a continuous position analysis result.
Further, the performing location analysis on the image collected by the same time node to obtain a real-time location analysis result further includes: the method comprises the steps of converting a shot target into an image signal, sending the image signal to a special image processing system, firstly preprocessing the image, extracting the characteristics of the first robot according to information such as the distribution brightness and the color of pixels of the image, obtaining form information of the shot target according to an extraction matching result, and further controlling the on-site equipment action according to a judgment result. And according to the extraction result of the features, carrying out contour position acquisition on the first robot to obtain a contour feature analysis result. And the process of evaluating the image noise of the first image set is an evaluation process of the contour accuracy of the first image set reaction. Because complex changes of the environment exist in the process of image acquisition, errors may exist in the acquired image information, and the position of the first robot fed back by the image needs to be evaluated at the moment, namely the noise evaluation process, a first image noise evaluation result is obtained according to the number and size of noise points of the image; and performing contour correction on the contour feature analysis result according to the first image noise evaluation result, namely performing image acquisition environment adjustment according to the evaluation result of the noise point, performing image acquisition again, obtaining a first contour correction result according to the image acquisition result, and obtaining the first track deviation result according to the first contour correction result. And motion analysis of the first robot is carried out by collecting the motion image of the first robot to obtain a first track deviation result, so that data support is provided for subsequent accurate control and correction.
Further, as shown in fig. 3, the step S550 of obtaining the first trajectory deviation result according to the first contour correction result further includes:
step S551: performing motion simulation of the first robot according to the first correction control parameter and the three-dimensional rectangular coordinate system to obtain a first preset motion track;
step S552: performing actual motion trajectory fitting according to the first contour correction result and the three-dimensional rectangular coordinate system to obtain a first actual motion trajectory;
step S553: performing track error analysis according to the first actual motion track and the first preset motion track to obtain an error node set, wherein the error node set comprises a plurality of error generation nodes and error vectors corresponding to the error generation nodes;
step S554: obtaining the first trajectory deviation result based on the set of error nodes.
Specifically, a motion simulation system is constructed, the three-dimensional rectangular coordinate system is constructed into the motion simulation system, basic information of the first robot is written into the motion simulation system, motion simulation control of the first robot is performed in the motion simulation system through the first correction control parameter, and the first preset motion trail is obtained according to a motion simulation control result. And fitting the first contour correction result and the three-dimensional rectangular coordinate system with the motion trail of the first robot, wherein the first preset motion trail and the first actual motion trail are constructed under the same coordinate system, deviation analysis of the same-position coordinates is performed according to the first actual motion trail and the first preset motion trail, a plurality of error nodes are obtained according to the deviation analysis result of the same-position coordinates, each error node comprises identification position information of the error node and vector information of the error, and the error node set is formed based on the plurality of error nodes. And obtaining the first track deviation result through the error node set. The first preset motion track is obtained through a simulation system, the actual motion track of the first robot is fitted through the first contour correction result, the first track deviation result is obtained based on the first market price motion track and the set of error nodes of the first preset motion track, and data support is provided for accurate subsequent motion correction of the first robot.
Further, as shown in fig. 4, step S500 of the present application further includes:
step S555: acquiring environmental characteristics through the image acquisition device to obtain a first environmental characteristic acquisition result;
step S556: constructing an environment coordinate based on the first environment feature acquisition result and the three-dimensional rectangular coordinate system to obtain a first obstacle coordinate;
step S557: obtaining an obstacle distance set according to the first obstacle coordinates and the first actual motion trail;
step S558: judging whether the set of barrier distances meets a first preset safety distance;
step S559: and when the obstacle distance set does not meet the first preset safety distance, obtaining a first real-time deceleration parameter, and performing motion deceleration control on the first robot based on the first real-time deceleration parameter.
Specifically, in the process of controlling the movement of the first robot each time, the image acquisition device acquires environmental information of the movement of the first robot, and the first environmental feature acquisition result is obtained from the acquired image set. Extracting environmental features based on the image set, performing environmental fitting of the three-dimensional rectangular coordinate system according to the extracted environmental feature information, and obtaining a coordinate set of the environmental features, namely the first obstacle coordinates, according to the fitting of the position and the shape of the environment. And carrying out real-time distance evaluation between the environment characteristic and the first robot according to the obstacle coordinates and the track coordinates of the first actual motion track.
Further, the real-time distance assessment process is a process of performing a motion control early warning on the first robot, and when it is detected that the real-time distance does not satisfy a preset first preset safety distance, it indicates that there is a danger of contact with an environmental characteristic due to a control possibility of the first robot due to a system reason, a control problem, or a change in the environmental characteristic, at this time, a parameter of a control feed speed of a control parameter of the first robot is adjusted to a deceleration parameter, and the motion control of the first robot is performed based on the deceleration parameter. And after the first robot is subjected to feeding speed reduction control, continuously observing the subsequent movement of the first robot, and stopping the feeding movement of the first robot when the first robot after speed reduction is continuously close to the environmental characteristics and meets a second preset safety distance, and performing abnormity early warning. The real-time comparison and early warning of the environmental characteristics and the first actual motion track are carried out through real-time acquisition and fitting of the environmental characteristics, the control parameter correction and early warning of the first robot can be carried out by deeply combining the changed environmental information, and the technical effects of accurate early warning and motion correction are achieved.
Further, step S300 of the present application further includes:
step S310: obtaining historical motion monitoring information of the first robot, wherein the historical motion monitoring information comprises a historical motion configuration data set of the first robot;
step S320: performing configuration deviation motion identification according to the historical motion monitoring information to obtain a first identification set;
step S330: and constructing the configuration motion parameter adjustment model based on the first identification set.
Specifically, the configuration motion parameter adjustment model is a learning model, and can continuously perform self-learning and store the control characteristics of the equipment, so as to obtain the control adjustment parameters more suitable for the equipment. The historical movement monitoring information is an information set detected by the first robot in the movement and assembly executing process, and the monitored information comprises identification information of deviation information of actual movement information of the first robot and a preset control track. And performing deviation characteristic analysis on the control process of the first robot according to the set of the identification information, and constructing the configuration motion parameter adjustment model according to the deviation characteristic set obtained by analysis. And continuously adjusting and perfecting the configuration motion parameter adjustment model by continuously monitoring the motion information of the first robot, and generating matched adjustment parameters according to the initial position and the target position of the actual motion of the first robot by continuously perfecting the adjusted configuration motion parameter adjustment model, so that the motion control of the first robot is more accurate.
Further, step S540 of the present application further includes:
step S541: when the first image noise evaluation result does not meet a first preset noise evaluation threshold value, obtaining a first adjusting instruction;
step S542: adjusting the acquisition environment of the image acquisition device according to the first adjustment instruction to obtain a first environment adjustment parameter;
step S543: acquiring a motion trail of the first robot based on the first environment adjustment parameter by the image acquisition device to obtain a second image set;
step S544: and carrying out contour correction on the contour feature analysis result through the second image set to obtain the first contour correction result.
Specifically, in the process of fitting the actual motion trajectory of the first robot through the image acquisition device, the evaluation needs to be performed according to the image acquired by the image acquisition device, and when the acquired image set has too many noise points, the profile of the first robot fitted according to the image may have a deviation, and the first actual motion trajectory obtained through the profile having the deviation cannot be directly used as the motion trajectory of the correction parameter. The evaluation of the image acquisition results needs to be performed by the amount of noise of the image at this time. Setting a first preset noise evaluation threshold, wherein the first preset noise evaluation threshold at least comprises three thresholds, one is a noise quantity threshold, one is a noise size threshold of noise, and the other is a threshold of the total area of noise in an image ratio; the first environment adjustment parameter comprises a brightness adjustment for an environment. Acquiring the motion trail of the first robot after the environment is adjusted through the image acquisition device to obtain a second image set, and performing contour correction on the contour feature analysis result through the second image set to obtain a first contour correction result. The accuracy of the fitted contour image of the first robot is guaranteed through real-time analysis of the image noise points of the collected image set, and therefore the technical effects of accurately fitting the actual motion track of the first robot and accurately correcting parameters are achieved.
Further, through pressure acquisition sensor carries out the laminating target pressure of first robot is gathered, obtains first position deviation result, and this application step S700 still includes:
step S710: obtaining a first pressure acquisition result through the pressure sensor;
step S720: obtaining a first predetermined target pressure value;
step S730: obtaining a first pressure difference value according to the first pressure acquisition result and the first preset target pressure value;
step S740: obtaining the first position deviation result based on the first pressure difference value.
Specifically, a first predetermined contact pressure of the first robot with a target, that is, the first predetermined target pressure value, is obtained through preset parameters of the first robot, that is, the pressure value of the first robot contacting the target when the first robot reaches the first target position without deviation. And acquiring an actual pressure value of target contact of the first robot through the pressure sensor, and acquiring a first pressure acquisition result according to an actual pressure acquisition result. Obtaining a first pressure difference value based on the first pressure acquisition result and the first predetermined target pressure value, wherein the first pressure difference value reflects a deviation value of a pressure test direction of control of a final position of the first robot. And performing conversion calculation of the position deviation based on the pressure difference value to obtain a first position deviation result. Taking the first position deviation result as one of the first robot-controlled correction parameters. Through the acquisition of the first position deviation result, position deviation data are provided for accurate control of the first robot, and the technical effect of accurately correcting the position controlled by the first robot is achieved.
In summary, the robot control method and system for high-precision transmission of the mechanical arm provided by the application have the following technical effects:
1. the method comprises the steps that a three-dimensional rectangular coordinate system is constructed by obtaining first target position information and first initial position information of a first robot; obtaining predetermined motion control parameters of the first robot; inputting the first target position information and the first initial position information into a configuration motion parameter adjustment model to obtain a first adjustment parameter; adjusting the preset motion control parameter according to the first adjustment parameter to obtain a first correction control parameter; performing motion control on the first robot through the first correction control parameter, and performing motion track acquisition on the first robot through the image acquisition device to obtain a first track deviation result; and acquiring the pressure of the fitting target of the first robot through the pressure acquisition sensor to obtain a first position deviation result, and correcting the motion of the first robot based on the first track deviation result and the first position deviation result. The control and correction of the robot are carried out by collecting the historical work information and the real-time motion parameters of the robot, so that the technical effect of improving the control precision of the robot is achieved.
2. The motion analysis of the first robot is carried out by adopting a mode of collecting the motion image of the first robot to obtain the first track deviation result, thereby providing data support for the subsequent accurate control correction.
3. Due to the fact that the mode that the first preset motion trail is obtained through a simulation system is adopted, the actual motion trail of the first robot is fitted through the first contour correction result, the first trail deviation result is obtained based on the first market price motion trail and the set of error nodes of the first preset motion trail, and data support is provided for accurate follow-up motion correction of the first robot.
4. Because the real-time acquisition and fitting mode of the environmental characteristics is adopted, the real-time comparison and early warning of the environmental characteristics and the first actual motion track are carried out, the control parameter correction and early warning of the first robot can be carried out by deeply combining the changed environmental information, and the technical effects of accurate early warning and motion correction are achieved.
Example two
Based on the same inventive concept as the robot control method for high-precision transmission of the mechanical arm in the foregoing embodiment, the present invention further provides a robot control system for high-precision transmission of the mechanical arm, as shown in fig. 5, the system includes:
a first obtaining unit 11, where the first obtaining unit 11 is configured to obtain first target position information and first initial position information of a first robot, and construct a three-dimensional rectangular coordinate system;
a second obtaining unit 12, the second obtaining unit 12 being configured to obtain predetermined motion control parameters of the first robot;
a third obtaining unit 13, where the third obtaining unit 13 is configured to input the first target position information and the first initial position information into a configuration motion parameter adjustment model to obtain a first adjustment parameter;
a fourth obtaining unit 14, where the fourth obtaining unit 14 is configured to perform adjustment on the predetermined motion control parameter according to the first adjustment parameter, so as to obtain a first modified control parameter;
a fifth obtaining unit 15, where the fifth obtaining unit 15 is configured to perform motion control on the first robot according to the first corrected control parameter, and perform motion trajectory acquisition on the first robot through an image acquisition device to obtain a first trajectory deviation result;
the first correction unit 16 is configured to perform pressure acquisition on the attachment target of the first robot through a pressure acquisition sensor, obtain a first position deviation result, and perform motion correction on the first robot based on the first trajectory deviation result and the first position deviation result.
Further, the system further comprises:
a sixth obtaining unit, configured to obtain a first image set, where the first image set is an image set acquired by the image acquisition device through a motion trajectory of the first robot;
a seventh obtaining unit, configured to perform contour feature analysis based on the first image set, and obtain a contour feature analysis result;
an eighth obtaining unit, configured to perform image noise evaluation on the first image set to obtain a first image noise evaluation result;
a ninth obtaining unit, configured to perform contour correction on the contour feature analysis result according to the first image noise evaluation result, so as to obtain a first contour correction result;
a tenth obtaining unit configured to obtain the first trajectory deviation result from the first contour correction result.
Further, the system further comprises:
an eleventh obtaining unit, configured to perform motion simulation of the first robot according to the first correction control parameter and the three-dimensional rectangular coordinate system, so as to obtain a first predetermined motion trajectory;
a twelfth obtaining unit, configured to perform actual motion trajectory fitting according to the first contour correction result and the three-dimensional rectangular coordinate system, so as to obtain a first actual motion trajectory;
a thirteenth obtaining unit, configured to perform trajectory error analysis according to the first actual motion trajectory and the first predetermined motion trajectory, and obtain an error node set, where the error node set includes a plurality of error generation nodes and error vectors corresponding to the plurality of error generation nodes;
a fourteenth obtaining unit, configured to obtain the first trajectory deviation result based on the set of error nodes.
Further, the system further comprises:
a fifteenth obtaining unit, configured to perform environmental feature acquisition through the image acquisition device, so as to obtain a first environmental feature acquisition result;
a sixteenth obtaining unit, configured to construct an environment coordinate based on the first environment feature acquisition result and the three-dimensional rectangular coordinate system, and obtain a first obstacle coordinate;
a seventeenth obtaining unit, configured to obtain a set of obstacle distances according to the first obstacle coordinates and the first actual motion trajectory;
a first judging unit, configured to judge whether the set of obstacle distances satisfies a first predetermined safe distance;
an eighteenth obtaining unit, configured to obtain a first real-time deceleration parameter when the set of obstacle distances does not satisfy the first predetermined safe distance, and perform motion deceleration control of the first robot based on the first real-time deceleration parameter.
Further, the system further comprises:
a nineteenth obtaining unit, configured to obtain historical motion monitoring information of the first robot, where the historical motion monitoring information includes a historical motion configuration data set of the first robot;
a twentieth obtaining unit, configured to perform configuration deviation motion identification according to the historical motion monitoring information to obtain a first identification set;
a first constructing unit configured to construct the morphology motion parameter adjustment model based on the first identification set.
Further, the system further comprises:
a twenty-first obtaining unit configured to obtain a first adjustment instruction when the first image noise evaluation result does not satisfy a first predetermined noise evaluation threshold;
a twenty-second obtaining unit, configured to adjust, according to the first adjustment instruction, a collection environment of the image collection device, to obtain a first environment adjustment parameter;
a twenty-third obtaining unit, configured to perform motion trajectory acquisition of the first robot based on the first environment adjustment parameter by using the image acquisition device, and obtain a second image set;
a second correction unit configured to perform contour correction of the contour feature analysis result by the second image set, and obtain the first contour correction result.
Further, the system further comprises:
a twenty-fourth obtaining unit for obtaining a first pressure acquisition result by the pressure sensor;
a twenty-fifth obtaining unit for obtaining a first predetermined target pressure value;
a twenty-sixth obtaining unit, configured to obtain a first pressure difference value according to the first pressure acquisition result and the first predetermined target pressure value;
a twenty-seventh obtaining unit to obtain the first position deviation result based on the first pressure difference value.
Various changes and specific examples of the robot control method for high-precision transmission of the robot arm in the first embodiment of fig. 1 are also applicable to the robot control system for high-precision transmission of the robot arm in the present embodiment, and through the foregoing detailed description of the robot control method for high-precision transmission of the robot arm, those skilled in the art can clearly know the implementation method of the robot control system for high-precision transmission of the robot arm in the present embodiment, so for the brevity of the description, detailed description is omitted here.
Exemplary electronic device
The electronic device of the present application is described below with reference to fig. 6.
Fig. 6 illustrates a schematic structural diagram of an electronic device according to the present application.
The present invention also provides an electronic apparatus based on the inventive concept of the robot control method of the high precision transmission of the robot arm in the foregoing embodiment, and the electronic apparatus according to the present application is described below with reference to fig. 6. The electronic device may be a removable device itself or a stand-alone device independent thereof, on which a computer program is stored which, when being executed by a processor, carries out the steps of any of the methods as described hereinbefore.
As shown in fig. 6, the electronic device 50 includes one or more processors 51 and a memory 52.
The processor 51 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 50 to perform desired functions.
The memory 52 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by the processor 51 to implement the methods of the various embodiments of the application described above and/or other desired functions.
In one example, the electronic device 50 may further include: an input device 53 and an output device 54, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The embodiment of the invention provides a robot control method for high-precision transmission of a mechanical arm, which is applied to a robot correction control system, wherein the system is in communication connection with an image acquisition device and a pressure sensor, and the method comprises the following steps: acquiring first target position information and first initial position information of a first robot, and constructing a three-dimensional rectangular coordinate system; obtaining predetermined motion control parameters of the first robot; inputting the first target position information and the first initial position information into a configuration motion parameter adjustment model to obtain a first adjustment parameter; adjusting the preset motion control parameter according to the first adjustment parameter to obtain a first correction control parameter; performing motion control on the first robot through the first correction control parameter, and performing motion track acquisition on the first robot through the image acquisition device to obtain a first track deviation result; and acquiring the pressure of the fitting target of the first robot through the pressure acquisition sensor to obtain a first position deviation result, and correcting the motion of the first robot based on the first track deviation result and the first position deviation result. The technical problem that accurate control correction of the robot cannot be performed according to actual work information of the robot in the prior art is solved, control correction of the robot is performed by collecting historical work information and real-time motion parameters of the robot, and therefore the technical effect of improving control precision of the robot is achieved.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus necessary general-purpose hardware, and certainly can also be implemented by special-purpose hardware including special-purpose integrated circuits, special-purpose CPUs, special-purpose memories, special-purpose components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, for the present application, the implementation of a software program is more preferable. Based on such understanding, the technical solutions of the present application or portions contributing to the prior art may be embodied in the form of a software product, where the computer software product is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk of a computer, and includes several instructions for causing a computer device to execute the method according to the embodiments of the present application.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions described in accordance with the present application are generated, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on or transmitted from a computer-readable storage medium to another computer-readable storage medium, which may be magnetic (e.g., floppy disks, hard disks, tapes), optical (e.g., DVDs), or semiconductor (e.g., Solid State Disks (SSDs)), among others.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of the processes should be determined by the functions and the inherent logic, and should not constitute any limitation to the implementation process of the present application.
Additionally, the terms "system" and "network" are often used interchangeably herein. The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that in this application, "B corresponding to A" means that B is associated with A, from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In short, the above description is only a preferred embodiment of the present disclosure, and is not intended to limit the scope of the present disclosure. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. A robot control method for high-precision transmission of a mechanical arm is characterized in that the method is applied to a robot correction control system, the system is in communication connection with an image acquisition device and a pressure sensor, and the method comprises the following steps:
acquiring first target position information and first initial position information of a first robot, and constructing a three-dimensional rectangular coordinate system;
obtaining predetermined motion control parameters of the first robot;
inputting the first target position information and the first initial position information into a configuration motion parameter adjustment model to obtain a first adjustment parameter;
adjusting the preset motion control parameter according to the first adjustment parameter to obtain a first correction control parameter;
performing motion control on the first robot through the first correction control parameter, and performing motion track acquisition on the first robot through the image acquisition device to obtain a first track deviation result;
acquiring the pressure of the fitting target of the first robot through the pressure sensor to obtain a first position deviation result, and correcting the motion of the first robot based on the first track deviation result and the first position deviation result;
the method further comprises the following steps:
obtaining historical motion monitoring information of the first robot, wherein the historical motion monitoring information comprises a historical motion configuration data set of the first robot;
performing configuration deviation motion identification according to the historical motion monitoring information to obtain a first identification set;
and constructing the configuration motion parameter adjustment model based on the first identification set.
2. The method of claim 1, wherein said acquiring a motion trajectory of said first robot by said image acquisition device to obtain a first trajectory deviation result, further comprises:
obtaining a first image set, wherein the first image set is an image set acquired by the image acquisition device through the motion trail of the first robot;
performing contour feature analysis based on the first image set to obtain a contour feature analysis result;
performing image noise evaluation on the first image set to obtain a first image noise evaluation result;
performing contour correction on the contour feature analysis result according to the first image noise evaluation result to obtain a first contour correction result;
and obtaining the first track deviation result according to the first contour correction result.
3. The method of claim 2, wherein said obtaining said first trajectory deviation result from said first contour correction result further comprises:
performing motion simulation of the first robot according to the first correction control parameter and the three-dimensional rectangular coordinate system to obtain a first preset motion track;
fitting an actual motion track according to the first contour correction result and the three-dimensional rectangular coordinate system to obtain a first actual motion track;
performing track error analysis according to the first actual motion track and the first preset motion track to obtain an error node set, wherein the error node set comprises a plurality of error generation nodes and error vectors corresponding to the error generation nodes;
obtaining the first trajectory deviation result based on the set of error nodes.
4. The method of claim 3, further comprising:
acquiring environmental characteristics through the image acquisition device to obtain a first environmental characteristic acquisition result;
constructing an environment coordinate based on the first environment feature acquisition result and the three-dimensional rectangular coordinate system to obtain a first obstacle coordinate;
obtaining an obstacle distance set according to the first obstacle coordinates and the first actual motion trail;
judging whether the set of barrier distances meets a first preset safety distance;
and when the barrier distance set does not meet the first preset safety distance, obtaining a first real-time deceleration parameter, and performing motion deceleration control on the first robot based on the first real-time deceleration parameter.
5. The method of claim 2, wherein the method further comprises:
when the first image noise evaluation result does not meet a first preset noise evaluation threshold value, obtaining a first adjusting instruction;
adjusting the acquisition environment of the image acquisition device according to the first adjustment instruction to obtain a first environment adjustment parameter;
acquiring the motion trail of the first robot based on the first environment adjustment parameter by the image acquisition device to obtain a second image set;
and carrying out contour correction on the contour feature analysis result through the second image set to obtain a first contour correction result.
6. The method of claim 1, wherein said performing a fit target pressure acquisition of said first robot via said pressure acquisition sensor to obtain a first position deviation result, further comprises:
obtaining a first pressure acquisition result through the pressure sensor;
obtaining a first predetermined target pressure value;
obtaining a first pressure difference value according to the first pressure acquisition result and the first preset target pressure value;
obtaining the first position deviation result based on the first pressure difference value.
7. A robot control system for high precision transmission of a mechanical arm is characterized by comprising:
the first obtaining unit is used for obtaining first target position information and first initial position information of the first robot and constructing a three-dimensional rectangular coordinate system;
a second obtaining unit for obtaining a predetermined motion control parameter of the first robot;
a third obtaining unit, configured to input the first target position information and the first initial position information into a configuration motion parameter adjustment model to obtain a first adjustment parameter;
a fourth obtaining unit, configured to perform adjustment on the predetermined motion control parameter according to the first adjustment parameter, so as to obtain a first correction control parameter;
a fifth obtaining unit, configured to perform motion control on the first robot according to the first corrected control parameter, and perform motion trajectory acquisition on the first robot through an image acquisition device to obtain a first trajectory deviation result;
the first correction unit is used for acquiring the pressure of the fitting target of the first robot through a pressure acquisition sensor to obtain a first position deviation result, and performing motion correction of the first robot based on the first track deviation result and the first position deviation result;
a nineteenth obtaining unit, configured to obtain historical motion monitoring information of the first robot, where the historical motion monitoring information includes a historical motion configuration data set of the first robot;
a twentieth obtaining unit, configured to perform configuration deviation motion identification according to the historical motion monitoring information to obtain a first identification set;
a first construction unit for constructing the configuration motion parameter adjustment model based on the first set of identifications.
8. An electronic device comprising a processor and a memory; the memory is used for storing; the processor is used for executing the method of any one of claims 1 to 6 through calling.
9. A computer-readable storage medium comprising a computer program and/or instructions, characterized in that the computer program and/or instructions, when executed by a processor, implement the steps of the method of any one of claims 1 to 6.
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| CN117123520A (en) * | 2023-02-06 | 2023-11-28 | 荣耀终端有限公司 | Method for realizing glue wiping of target workpiece and glue wiping equipment |
| CN116100561B (en) * | 2023-04-10 | 2023-09-05 | 国网浙江省电力有限公司宁波供电公司 | Automatic wiring track control method and system |
| CN116214526B (en) * | 2023-05-09 | 2023-08-04 | 合力（天津）能源科技股份有限公司 | Compensation control method and system for motion trail of robot |
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| CN109822570A (en) * | 2019-01-31 | 2019-05-31 | 秒针信息技术有限公司 | The monitoring method and device of mechanical arm |
| CN112140101A (en) * | 2019-06-28 | 2020-12-29 | 鲁班嫡系机器人（深圳）有限公司 | Trajectory planning method, device and system |
| CN110587472B (en) * | 2019-08-30 | 2020-09-01 | 重庆智能机器人研究院 | Polishing debugging system |
| CN110524544A (en) * | 2019-10-08 | 2019-12-03 | 深圳前海达闼云端智能科技有限公司 | A kind of control method of manipulator motion, terminal and readable storage medium storing program for executing |
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