CN114102597A - Method for controlling inching operation of mechanical arm joint, electronic device and storage medium - Google Patents

Method for controlling inching operation of mechanical arm joint, electronic device and storage medium Download PDF

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CN114102597A
CN114102597A CN202111448754.XA CN202111448754A CN114102597A CN 114102597 A CN114102597 A CN 114102597A CN 202111448754 A CN202111448754 A CN 202111448754A CN 114102597 A CN114102597 A CN 114102597A
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mechanical arm
arm joint
motion
joint
key
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CN114102597B (en
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张健
吴勇毅
谢双胜
郭鹏
夏雪琴
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Borunte Robot Co Ltd
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Borunte Robot Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/10—Numerical modelling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The application discloses a method for controlling the inching operation of a mechanical arm joint, electronic equipment and a storage medium, and relates to the field of motion control of industrial robots, wherein the method for controlling the inching operation of the mechanical arm joint comprises the following steps: acquiring key parameters when the jog key is continuously pressed and determining a first moment according to the key parameters; at the first moment, planning according to the motion parameters of the mechanical arm joint to obtain a trapezoidal motion track of the mechanical arm joint; calculating the target joint position of the mechanical arm joint when the jog key is pressed according to the trapezoidal motion track; and driving the mechanical arm joint to move according to the target joint position. The method for controlling the inching operation of the mechanical arm joint can effectively solve the problem of sudden change of the speed of the mechanical arm joint and reduce mechanical impact.

Description

Method for controlling inching operation of mechanical arm joint, electronic device and storage medium
Technical Field
The application relates to the field of motion control of industrial robots, in particular to a method and a system for controlling the inching operation of a joint of a mechanical arm and a storage medium.
Background
The teaching function of manual inching of the mechanical arm is a necessary function in a mechanical arm controller, the function means that a user uses a handheld operation device (mechanical arm demonstrator) to operate the joint motion of the mechanical arm to reach a joint position expected by the user, and then the user can record a joint position value of the mechanical arm through the demonstrator and the controller for programming the mechanical arm to use the existing mechanical arm; the existing mechanical arm can generate mechanical impact due to sudden speed change in the motion process, and abrasion is caused to a motor and the mechanical arm to a certain degree.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, the application provides a method, a system and a storage medium for controlling the inching operation of the joint of the mechanical arm, which can effectively reduce the problem of sudden change of the speed of the joint of the mechanical arm and reduce mechanical impact.
In order to solve the technical problem, the following technical scheme is provided:
the embodiment of the first aspect of the application provides a method for controlling the inching operation of a joint of a mechanical arm, which comprises the following steps:
acquiring key parameters when the jog key is continuously pressed and determining a first moment according to the key parameters;
at the first moment, planning according to the motion parameters of the mechanical arm joint to obtain a trapezoidal motion track of the mechanical arm joint;
calculating the target joint position of the mechanical arm joint when the jog key is pressed according to the trapezoidal motion track;
and driving the mechanical arm joint to move according to the target joint position.
According to the method for controlling the inching operation of the mechanical arm joint, the following beneficial effects are at least achieved: in the method for controlling the inching operation of the mechanical arm joint, key parameters when the inching key is continuously pressed are obtained, and a first moment is determined according to the key parameters; at the first moment, planning according to the motion parameters of the mechanical arm joint to obtain a trapezoidal motion track of the mechanical arm joint; calculating the target joint position of the mechanical arm joint when the jog key is pressed according to the trapezoidal motion track; driving the mechanical arm to move according to the target joint position; at the moment, path planning is only performed once in the teaching process every time, the position change of the actual motion of the mechanical arm accords with the trapezoidal change rule, the problem of sudden change of the joint speed of the mechanical arm is effectively reduced, mechanical impact is reduced, and abrasion to a motor and a mechanical structure of the mechanical arm body is reduced.
According to some embodiments of the first aspect of the present application, the obtaining a key parameter when the jog key is continuously pressed and determining a first time according to the key parameter includes:
updating the first duration of continuously pressing the jog key at the current moment according to the key parameter;
and taking the time corresponding to the first time length closest to the preset jitter elimination time as the first time.
According to some embodiments of the first aspect of the present application, the debounce time is a multiple of a jog cycle value of the robotic arm joint.
According to some embodiments of the first aspect of the present application, the calculating a target joint position of the mechanical arm joint when the jog key is pressed according to the trapezoidal motion trajectory includes:
calculating the total time of the mechanical arm joint movement to obtain a second duration;
determining a first motion segment in which the mechanical arm joint is located at the current moment according to the second time length and the motion time lengths corresponding to the motion segments respectively;
acquiring a first speed of the mechanical arm joint in the first motion segment;
and calculating to obtain the position of the target joint according to the current position of the mechanical arm joint and the first speed.
According to some embodiments of the first aspect of the present application, the obtaining a first velocity of the robotic arm joint at the first motion segment comprises:
when the first motion segment is an acceleration motion segment, taking the product of the total time of the mechanical arm joint motion and the maximum acceleration in the trapezoidal motion trail as the first speed;
and when the first motion segment is a uniform motion segment, taking the product of the motion duration of the acceleration motion segment in the trapezoidal motion track and the maximum acceleration in the trapezoidal motion track as the first speed.
According to some embodiments of the first aspect of the present application, the calculating the target joint position according to the current position of the robot arm and the first speed comprises:
acquiring the inching period of the mechanical arm joint, and calculating a first distance corresponding to the first speed of the mechanical arm joint in one inching period;
and accumulating the first distance and the current position to obtain the target joint position.
According to some embodiments of the first aspect of the application, the method further comprises:
detecting the key change state of the jog key; wherein the key change state indicates that the key state of the jog key changes from being pressed to being released;
and judging whether to calculate a plurality of target joint positions of the mechanical arm joint according to the trapezoidal motion track according to the second speed of the mechanical arm joint at the current moment.
According to some embodiments of the first aspect of the present application, the determining whether to calculate a plurality of target joint positions of the robot joint according to the trapezoidal motion trajectory based on the second speed of the robot joint at the current time includes:
when the second speed is greater than 0, determining a second motion segment in which the mechanical arm joint is located at the current moment according to the second time length and the motion time lengths corresponding to the motion segments respectively;
calculating a third speed of each mechanical arm joint in the second motion segment from the current moment;
and calculating the position of the target joint until the second speed is zero according to the current position of the mechanical arm joint and the third speed.
An embodiment of a second aspect of the present application provides an electronic device, including:
at least one memory;
at least one processor;
at least one program;
the program is stored in the memory, and the processor executes at least one of the programs to implement the robot arm joint jog operation control method according to any one of the embodiments of the first aspect of the present application.
Embodiments of the third aspect of the present application provide a computer-readable storage medium storing computer-executable signals for executing the method for controlling the jog operations of the joints of a robot arm according to any one of the embodiments of the first aspect of the present application.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
Additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a robot arm teaching system according to some embodiments of the present application;
fig. 2 is a flowchart of a method for controlling a jog operation of a joint of a robot arm according to some embodiments of the present disclosure;
FIG. 3 is a schematic diagram of a trajectory plan for a three-stage speed change provided by some embodiments of the present application;
FIG. 4 is a schematic diagram of trajectory planning for two-stage velocity variation according to some embodiments of the present application;
fig. 5 is a flowchart of calculating a target joint position of a robot joint according to a trapezoidal motion trajectory according to some embodiments of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different from that in the flowcharts. The terms etc. in the description and claims and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In the description of the present application, if there are first and second described only for the purpose of distinguishing technical features, it is not understood that relative importance is indicated or implied or that the number of indicated technical features or the precedence of the indicated technical features is implicitly indicated or implied.
In the description of the present application, unless otherwise expressly limited, terms such as set, mounted, connected and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present application by combining the detailed contents of the technical solutions.
As shown in fig. 1, an embodiment of the present application provides a robot teaching system, which includes a teach pendant 110, a controller 120, and a robot 130; the controller 120 is in communication connection with the teach pendant 110, and the controller 120 is used for receiving the key parameters from the teach pendant 110 and determining a first moment according to the key parameters; at the first moment, planning according to the motion parameters of the mechanical arm joint to obtain a trapezoidal motion track of the mechanical arm joint; calculating the target joint position of the mechanical arm joint when the jog key of the demonstrator 110 is pressed each time according to the trapezoidal motion track; and (4) driving the mechanical arm to move according to the target joint position.
Those skilled in the art will appreciate that the system architecture diagram shown in fig. 1 does not constitute a limitation on the embodiments of the application and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
Based on the system structure, various embodiments of the method for controlling the inching operation of the mechanical arm joint are provided.
Referring to fig. 2, a method for controlling a robot arm joint jog operation according to an embodiment of a first aspect of the present application includes the steps of:
step S210, obtaining key parameters when the jog key is continuously pressed and determining a first moment according to the key parameters;
the key parameter may be a key parameter of a jog key of the controller periodically detected by the controller or a key parameter of a jog key sent to the controller by the demonstrator in real time, and a period value during the periodic detection is a fixed value.
It should be noted that, in the first time, the time corresponding to the trapezoidal motion trajectory of the mechanical arm joint is planned only once when the key state is not changed.
S220, planning according to the motion parameters of the mechanical arm joint at the first moment to obtain a trapezoidal motion track of the mechanical arm joint;
in some embodiments, the motion parameters may be read from a configuration file of the robot arm, and specifically, the motion parameters include a running distance s, a maximum speed, and a maximum acceleration; the running distance s is a reference distance of the set mechanical arm joint motion, wherein the maximum speed is a maximum speed that can be reached by the set mechanical arm joint motion, and the maximum acceleration is a maximum acceleration that can be reached by the set mechanical arm joint motion, and it should be noted that the user can adjust the motion parameters according to the teaching conditions of the mechanical arm 130.
It should be noted that, in some embodiments, the controller executes the trapezoidal trajectory planning algorithm to obtain a rule that the mechanical arm joint needs to follow a multi-segment speed change during the movement process.
It should be noted that, the trapezoidal trajectory planning algorithm is as follows,wherein T1 is the time when the mechanical arm joint reaches the maximum speed, namely the end time of the acceleration section of the mechanical arm joint, delta T is the time when the mechanical arm joint moves at the constant speed at the maximum speed after reaching the maximum speed, T1 is the time when the mechanical arm joint reaches the maximum speed and moves at the constant speed at the maximum speed2The end time of the uniform motion of the mechanical arm joint is set; distance s, maximum velocity vmaxAnd maximum acceleration amaxAre motion parameters read from a configuration file of the robot arm.
T1＝vmax/amax
Δ＝s-vmax 2/amax
if(Δ＜0)
Figure BDA0003384761010000041
Δt＝(s-T1×vmax)/vmax
if(Δt＞0)
T3＝2T1+Δt
T2＝T3-T1
else
T3＝2T1
T2＝T1
end
vlim＝T1×amax
For example, as shown in fig. 3, when Δ T > 0, the velocity of the mechanical arm joint changes in three stages, including an acceleration stage, a constant velocity stage, and a deceleration stage, where T0 is the time when the mechanical arm joint starts to move, T1Is the end time of the acceleration section of the mechanical arm joint, T2The end time of the uniform velocity section of the mechanical arm joint, T3And stopping the motion time of the mechanical arm joint.
Illustratively, as shown in FIG. 4, when Δ T ≦ 0, T is present2＝T1The joint speed of the mechanical arm is changed in two stages, including an acceleration stage and a deceleration stage, wherein T0Time for starting movement of the arm joint, T1For acceleration section of mechanical arm jointEnd time, T3And stopping the motion time of the mechanical arm joint.
And step S230, calculating the target joint position of the mechanical arm joint when the jog key is pressed according to the trapezoidal motion track.
It should be noted that, after the first time, when the jog key is not changed, each time the jog key is pressed, the calculation of the target joint position is triggered.
And step S240, driving the mechanical arm to articulate according to the target joint position.
In some embodiments of the first aspect of the present application, the step S210 of obtaining a key parameter when the jog key is continuously pressed and determining a first time according to the key parameter includes:
updating the first duration of continuously pressing the jog key at the current moment according to the key parameter;
and taking the time corresponding to the first time length closest to the preset jitter elimination time as the first time.
Specifically, referring to fig. 1, in the manual jog teaching process of the robot arm, the controller 120 obtains a key state of a jog key of the teach pendant 110, where the key state includes pressing and releasing, and if a first duration of continuously pressing the jog key at a current time is longer than a shake elimination time, a time corresponding to the first duration closest to the preset shake elimination time is used as a first time, and at the first time, the controller 120 executes the trapezoidal trajectory planning algorithm to obtain a trapezoidal motion trajectory of the robot arm joint according to the trapezoidal trajectory planning algorithm.
It should be noted that, in some embodiments, the pressing duration of the click key is shorter due to the false touch of the user, and the first duration is less than or equal to the shake elimination time, the acquired key state is determined as an invalid signal, and the program operation is ended without performing the next trapezoidal trajectory planning.
It is understood that the debounce time is a multiple of the jog cycle value of the robotic arm joint.
It should be noted that the jog cycle is a communication cycle of the controller 120 and the robot arm 130, the debounce time varies with the number of communication cycles of the controller 120,assume a period value of TstepJitter elimination time of nTstepWherein the value of n is a positive integer and n increases with the number of cycles; setting the first time length as TcurAt this time, if T is exemplarycur＞nTstepThe first time is nTstep+1, the controller executes the trapezoidal track planning algorithm at the first moment; if Tcur≤nTstepAnd the controller finishes the program operation without performing the next trapezoidal track planning.
As shown in fig. 5, the step S230 of calculating the target joint position of the mechanical arm joint when the jog key is pressed according to the trapezoidal motion trajectory includes:
step S510, calculating the total time of the movement of the mechanical arm joint to obtain a second duration;
step S520, determining a first motion segment where the mechanical arm joint is located at the current moment according to the second time length and the motion time lengths corresponding to the plurality of motion segments respectively;
step S530, acquiring a first speed of the mechanical arm joint in a first motion segment;
and S540, calculating to obtain the position of the target joint according to the current position and the first speed of the mechanical arm joint.
It should be noted that, when the continuous key is valid, the time of pressing the jog key for the first time corresponds to the time of starting the motion of the mechanical arm joint, and it is assumed that the current time of continuously pressing the key, i.e. the first duration, is TcurThen T iscur-T0Setting the second time length as T for the total time of the mechanical arm joint movement, and then T is Tcur-T0When T is more than or equal to T1Meanwhile, referring to the embodiment of fig. 3, when the mechanical arm joint is in the constant speed section (i.e., the first motion section is the constant speed section), the target joint position is obtained according to the first trajectory planning formula; when T < T1Referring to the embodiment of fig. 4, when the robot joint is in the acceleration section, the target joint position is obtained according to the second trajectory planning formula.
It should be noted that the mechanical arm teaching system drives the mechanical arm joint to move according to the target joint position, so that the mechanical arm joint conforms to the speed change rule in the multi-section speed change track in the whole moving process, namely, the mechanical arm joint has an acceleration section and a deceleration section in the moving process, thereby reducing the problem of speed mutation in the moving process of the mechanical arm joint, reducing mechanical impact, and effectively reducing the abrasion to the motor and the mechanical structure of the mechanical arm body.
It is understood that, in step S530, acquiring the first velocity of the robot arm joint in the first motion segment includes: when the first motion segment is an acceleration motion segment, the first speed is the product of the total time of the mechanical arm joint motion and the maximum acceleration in the trapezoidal motion trail; when the first motion segment is a uniform motion segment, the first speed is the product of the motion duration of the acceleration motion segment in the trapezoidal motion track and the maximum acceleration in the trapezoidal motion track.
It is understood that, in step S540, calculating the target joint position according to the current position and the first speed of the mechanical arm includes: acquiring a inching period of a mechanical arm joint, and calculating a first distance corresponding to a first speed of the mechanical arm joint in one inching period; and accumulating the first distance and the current position to obtain the position of the target joint.
It should be noted that the trajectory planning method specifically includes: acquiring a periodic value of controller communication, and acquiring the maximum acceleration and the current position in the trapezoidal motion trail; obtaining a first speed of the mechanical arm joint motion at the current moment according to the maximum acceleration in the trapezoidal motion trail and the total time of the mechanical arm joint motion, and calculating a first distance corresponding to the mechanical arm joint in a inching period according to the first speed and a period value; and accumulating the first distance and the current position to obtain the position of the target joint.
Illustratively, referring to the embodiment shown in fig. 3, assuming that the first motion segment is an acceleration segment, the target joint position is expressed as: j. the design is a squaregoal＝Jcur+t×amax×TstepWherein, t × amaxDenotes the first speed, t × amax×TstepRepresenting a first distance.
Illustratively, referring to the embodiment shown in FIG. 3, the target joint position is assumed to be the constant velocity segment of the first motion segmentThe second trajectory planning formula is expressed as: j. the design is a squaregoal＝Jcur+T1×amax×TstepWherein, T1×amaxRepresenting a first speed, T1×amax×TstepRepresenting a first distance.
It can be understood that the method for controlling the inching operation of the joint of the mechanical arm according to the embodiment of the first aspect of the embodiment of the present application further includes: detecting the key change state of the inching key; the key change state represents that the key state of the inching key is changed from pressing to releasing; and judging whether to calculate a plurality of target joint positions of the mechanical arm joint according to the trapezoidal motion track according to the second speed of the mechanical arm joint at the current moment.
It can be understood that the trapezoidal motion trajectory includes a plurality of motion segments, and whether to calculate a plurality of target joint positions of the mechanical arm joint according to the trapezoidal motion trajectory is determined according to the second speed of the mechanical arm joint at the current time includes: when the second speed is greater than zero, determining a second motion segment in which the mechanical arm joint is located at the current moment according to the second time length and the motion time lengths respectively corresponding to the plurality of motion segments; calculating a third speed of each mechanical arm joint in the second motion segment from the current moment; and calculating the position of the target joint until the second speed is zero according to the current position of the mechanical arm joint and the third speed.
It should be noted that, in some embodiments, when the teaching is stopped, the key state is off, the current velocity of the robot joint is detected, and if the velocity is equal to 0, the program operation is ended, and the trapezoidal trajectory planning of the next step does not need to be performed.
It should be noted that, in some embodiments, when the teaching is stopped, the key state is changed from being pressed to being released, the controller detects the current second speed of the mechanical arm joint, and when the second speed is greater than 0 and T ≧ T1Meanwhile, referring to fig. 3, at this time, the mechanical arm joint enters the deceleration section from the uniform speed section; when the second speed is greater than 0 and T < T1Referring to fig. 4, when the mechanical arm joint enters the deceleration section from the acceleration section, the target joint position J is obtainedgoal＝Jcur+t×amax×Tstep(ii) a Where t is the second duration, t × amaxRepresenting a third speed.
It should be noted that, in some embodiments, after the cycle of executing the third trajectory planning method for the first time is ended, the velocity of the mechanical arm joint is still greater than 0, and when the third trajectory planning method is executed in the next cycle, T is subtracted by a cycle value, that is, T is T-TstepBy analogy, t is decremented by the period value until the detected second velocity equals 0.
In a second aspect, the present application provides an electronic device comprising:
at least one memory;
at least one processor;
at least one program;
a program is stored in the memory, and the processor executes at least one program to implement the robot arm joint jog operation control method of any one of the first aspect of the present application.
The processor and memory may be connected by a bus or other means.
The memory, which is a non-transitory readable storage medium, may be used to store non-transitory software instructions as well as non-transitory executable instructions. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. It will be appreciated that the memory can alternatively comprise memory located remotely from the processor, and that such remote memory can be coupled to the processor via a network, examples of which include, but are not limited to, the internet, an intranet, a local area network, a mobile communications network, and combinations thereof.
The processor executes the non-transitory software instructions, instructions and signals stored in the memory, so as to apply various functions and process data, that is, to implement the method for controlling the jog operation of the robot arm joint according to the embodiment of the first aspect.
Non-transitory software instructions and instructions required to implement the robot joint jog operation control method of the above-described embodiment are stored in the memory, and when executed by the processor, perform the robot joint jog operation control method of the first aspect of the present application, for example, perform the above-described method steps S210 to S240 in fig. 2, and method steps S510 to S540 in fig. 5.
The robot arm control system of the second aspect has all the advantages of the first aspect of the present application, because it can execute the robot arm joint jog operation control method of any one of the first aspect of the present application.
In a third aspect, an embodiment of the present application provides a computer-readable storage medium storing computer-executable signals for performing:
the method for controlling the jog operation of the joint of the mechanical arm according to any one of the embodiments of the first aspect.
For example, the above-described method steps S210 to S240 in fig. 2 and the method steps S510 to S540 in fig. 5 are performed.
The computer storage medium of the third aspect has all the advantages of the first aspect of the present application since it can execute the robot arm joint jog operation control method of any one of the first aspect of the present application.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
From the above description of embodiments, those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable signals, data structures, instruction modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer-readable signals, data structures, instruction modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present application.

Claims (10)

1. A method for controlling the inching operation of a joint of a mechanical arm is characterized by comprising the following steps:
acquiring key parameters when the jog key is continuously pressed and determining a first moment according to the key parameters;
at the first moment, planning according to the motion parameters of the mechanical arm joint to obtain a trapezoidal motion track of the mechanical arm joint;
calculating the target joint position of the mechanical arm joint when the jog key is pressed according to the trapezoidal motion track;
and driving the mechanical arm joint to move according to the target joint position.
2. The method for controlling jog operation of mechanical arm joint according to claim 1, wherein said obtaining key parameters when the jog key is continuously pressed and determining the first time according to the key parameters comprises:
updating the first duration of continuously pressing the jog key at the current moment according to the key parameter;
and taking the time corresponding to the first time length closest to the preset jitter elimination time as the first time.
3. The method of controlling jog operation of mechanical arm joint according to claim 2, wherein said shake elimination time is a multiple of a value of jog cycle of said mechanical arm joint.
4. The method for controlling jog operation of robot arm joint according to claim 2, wherein said trapezoidal motion trajectory includes a plurality of motion segments, and said calculating a target joint position of said robot arm joint when said jog key is pressed according to said trapezoidal motion trajectory includes:
calculating the total time of the mechanical arm joint movement to obtain a second duration;
determining a first motion segment in which the mechanical arm joint is located at the current moment according to the second time length and the motion time lengths corresponding to the motion segments respectively;
acquiring a first speed of the mechanical arm joint in the first motion segment;
and calculating to obtain the position of the target joint according to the current position of the mechanical arm joint and the first speed.
5. The robot arm joint jog operation control method according to claim 4, wherein said acquiring the first velocity of the robot arm joint in the first motion segment comprises:
when the first motion segment is an acceleration motion segment, taking the product of the total time of the mechanical arm joint motion and the maximum acceleration in the trapezoidal motion trail as the first speed;
and when the first motion segment is a uniform motion segment, taking the product of the motion duration of the acceleration motion segment in the trapezoidal motion track and the maximum acceleration in the trapezoidal motion track as the first speed.
6. The method for controlling a robot arm joint jog operation according to claim 4, wherein the calculating the target joint position based on the current position of the robot arm and the first speed includes:
acquiring a inching period of the mechanical arm joint, and calculating a first distance corresponding to the first speed of the mechanical arm joint in one inching period;
and accumulating the first distance and the current position to obtain the target joint position.
7. The robot arm joint jog operation control method according to claim 4, characterized in that said method further comprises:
detecting the key change state of the jog key; wherein the key change state indicates that the key state of the jog key changes from being pressed to being released;
and judging whether to calculate a plurality of target joint positions of the mechanical arm joint according to the trapezoidal motion track according to the second speed of the mechanical arm joint at the current moment.
8. The method for controlling jog operation of mechanical arm joint according to claim 7, wherein the trapezoidal motion trajectory includes a plurality of motion segments, and the determining whether to calculate the target joint positions of the mechanical arm joint according to the trapezoidal motion trajectory according to the second velocity of the mechanical arm joint at the current time includes:
when the second speed is greater than 0, determining a second motion segment in which the mechanical arm joint is located at the current moment according to the second time length and the motion time lengths corresponding to the motion segments respectively;
calculating a third speed of each mechanical arm joint in the second motion segment from the current moment;
and calculating the position of the target joint until the second speed is zero according to the current position of the mechanical arm joint and the third speed.
9. An electronic device, comprising:
at least one memory;
at least one processor;
at least one program;
the programs are stored in the memory, and the processor executes at least one of the programs to implement the robot arm joint jog operation control method according to any one of claims 1 to 8.
10. A computer-readable storage medium storing computer-executable signals for executing the robot arm joint jog operation control method according to any one of claims 1 to 8.
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