CN114227638A - Master-slave mapping method and correction method for robot operating rod and robot - Google Patents
Master-slave mapping method and correction method for robot operating rod and robot Download PDFInfo
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- CN114227638A CN114227638A CN202111438196.9A CN202111438196A CN114227638A CN 114227638 A CN114227638 A CN 114227638A CN 202111438196 A CN202111438196 A CN 202111438196A CN 114227638 A CN114227638 A CN 114227638A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
Abstract
The invention belongs to the technical field of master-slave control of robots, and discloses a master-slave mapping method and a correction method for a robot operating rod and a robot. Has the advantages that: the robot control device has the advantages that an operator can conveniently learn and understand the principle of the robot controlled by the operating rod, the robot can be rapidly mastered through the operating rod, the robot can be accurately controlled by the operating rod of the robot, the phenomenon that the robot moves inaccurately due to the fact that the robot and the operating rod are asynchronous is avoided, and preset precise operation cannot be completed.
Description
Technical Field
The invention relates to the technical field of master-slave control of robots, in particular to a master-slave mapping method and a master-slave correction method for a robot operating rod and a robot.
Background
The mapping relation between the master hand and the slave hand is a core problem in the field of master-slave control of the robot. In the master-slave robot, a corresponding control method needs to be designed according to the mapping relation to realize the complete control of the master hand to the slave hand. In the existing master-slave mapping technology, corresponding mapping modes are formulated according to the structural configuration of a master hand and a slave hand, and incremental mapping and absolute mapping are respectively performed, wherein the former realizes control by converting the variable quantity of the respective degree of freedom of the master hand into the control quantity of the slave hand, and the latter realizes absolute position tracking of the respective degree of freedom of the master hand by the slave hand.
The existing mapping method is difficult for operators to operate when controlling the robot and to learn the motion of the robot corresponding to the operating rod. When the operation rod is initialized, the state of the operation rod may be inconsistent with the state of the robot due to an unexpected condition, that is, when an angle deviation exists, the position of the operation rod needs to be corrected and synchronized, so as to ensure the accuracy of the operation rod in controlling the robot.
Disclosure of Invention
The purpose of the invention is: the master-slave mapping method and the correction method for the robot operating rod and the robot are provided, so that an operator can conveniently operate the robot, and the robot operating rod and the robot can be corrected.
In order to achieve the above object, the present invention provides a master-slave mapping method of a robot lever and a robot, including: a robot lever and a robot; the robot operating rod comprises a first operating shaft, a second operating shaft, a third operating shaft, a first encoder, a second encoder and a third encoder, wherein each operating shaft corresponds to one encoder; the robot includes first joint, second joint and the terminal slide rail joint that connects gradually, first joint includes: a first linear motor and a second linear motor, the second joint comprising a third linear motor and a fourth linear motor, the end slide rail joint comprising a fifth linear motor, one joint for each operating axis; when the operation shaft rotates, the encoder corresponding to the operation shaft acquires the rotation angle of the operation shaft and controls the joint motion corresponding to the operation shaft.
Further, when the operation shaft rotates, the encoder corresponding to the operation shaft acquires the rotation angle of the operation shaft and controls the joint motion corresponding to the operation shaft, specifically:
controlling the joint movement according to a mapping relation between a predefined rotation angle of an encoder and the joint movement;
the mapping parameter of the first encoder and the first joint angle is delta theta1The said Δ θ1Is the ratio of the first joint angle and the first encoder reading;
the mapping parameter of the second encoder and the second joint angle is delta theta2The said Δ θ2Is the ratio of the second joint angle and the second encoder reading;
the mapping parameter of the third encoder and the fifth linear motor of the end slide rail joint is Δ Z, where Δ Z is the ratio of the position of the end slide rail joint and the reading of the third encoder.
The invention also discloses a robot operating rod and a robot correcting method, which comprises the following steps:
when the robot operation rod and the robot are mapped by applying the master-slave mapping method, the robot operation rod and the robot are corrected by the following steps, including:
acquiring the position of each linear motor, and acquiring a first angle of the first joint according to the position of the first linear motor, the position of the second linear motor and the vertical distance between the first linear motor and the second linear motor; acquiring a second angle of the second joint according to the position of the third linear motor, the position of the fourth linear motor and the vertical distance between the third linear motor and the fourth linear motor;
obtaining a first initial angle of the first encoder according to the first angle, a pre-stored initial reading of the first encoder when the initial position of the first joint is preset and a pre-stored mapping relation between the first encoder and the first joint angle; obtaining a second initial angle of the second encoder according to the second angle, the pre-stored mapping relation between the initial reading of the second encoder and the second joint angle when the initial position of the second joint is preset; obtaining an initial value of a third encoder according to the position of the fifth linear motor, the pre-stored initial position of the fifth linear motor, the pre-stored mapping relation between the third encoder and the fifth linear motor, and the pre-stored initial reading of the third encoder at the initial position of the tail end sliding rail joint;
the robot control device comprises a control robot operating rod, a first encoder, a second encoder, a third encoder, a first deviation range, a second deviation range, a third deviation range and a third deviation range, wherein the control robot operating rod is controlled to rotate and acquire a first real-time angle of the first encoder, a second real-time angle of the second encoder and a real-time numerical value of the third encoder in real time.
Further, the obtaining of the first angle of the first joint according to the position of the first linear motor, the position of the second linear motor, and the vertical distance between the first linear motor and the second linear motor specifically includes:
obtaining a first angle according to a first formula, wherein the first formula specifically includes:
wherein, thetaslave_1At the first angle, L1 is the position of the first linear motor, L2 is the position of the second linear motor, and dm1 is the perpendicular distance between the first joint and the second joint.
Further, the obtaining of the second angle of the second joint according to the position of the third linear motor, the position of the fourth linear motor, and the vertical distance between the third linear motor and the fourth linear motor specifically includes:
obtaining a second angle according to a second formula, wherein the second formula specifically is as follows:
wherein, thetaslave_1At the second angle, L3 is the position of the third linear motor, L4 is the position of the fourth linear motor, and dm2 is the perpendicular distance between the second joint and the end rail joint.
Further, the first initial angle of the first encoder is obtained according to the first angle, the pre-stored initial reading of the first encoder at the initial position of the first joint, and the pre-stored mapping parameters of the first encoder and the first joint angle, which specifically includes:
obtaining a first initial angle according to a third formula, wherein the third formula specifically comprises:
wherein, thetainit_1Is a first initial angle, θslave_1Is a first angle, Δ θ1Being pre-stored mapping parameters of the first encoder and the first joint angle, b1The initial reading of the first encoder at the initial position of the first joint is prestored; delta theta1In particular to
θstick_1Reading of the first encoder for the last correction, θslave_1A first joint angle of a first joint of the robot corrected for the last time.
Further, the second initial angle of the second encoder is obtained according to the second angle, the pre-stored initial reading of the second encoder at the initial position of the second joint, and the mapping parameter of the second joint angle, and specifically includes:
obtaining a second initial angle according to a fourth formula, wherein the fourth formula specifically is as follows:
wherein, thetainit_2Is a second initial angle, θslave_2At a second angle，Δθ1Being pre-stored mapping parameters of the second encoder and the second joint angle, b1The initial reading of the second encoder at the initial position of the second joint is prestored; delta theta2In particular to
θslave_2Reading of the second encoder for the last correction, θslave_2A second joint angle of a second joint of the robot corrected for the last time.
Further, the initial value of the third encoder is obtained according to the position of the fifth linear motor, the pre-stored initial position of the fifth linear motor, the pre-stored mapping parameters of the third encoder and the fifth linear motor, and the pre-stored initial reading of the third encoder at the initial position of the tail end sliding rail joint, and specifically is as follows:
obtaining an initial value of a third encoder according to a fifth formula, wherein the fifth formula specifically is as follows:
wherein, Z isinitIs an initial value of the third encoder, L5 is a position of the fifth linear motor, bmidA mapping relation between the position of the third encoder and the position of the fifth linear motor is prestored as an initial position of the fifth linear motor, and is prestored in the Delta Z, bzPre-storing initial reading of a third encoder at the initial position of the tail end sliding rail joint; delta Z is specifically
ZstickThe reading of the third encoder at the last time the correction was made.
Further, Z isstickω (R + (NR)), where ω represents a step speed index, N is a number of revolutions maintained during a reading, R is a reading range for each revolution of the encoder, R is xmodR, and R is modulo when the third operating axis moves if a reading x reading the third encoder exceeds R.
Further, when the difference between the first real-time angle and the first initial angle is smaller than or equal to the first deviation range, the difference between the second real-time angle and the second initial angle is smaller than or equal to the second deviation range, and the real-time value of the third encoder and the initial value of the third encoder are smaller than the third deviation range, the correction of the robot operating rod and the robot is completed, specifically:
judging whether the difference value of the first real-time angle and the first initial angle is smaller than or equal to a first deviation range, whether the difference value of the second real-time angle and the second initial angle is smaller than or equal to a second deviation range, and whether the real-time value of a third encoder and the initial value of the third encoder are smaller than a third deviation range according to the first inequality, the second inequality and the third inequality;
the first inequality is specifically: [ theta ]init_1-θtmp_1|≤tθ1Wherein, thetainit_1Is a first initial angle, θtmp_1Is a first real-time angle, tθ1A first deviation range;
the second inequality is specifically: [ theta ]init_2-θtmp_2|≤tθ2Wherein, thetainit_2Is a first initial angle, θtmp_2Is the second real-time angle, tθ2A second deviation range;
the third inequality is specifically: i Zinit-Ztmp|≤tZWherein Z isinitInitial value of the third encoder, ZtmpIs the real-time value of the third encoder, tZA third deviation range;
and when the first inequality, the second inequality and the third inequality are all satisfied, finishing the correction of the robot operating rod and the robot.
Compared with the prior art, the robot operating rod and the robot correcting method have the advantages that: according to the master-slave mapping method, an operator can easily understand the robot action corresponding to the operating rod, and the operator can conveniently understand and learn to control the robot through the operating rod. The correction method can ensure the robot to be accurately controlled by the robot operating rod, and avoid the inaccurate motion of the robot caused by the asynchronism of the robot and the robot, and the preset precise operation cannot be completed.
Drawings
FIG. 1 is a schematic view of the construction of the robotic joystick of the present invention;
fig. 2 is a schematic structural view of the robot of the present invention.
In the figure, 1, a first encoder; 2. a second encoder; 3. a third encoder; 4. a first operating shaft; 5. a second operating shaft; 6. a third operating shaft, 7, a first linear motor; 8. a second linear motor; 9. a third linear motor; 10 a fourth linear motor; 11. a fifth linear motor; 12. a first joint; 13. a second joint; 14. the tail end sliding rail joint.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The invention discloses a master-slave mapping method for a robot operating rod and a robot, which comprises the following steps: a robot lever and a robot; the robot operating rod comprises a first operating shaft 4, a second operating shaft 5, a third operating shaft 6, a first encoder 1, a second encoder 2 and a third encoder 3, wherein each operating shaft corresponds to one encoder; the robot includes first joint 12, second joint 13 and the terminal slide rail joint that connects gradually, first joint 12 includes: a first linear motor 7 and a second linear motor 8, the second joint 13 comprising a third linear motor 9 and a fourth linear motor 10, the end slide joint comprising a fifth linear motor 11, one joint for each operating axis; when the operation shaft rotates, the encoder corresponding to the operation shaft acquires the rotation angle of the operation shaft and controls the joint motion corresponding to the operation shaft.
In this embodiment, when the operation shaft rotates, the encoder corresponding to the operation shaft acquires the rotation angle of the operation shaft and controls the joint motion corresponding to the operation shaft, specifically:
controlling the joint movement according to a mapping relation between a predefined rotation angle of an encoder and the joint movement;
the mapping parameter between the first encoder 1 and the first joint angle is Δ θ1The said Δ θ1Is the ratio of the first joint angle and the first encoder 1 reading;
the second encoder 2 and the second joint angle have a mapping parameter Δ θ2The said Δ θ2Is the ratio of the second joint 13 angle and the second encoder 2 reading;
the mapping parameter of the third encoder 3 and the fifth linear motor 11 of the end slide joint 14 is Δ Z, which is the ratio of the position of the end slide joint and the reading of the third encoder 3.
Referring to fig. 1 and 2, the present invention discloses a robot lever that can be applied to control an ophthalmic surgery machine and a robot that is a robot arm that can be used to perform an ophthalmic surgery.
Referring to fig. 2, the robot is composed of a first joint 12, a second joint 13, and a distal end slide rail joint, wherein the first joint 12 is provided with a first linear motor 7 and a second linear motor 8, the second joint 13 is provided with a third linear motor 9 and a fourth linear motor 10, and the distal end slide rail joint is provided with a fifth linear motor 11. The robot operating rod comprises a first operating shaft 4, a second operating shaft 5 and a third operating shaft 6; the end points of each shaft are provided with rotary encoders for reading control input, and for the first operating shaft 4, the control input obtained by the first encoder 1 corresponds to the rotary motion of the first joint 12 of the robot; for the second operation shaft 5, the control input obtained by the second encoder 2 corresponds to the rotary motion of the second joint 13 of the robot; for the third operating shaft 6, the control input obtained by the third encoder 3 corresponds to the translational motion of the robot tail end slide rail joint.
The mapping parameters of the operating axes, encoders and joints are defined as follows:
mapping parameters of the first joint 12 and the second joint 13:
recording that the first operating shaft 4 and the second operating shaft 5 of the current operating lever correspond to the first operating shaftReadings theta of the encoder 1 and the second encoder 2stick_1、θstick_2。
Defining a mapping parameter Δ θ1、Δθ2Respectively representing the readings theta of the first shaft and the second shaft of the operating rod corresponding to the first encoder 1 and the second encoder 2stick_1、θstick_2Angle theta with first joint of robotslave_1Second joint angle thetaslave_2The mapping relationship of (2).
Reading theta of the first shaft and the second shaft of the operating rod corresponding to the first encoder 1 and the second encoder 2 is read in real timestick_1、θstick_2Completing the alignment of the first joint angle theta of the robotslave_1Second joint angle thetaslave_2The specific mapping relationship is as follows:
mapping parameters of the end rail joint 14:
recording the reading Z of the current operating lever corresponding to the third encoder 3 on the third axisstick。
Defining a mapping parameter Δ Z representing the reading Z of the third encoder 3 corresponding to the third axis of the operating rodstickAnd the mapping relation with the displacement L5 of the tail end slide rail joint of the robot.
The lap statistic N was maintained during the reading. The reading range of each rotation of the rotary encoder is: [0, R ], when the lever is pushed in the z direction, if the reading x exceeds R, then R is modulo, i.e. the actual updated reading value R is xmodR.
The updating method of N is as follows:
wherein r istmpA value, r, representing the current third axis of the operating lever corresponding to the third encoder 3preThe value, t, of the third axis of the lever corresponding to the third encoder 3 at the previous readingrE (0, R) updates the threshold for the number of turns.
Reading Z of the third encoder 3 corresponding to the third axis of the operating rod according to real-time readingstickAnd finishing the mapping of the displacement of the tail end sliding rail joint of the robot, wherein the specific mapping relation is as follows:
where ω denotes a step speed index.
The invention also discloses a robot operating rod and a robot correcting method, which comprises the following steps:
when the robot operation rod and the robot are mapped by applying the master-slave mapping method, the robot operation rod and the robot are corrected by the following steps, including:
acquiring the position of each linear motor, and acquiring a first angle of the first joint 12 according to the position of the first linear motor 7, the position of the second linear motor 8 and the vertical distance between the first linear motor 7 and the second linear motor 8; acquiring a second angle of the second joint 13 according to the position of the third linear motor 9, the position of the fourth linear motor 10 and the vertical distance between the third linear motor 9 and the fourth linear motor 10;
obtaining a first initial angle of the first encoder 1 according to the first angle, a pre-stored initial reading of the first encoder 1 when the initial position of the first joint 12 is stored, and a pre-stored mapping relation between the first encoder 1 and the angle of the first joint 12; obtaining a second initial angle of the second encoder 2 according to the second angle, a pre-stored mapping relation between the initial reading of the second encoder 2 at the initial position of the second joint 13 and the angle of the second joint 13; obtaining an initial value of the third encoder 3 according to the position of the fifth linear motor 11, the pre-stored initial position of the fifth linear motor 11, the pre-stored mapping parameters of the third encoder 3 and the position of the fifth linear motor 11, and the pre-stored initial reading of the third encoder 3 at the initial position of the tail end sliding rail joint 14;
the robot control lever is controlled to rotate and acquire a first real-time angle of the first encoder 1, a second real-time angle of the second encoder 2 and a real-time numerical value of the third encoder 3 in real time, when a difference value of the first real-time angle and a first initial angle is smaller than or equal to a first deviation range, a difference value of the second real-time angle and a second initial angle is smaller than or equal to a second deviation range, and when a real-time numerical value of the third encoder 3 and an initial value of the third encoder 3 are smaller than a third deviation range, correction of the robot control lever and the robot is completed.
In this embodiment, when the operation lever is initialized, or when the state of the operation lever is inconsistent with the state of the robot due to an accident, that is, when there is an angular deviation, the operation lever needs to be corrected and synchronized in position.
In the present embodiment, the state of the robot is obtained as L ═ L1, L2, L3, L4, L5, where L1, L2, L3, L4, L5 represent the first linear motor 7 and second linear motor 8 position on the first joint 12, the third linear motor 9 and fourth linear motor 10 position on the second joint 13, and the fifth linear motor 11 position on the end slide rail joint, respectively.
In this embodiment, the first angle of the first joint 12 is obtained according to the position of the first linear motor 7, the position of the second linear motor 8, and the vertical distance between the first linear motor 7 and the second linear motor 8, specifically:
obtaining a first angle according to a first formula, wherein the first formula specifically includes:
wherein, thetaslave_1At the first angle, L1 is the position of the first linear motor 7, L2 is the position of the second linear motor 8, and dm1 is the vertical distance between the first joint 12 and the second joint 13.
In this embodiment, the second angle of the second joint 13 is obtained according to the position of the third linear motor 9, the position of the fourth linear motor 10, and the vertical distance between the third linear motor 9 and the fourth linear motor 10, specifically:
obtaining a second angle according to a second formula, wherein the second formula specifically is as follows:
wherein, thetaslave_2At the second angle, L3 is the position of the third linear motor 9, L4 is the position of the fourth linear motor 10, and dm2 is the perpendicular distance between the second joint 13 and the end rail joint 14.
In this embodiment, the obtaining of the first initial angle of the first encoder 1 according to the first angle, the pre-stored initial reading of the first encoder 1 when the initial position of the first joint 12 is preset, and the pre-stored mapping parameters of the first encoder 1 and the angle of the first joint 12 specifically includes:
obtaining a first initial angle according to a third formula, wherein the third formula specifically comprises:
wherein, thetainit_1Is a first initial angle, θslave_1Is a first angle, Δ θ1Is a pre-stored mapping parameter of the first encoder 1 and the first joint angle, b1Is a pre-stored initial reading of the first encoder 1 at the initial position of the first joint 12; delta theta1In particular to
θstick_1Reading of the first encoder 1 for the last correction, θslave_1The first joint angle of the first joint 12 of the robot for which the correction was made last time.
In this embodiment, the obtaining of the second initial angle of the second encoder 2 according to the second angle, the pre-stored initial reading of the second encoder 2 at the initial position of the second joint 13 and the mapping parameter of the second joint angle specifically includes:
obtaining a second initial angle according to a fourth formula, wherein the fourth formula specifically is as follows:
wherein, thetainit_2Is a second initial angle, θslave_2Is a second angle, Δ θ1Is a pre-stored mapping parameter of the second encoder 2 and the second joint angle, b1Is the initial reading of the second encoder 2 at the pre-stored initial position of the second joint 13; delta theta2In particular to
θslave_2Reading of the second encoder 2 for the last correction, θslave_2The second joint angle of the second joint 13 of the robot corrected for the last time.
In this embodiment, the obtaining of the initial value of the third encoder 3 according to the position of the fifth linear motor 11, the pre-stored initial position of the fifth linear motor 11, the pre-stored mapping parameters of the positions of the third encoder 3 and the fifth linear motor 11, and the pre-stored initial reading of the third encoder 3 at the initial position of the end sliding rail joint 14 specifically includes:
obtaining an initial value of the third encoder 3 according to a fifth formula, where the fifth formula is specifically:
wherein, Z isinitIs an initial value of the third encoder 3, L5 is a position of the fifth linear motor 11, bmidA mapping relationship between the positions of the third encoder 3 and the fifth linear motor 11, b, is prestored as the prestored initial position of the fifth linear motor 11, Δ ZzPre-storing initial reading of the third encoder 3 at the initial position of the tail end sliding rail joint 14; delta Z is specifically
ZstickThe reading of the third encoder 3 at the time of the last correction.
In the present embodiment, Z isstick＝ω(R + (NR)) where ω denotes the step speed index, N is the number of revolutions maintained during a reading, R is the reading range for each revolution of the encoder, R is xmodR, and R is modulo when the third operating shaft 6 is moved if the reading x of the third encoder 3 exceeds R.
In this embodiment, the updating method of N is as follows:
wherein r istmpA value, r, representing the current third axis of the operating lever corresponding to the third encoder 3preThe value, t, of the third axis of the lever corresponding to the third encoder 3 at the previous readingrE (0, R) updates the threshold for the number of turns.
In this embodiment, when the difference between the first real-time angle and the first initial angle is smaller than or equal to the first deviation range, the difference between the second real-time angle and the second initial angle is smaller than or equal to the second deviation range, and the real-time value of the third encoder 3 and the initial value of the third encoder 3 are smaller than the third deviation range, the calibration of the robot lever and the robot is completed, specifically:
judging whether the difference value of the first real-time angle and the first initial angle is smaller than or equal to a first deviation range, whether the difference value of the second real-time angle and the second initial angle is smaller than or equal to a second deviation range, and whether the real-time value of the third encoder 3 and the initial value of the third encoder 3 are smaller than a third deviation range according to the first inequality, the second inequality and the third inequality;
the first inequality is specifically: [ theta ]init_1-θtmp_1|≤tθ1Wherein, thetainit_1Is a first initial angle, θtmp_1Is a first real-time angle, tθ1A first deviation range;
the second inequality is specifically: [ theta ]init_2-θtmp_2|≤tθ2Wherein, thetainit_2Is a first initial angle, θtmp_2Is the second real-time angle, tθ2Is the second deviation range；
The third inequality is specifically: i Zinit-Ztmp|≤tZWherein Z isinitInitial value of the third encoder 3, ZtmpIs the real-time value of the third encoder 3, tZA third deviation range;
and when the first inequality, the second inequality and the third inequality are all satisfied, finishing the correction of the robot operating rod and the robot.
To sum up, compared with the prior art, the robot operating rod and the robot calibration method provided by the embodiment of the invention have the beneficial effects that: according to the master-slave mapping method, an operator can easily understand the robot action corresponding to the operating rod, and the operator can conveniently understand and learn to control the robot through the operating rod. The correction method can ensure the robot to be accurately controlled by the robot operating rod, and avoid the inaccurate motion of the robot caused by the asynchronism of the robot and the robot, and the preset precise operation cannot be completed.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A master-slave mapping method for a robot lever and a robot, comprising: a robot lever and a robot; the robot operating rod comprises a first operating shaft, a second operating shaft, a third operating shaft, a first encoder, a second encoder and a third encoder, wherein each operating shaft corresponds to one encoder; the robot includes first joint, second joint and the terminal slide rail joint that connects gradually, first joint includes: a first linear motor and a second linear motor, the second joint comprising a third linear motor and a fourth linear motor, the end slide rail joint comprising a fifth linear motor, one joint for each operating axis; when the operation shaft rotates, the encoder corresponding to the operation shaft acquires the rotation angle of the operation shaft and controls the joint motion corresponding to the operation shaft.
2. A master-slave mapping method for a robot operating rod and a robot is characterized in that when an operating shaft rotates, an encoder corresponding to the operating shaft acquires the rotating angle of the operating shaft and controls the joint motion corresponding to the operating shaft, and specifically comprises the following steps:
controlling the joint movement according to a mapping relation between a predefined rotation angle of an encoder and the joint movement;
the mapping parameter of the first encoder and the first joint angle is delta theta1The said Δ θ1Is the ratio of the first joint angle and the first encoder reading;
the mapping parameter of the second encoder and the second joint angle is delta theta2The said Δ θ2Is the ratio of the second joint angle and the second encoder reading;
the mapping parameter of the third encoder and the fifth linear motor of the end slide rail joint is Δ Z, where Δ Z is the ratio of the position of the end slide rail joint and the reading of the third encoder.
3. A robot lever and a robot calibration method, comprising:
when the robot joystick and the robot are mapped using the master-slave mapping method of claim 1 or 2, the robot joystick and the robot are calibrated by the steps comprising:
acquiring the position of each linear motor, and acquiring a first angle of the first joint according to the position of the first linear motor, the position of the second linear motor and the vertical distance between the first linear motor and the second linear motor; acquiring a second angle of the second joint according to the position of the third linear motor, the position of the fourth linear motor and the vertical distance between the third linear motor and the fourth linear motor;
obtaining a first initial angle of the first encoder according to the first angle, a pre-stored initial reading of the first encoder when the initial position of the first joint is preset and a pre-stored mapping relation between the first encoder and the first joint angle; obtaining a second initial angle of the second encoder according to the second angle, the pre-stored mapping relation between the initial reading of the second encoder and the second joint angle when the initial position of the second joint is preset; obtaining an initial value of a third encoder according to the position of the fifth linear motor, the pre-stored initial position of the fifth linear motor, the pre-stored mapping relation between the third encoder and the fifth linear motor, and the pre-stored initial reading of the third encoder at the initial position of the tail end sliding rail joint;
the robot control device comprises a control robot operating rod, a first encoder, a second encoder, a third encoder, a first deviation range, a second deviation range, a third deviation range and a third deviation range, wherein the control robot operating rod is controlled to rotate and acquire a first real-time angle of the first encoder, a second real-time angle of the second encoder and a real-time numerical value of the third encoder in real time.
4. The calibration method for the robot lever and the robot according to claim 1, wherein the first angle of the first joint is obtained according to the position of the first linear motor, the position of the second linear motor, and the vertical distance between the first linear motor and the second linear motor, specifically:
obtaining a first angle according to a first formula, wherein the first formula specifically includes:
wherein, thetaslave_1At the first angle, L1 is the position of the first linear motor, L2 is the position of the second linear motor, and dm1 is the perpendicular distance between the first joint and the second joint.
5. A method for calibration of a robot lever and a robot according to claim 1, characterized in that the second angle assumed by the second joint is obtained from the position of the third linear motor, the position of the fourth linear motor and the vertical distance between the third linear motor and the fourth linear motor, in particular:
obtaining a second angle according to a second formula, wherein the second formula specifically is as follows:
wherein, thetaslave_2At the second angle, L3 is the position of the third linear motor, L4 is the position of the fourth linear motor, and dm2 is the perpendicular distance between the second joint and the end rail joint.
6. The calibration method of the robot lever and the robot according to claim 1, wherein the first initial angle of the first encoder is obtained according to the first angle, the pre-stored initial reading of the first encoder at the initial position of the first joint, and the pre-stored mapping parameters of the first encoder and the first joint angle, and specifically comprises:
obtaining a first initial angle according to a third formula, wherein the third formula specifically comprises:
wherein, thetainit_1Is a first initial angle, θslave_1Is a first angle, Δ θ1Being pre-stored mapping parameters of the first encoder and the first joint angle, b1The initial reading of the first encoder at the initial position of the first joint is prestored; delta theta1In particular to
θstick_1Reading of the first encoder for the last correction, θslave_1A first joint angle of a first joint of the robot corrected for the last time.
7. The calibration method of the robot lever and the robot according to claim 1, wherein the second initial angle of the second encoder is obtained according to the second angle, the pre-stored initial reading of the second encoder at the initial position of the second joint, and the mapping parameter of the second joint angle, specifically:
obtaining a second initial angle according to a fourth formula, wherein the fourth formula specifically is as follows:
wherein, thetainit_2Is a second initial angle, θslave_2Is a second angle, Δ θ1Being pre-stored mapping parameters of the second encoder and the second joint angle, b1The initial reading of the second encoder at the initial position of the second joint is prestored; delta theta2In particular to
θslave_2Reading of the second encoder for the last correction, θslave_2A second joint angle of a second joint of the robot corrected for the last time.
8. The calibration method of the robot lever and the robot according to claim 1, wherein the initial value of the third encoder is obtained according to the position of the fifth linear motor, the pre-stored initial position of the fifth linear motor, the pre-stored mapping parameters of the third encoder and the fifth linear motor, and the pre-stored initial reading of the third encoder at the initial position of the end sliding rail joint, specifically:
obtaining an initial value of a third encoder according to a fifth formula, wherein the fifth formula specifically is as follows:
wherein, Z isinitIs an initial value of the third encoder, L5 is a position of the fifth linear motor, bmidA mapping relation between the position of the third encoder and the position of the fifth linear motor is prestored as an initial position of the fifth linear motor, and is prestored in the Delta Z, bzPre-storing initial reading of a third encoder at the initial position of the tail end sliding rail joint; delta Z is specifically
ZstickThe reading of the third encoder at the last time the correction was made.
9. A method of calibrating a robot joystick and robot as claimed in claim 6, wherein Z isstickω (R + (NR)), where ω represents a step speed index, N is a number of revolutions maintained during a reading, R is a reading range for each revolution of the encoder, R is xmodR, and R is modulo when the third operating axis moves if a reading x reading the third encoder exceeds R.
10. The method according to claim 1, wherein the calibration of the robot joystick and the robot is performed when a difference between the first real-time angle and the first initial angle is smaller than or equal to a first deviation range, a difference between the second real-time angle and the second initial angle is smaller than or equal to a second deviation range, and a real-time value of the third encoder and an initial value of the third encoder are smaller than a third deviation range, specifically:
judging whether the difference value of the first real-time angle and the first initial angle is smaller than or equal to a first deviation range, whether the difference value of the second real-time angle and the second initial angle is smaller than or equal to a second deviation range, and whether the real-time value of a third encoder and the initial value of the third encoder are smaller than a third deviation range according to the first inequality, the second inequality and the third inequality;
the first inequality is specifically: [ theta ]init_1-θtmp_1|≤tθ1Which isIn, thetainit_1Is a first initial angle, θtmp_1Is a first real-time angle, tθ1A first deviation range;
the second inequality is specifically: [ theta ]init_2-θtmp_2|≤tθ2Wherein, thetainit_2Is a first initial angle, θtmp_2Is the second real-time angle, tθ2A second deviation range;
the third inequality is specifically: i Zinit-Ztmp|≤tZWherein Z isinitInitial value of the third encoder, ZtmpIs the real-time value of the third encoder, tZA third deviation range;
and when the first inequality, the second inequality and the third inequality are all satisfied, finishing the correction of the robot operating rod and the robot.
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