CN114378813A - Control method and device for mechanical arm and computer readable medium - Google Patents
Control method and device for mechanical arm and computer readable medium Download PDFInfo
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- CN114378813A CN114378813A CN202111559460.4A CN202111559460A CN114378813A CN 114378813 A CN114378813 A CN 114378813A CN 202111559460 A CN202111559460 A CN 202111559460A CN 114378813 A CN114378813 A CN 114378813A
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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
Abstract
The invention provides a control method, a control device and a computer readable medium of a mechanical arm, wherein the method comprises the following steps: acquiring length parameters of the mechanical arm; acquiring a first parameter in an angle parameter and a working position parameter of the mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the mounting plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm; calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter; and controlling the mechanical arm according to the calculated second parameter. This scheme can improve robotic arm's control accuracy.
Description
Technical Field
The present invention relates to the field of industrial technologies, and in particular, to a method and an apparatus for controlling a robot arm, and a computer-readable medium.
Background
In the industrial production field, the efficiency of industrial production can be greatly improved by allowing a manipulator to participate in the industrial production. For example, through using parallelly connected robotic arm to go up unloading, greatly improved carousel formula screen printing's production efficiency.
However, as the industrial requirements become higher, the working environment of the robot arm becomes more complex. For example, in some circumstances there are limits on the angle of the robot arm, and in some circumstances there are limits on the working position of the robot arm. Therefore, the control precision is lower when the mechanical arm is controlled in a fixed mode under different environments.
Disclosure of Invention
The invention provides a control method and a control device for a mechanical arm and a computer readable medium, which can improve the control precision of the mechanical arm.
In a first aspect, an embodiment of the present invention provides a method for controlling a robot arm, including:
acquiring length parameters of the mechanical arm;
acquiring a first parameter in the angle parameter and the working position parameter of the mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter; and the number of the first and second groups,
and controlling the mechanical arm according to the second parameter obtained by calculation.
In a possible implementation manner, the first parameter is an angle parameter of the robot arm, and the second parameter is a working position parameter of the robot arm;
the robot arm includes: a mechanical master arm and a mechanical slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the step of calculating a second one of the angle parameter and the working position parameter based on the first parameter and the length parameter comprises:
acquiring the distance between the main arm connection points; wherein the main arm connection point spacing is used to characterize the distance between the drive point of the first mechanical main arm and the drive point of the second mechanical main arm;
calculating joint point coordinate information of the mechanical arm by using the distance between the main arm connecting points, the length of the mechanical main arm and the angle parameter; wherein the joint points are used for characterizing the connection points of the mechanical master arm and the mechanical slave arm;
and determining the working position parameters of the mechanical arm according to the joint point coordinate information.
In a possible implementation manner, the step of calculating joint coordinate information of the robot arm includes:
calculating joint point information according to the distance between the main arm connecting points, the length of the mechanical main arm and the angle; the angle is used for representing the included angle between the main mechanical arm and a mechanical arm fixing plane, and the joint point is used for representing the connection point of the main mechanical arm and the mechanical slave arm.
In a possible implementation manner, the step of calculating joint point information according to the distance between the main arm connection points, the length of the mechanical main arm, and the angle includes:
calculating the joint point coordinate information by using the following calculation formula:
wherein D isxInformation on the abscissa used to characterize the joint points, DyLongitudinal coordinate information for characterizing the joint points, L for characterizing the distance between the main arm attachment points, L1For characterizing the length, θ, of the main arm of the machine0For characterizing said angle.
In a possible implementation manner, when an included angle between an installation plane of the robot arm and a horizontal plane is θ, the step of determining the working position parameter of the robot arm according to the joint point coordinate information includes:
calculating the working position coordinates using the following calculation:
wherein [ x ', y' ] is used for representing the working position coordinate when the included angle between the installation plane of the mechanical arm and the horizontal plane is theta, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane.
In one possible implementation, the robot arm includes at least two pairs of a mechanical master arm and a mechanical slave arm;
the calculating joint point coordinate information of the mechanical arm comprises: the joint point coordinate information is calculated for each pair of mechanical master and slave arms.
In a possible implementation manner, the first parameter is a working position parameter of the robot arm, and the second parameter is an angle parameter of the robot arm;
the robot arm includes: a mechanical master arm and a mechanical slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the step of calculating a second one of the angle parameter and the working position parameter based on the first parameter and the length parameter comprises:
calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameters and the distance between the main arm connecting points; wherein the main arm connection point spacing is used to characterize the distance between the drive point of the first mechanical main arm and the drive point of the second mechanical main arm;
and calculating the angle parameter by using the driving distance, the length of the mechanical main arm, the length of the mechanical auxiliary arm and the working position parameter.
In one possible implementation manner, the step of calculating the angle parameter by using the driving distance, the mechanical master arm length, the mechanical slave arm length, and the working position parameter includes:
calculating an included angle between the mechanical main arm and a mechanical arm fixing plane by using a driving distance, the length of the mechanical main arm, the length of the mechanical slave arm and the working position parameter; wherein the driving distance is used for representing the distance between the driving point of the mechanical main arm and the working position.
In a possible implementation manner, when the installation plane of the robot arm is parallel to the horizontal plane, the determining step of the working position parameter includes:
acquiring working position coordinates [ x ', y' ] when the installation plane of the mechanical arm is not parallel to the horizontal plane;
and calculating the working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane by using the following calculation formula:
the theta is used for representing an included angle between the installation plane of the mechanical arm and the horizontal plane, and the [ x, y ] is used for representing a working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane.
In one possible implementation, the robot arm includes at least two pairs of a mechanical master arm and a mechanical slave arm;
the step of calculating the angle parameter comprises: the angle parameters are calculated for each pair of mechanical master and slave arms, respectively.
In a second aspect, an embodiment of the present invention provides a control apparatus for a robot arm, including: the system comprises a length parameter acquisition module, a first parameter acquisition module, a second parameter calculation module and a mechanical arm control module;
the length parameter acquisition module is used for acquiring the length parameter of the mechanical arm;
the first parameter acquisition module is used for acquiring a first parameter of the angle parameter and the working position parameter of the mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
the second parameter calculation module is configured to calculate a second parameter of the angle parameter and the working position parameter according to the first parameter acquired by the first parameter acquisition module and the length parameter acquired by the length parameter acquisition module; and the number of the first and second groups,
and the mechanical arm control module is used for controlling the mechanical arm according to the second parameter calculated by the second parameter calculation module.
In a possible implementation manner, the first parameter is an angle parameter of the robot arm, and the second parameter is a working position parameter of the robot arm;
the robot arm includes: a mechanical master arm and a mechanical slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the second parameter calculation module, when calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter, is configured to perform the following operations:
acquiring the distance between the main arm connection points; wherein the main arm connection point spacing is used to characterize the distance between the drive point of the first mechanical main arm and the drive point of the second mechanical main arm;
calculating joint point coordinate information of the mechanical arm by using the distance between the main arm connecting points, the length of the mechanical main arm and the angle parameter; wherein the joint points are used for characterizing the connection points of the mechanical master arm and the mechanical slave arm;
and determining the working position parameters of the mechanical arm according to the joint point coordinate information.
In a possible implementation manner, when calculating the joint point coordinate information of the robot arm, the second parameter calculation module is configured to calculate joint point information according to the distance between the main arm connection points, the length of the main arm, and the angle; the angle is used for representing the included angle between the main mechanical arm and a mechanical arm fixing plane, and the joint point is used for representing the connection point of the main mechanical arm and the mechanical slave arm.
In one possible implementation, the second parameter calculation module, when calculating the joint point information according to the main arm connection point distance, the mechanical main arm length, and the angle, is configured to perform the following operations:
calculating the joint point coordinate information by using the following calculation formula:
wherein D isxInformation on the abscissa used to characterize the joint points, DyLongitudinal coordinate information for characterizing the joint points, L for characterizing the distance between the main arm attachment points, L1For characterizing the length, θ, of the main arm of the machine0For characterizing said angle.
In one possible implementation, the method further includes: a first location parameter determination module;
when the included angle between the installation plane of the mechanical arm and the horizontal plane is theta and the working position parameter of the mechanical arm is determined according to the joint point coordinate information, the first position parameter determining module is configured to execute the following operations:
calculating the working position coordinates using the following calculation:
wherein [ x ', y' ] is used for representing the working position coordinate when the included angle between the installation plane of the mechanical arm and the horizontal plane is theta, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane.
In one possible implementation, the robot arm includes at least two pairs of a mechanical master arm and a mechanical slave arm;
the second parameter calculation module, when calculating joint point coordinate information of the robot arm, is configured to calculate joint point coordinate information for each pair of the master mechanical arm and the slave mechanical arm.
In a possible implementation manner, the first parameter is a working position parameter of the robot arm, and the second parameter is an angle parameter of the robot arm;
the robot arm includes: a mechanical master arm and a mechanical slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the second parameter calculation module, when calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter, is configured to perform the following operations:
calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameters and the distance between the main arm connecting points; wherein the main arm connection point spacing is used to characterize the distance between the drive point of the first mechanical main arm and the drive point of the second mechanical main arm;
and calculating the angle parameter by using the driving distance, the length of the mechanical main arm, the length of the mechanical auxiliary arm and the working position parameter.
In one possible implementation, the second parameter calculation module, when calculating the angle parameter using the driving distance, the mechanical master arm length, the mechanical slave arm length, and the working position parameter, is configured to perform the following operations:
calculating an included angle between the mechanical main arm and a mechanical arm fixing plane by using a driving distance, the length of the mechanical main arm, the length of the mechanical slave arm and the working position parameter; wherein the driving distance is used for representing the distance between the driving point of the mechanical main arm and the working position.
In one possible implementation, the method further includes: a second location parameter determination module;
the second position parameter determination module is configured to perform the following operations when the installation plane of the mechanical arm is parallel to the horizontal plane and the working position parameter is determined:
acquiring working position coordinates [ x ', y' ] when the installation plane of the mechanical arm is not parallel to the horizontal plane;
and calculating the working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane by using the following calculation formula:
the theta is used for representing an included angle between the installation plane of the mechanical arm and the horizontal plane, and the [ x, y ] is used for representing a working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane.
In one possible implementation, the robot arm includes at least two pairs of a mechanical master arm and a mechanical slave arm;
the second parameter calculation module, when calculating the angle parameter, is configured to calculate the angle parameter for each pair of mechanical master arm and mechanical slave arm, respectively.
In a third aspect, an embodiment of the present invention further provides a computing device, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method of any of the first aspects.
In a fourth aspect, the present invention also provides a computer-readable medium, on which computer instructions are stored, and when executed by a processor, the computer instructions cause the processor to execute the method according to any one of the first aspect.
In a fifth aspect, the present invention further provides a computer program product, which includes a computer program that, when executed by a processor, implements the method of any one of the first aspects.
According to the technical scheme, when the mechanical arm is controlled, the length parameter of the mechanical arm can be firstly obtained, then the first parameter of one of the angle parameter and the working position parameter of the mechanical arm is obtained, so that the second parameter of the other one of the angle parameter and the working position parameter can be obtained through calculation by using the first parameter and combining the obtained length parameter, and the mechanical arm can be controlled by using the second parameter. Therefore, the mechanical arm can be controlled in the environment where the angle parameter can be obtained, and the mechanical arm can also be controlled in the environment where the working position parameter can be obtained. Therefore, another control parameter is accurately calculated by using the known parameter under different environments, and higher control precision can be ensured when the control parameter is used for controlling the mechanical arm.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a flowchart illustrating a method for controlling a robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for calculating a parameter of a work location according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another robot according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a non-horizontally mounted robot according to an embodiment of the present invention;
FIG. 6 is a flow chart of a method for calculating an angle parameter according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a robot according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a control device of a robot arm according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a computing device provided by one embodiment of the invention.
List of reference numerals
101: obtaining length parameters of the mechanical arm
102: obtaining a first parameter of an angle parameter and a working position parameter of a mechanical arm
103: calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter
104: controlling the mechanical arm according to the second parameter obtained by calculation
200: the mechanical arm 211: first mechanical main arm 212: first mechanical slave arm
221: second mechanical main arm 222: second mechanical slave arm
301: obtaining the distance between the main arm connection points
302: calculating the joint point coordinate information of the mechanical arm by using the distance between the main arm connecting points, the length of the mechanical main arm and the angle parameter
303: determining the working position parameters of the mechanical arm according to the coordinate information of the joint points
601: calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameter and the distance between the main arm connecting points
602: calculating angle parameters by using the driving distance, the length of the mechanical main arm, the length of the mechanical auxiliary arm and the working position parameters
801: length parameter acquisition module 802: the first parameter obtaining module 803: second parameter calculation module
804: manipulator control module 901: the memory 902: processor with a memory having a plurality of memory cells
900: the computing device 100: the method 800 for controlling the robot arm: control device for robot arm
Detailed Description
As before, the manipulator plays a great role in the field of industrial production, which greatly improves the efficiency of industrial production. For example, in the rotating disc type screen printing, the beat of feeding and discharging can be improved by using a 2D parallel robot, and the printing speed can be improved from 50 to 70 by improving the beat of feeding and discharging through the robot, so that the production efficiency is greatly improved.
However, as the application of the robot arm becomes wider, not only the structural requirement of the robot arm becomes higher and higher, but also the application environment becomes more and more complex, which leads to the working space of the robot arm being often limited, thereby bringing a challenge to the control of the robot arm. For example, in some environments, the angle of the robot arm may be limited, and only work at a certain angle or a certain angle range; for another example, in other environments, there is a limit to the working position of the end of the robot arm, and the robot arm needs to be controlled to work at a corresponding angle, so that the end of the robot arm can be located at the working position. Therefore, if the mechanical arm is controlled by adopting a fixed parameter control mode, obviously, the control precision of the mechanical arm cannot be ensured, and even the mechanical arm cannot work normally.
Based on the control parameters, the known control parameters are considered to determine another unknown control parameter under different environments according to two common mechanical arm control parameters, namely the working position parameter and the angle parameter, so that the mechanical arm is controlled through the obtained control parameters, and the aim of improving the control precision of the mechanical arm is fulfilled.
The following describes a method, an apparatus, and a computer-readable medium for controlling a robot arm according to an embodiment of the present invention in detail with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a method 100 for controlling a robot arm, which may include the following steps:
step 101: acquiring length parameters of the mechanical arm;
step 102: acquiring a first parameter in an angle parameter and a working position parameter of the mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the mounting plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
step 103: calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter; and the number of the first and second groups,
step 104: : and controlling the mechanical arm according to the calculated second parameter.
As can be seen from the foregoing technical solutions, in the present embodiment, when the robot arm is controlled, under different environments, the unknown control parameter of the robot arm is calculated by using the known control parameter of the robot arm, so that the robot arm is controlled by using the unknown control parameter. Therefore, when the mechanical arm is controlled, a flexible parameter control mode can be adopted according to the conditions of environmental factors, space limitation and the like, and the control precision of the mechanical arm is improved.
As shown in fig. 2, in general, the robot arm 200 may include a mechanical master arm and a mechanical slave arm; the mechanical master arm may further comprise a first mechanical master arm 211 and a second mechanical master arm 221, and the mechanical slave arm may further comprise a first mechanical slave arm 212 and a second mechanical slave arm 222. Therefore, when calculating the joint coordinate information of the robot arm 200 and determining the angle parameter, the coordinate information should be calculated for each pair of the master manipulator arm and the slave manipulator arm. Calculating joint point coordinate information aiming at the first mechanical arm and aiming at second joint point coordinate information; and calculating the angle parameter aiming at the first mechanical arm and calculating the angle parameter aiming at the second mechanical arm. The angle between the robot arm 200 and the mounting plane represents the angle parameter, and the position of the end of the robot arm 200, i.e. the position information of the end of the slave arm, represents the working position parameter.
As can be seen from the above steps 101 to 104, it is obvious that the present solution mainly includes two scenarios:
scenario one: the angle parameters of the mechanical arm are known, and the working position parameters of the mechanical arm are unknown;
scenario two: the working position parameter of the mechanical arm is known, and the angle parameter position of the mechanical arm is known.
The above-described scenario one and scenario two are explained below, respectively.
1. Situation one
When the mechanical arm is controlled, the installation space of the mechanical arm is limited frequently, so that the working angle of the mechanical arm is certain, and the working position of the tail end of the mechanical arm needs to be determined according to the determined angle parameter. Therefore, the working point can be arranged at the position which can be reached by the tail end of the mechanical arm, and then the mechanical arm is controlled to work according to the working position parameters.
Thus, when the first parameter is the angle parameter of the robot arm, and the second parameter is the working position parameter of the robot arm, as shown in fig. 3, step 103 may be implemented by the following steps when calculating the working position parameter of the second parameter according to the first parameter and the length parameter:
step 301: acquiring the distance between the main arm connection points; the distance between the main arm connecting points is used for representing the distance between the driving point of the first mechanical main arm and the driving point of the second mechanical main arm;
step 302: calculating joint point coordinate information of the mechanical arm by using the distance between the connecting points of the main arm, the length of the mechanical main arm and the angle parameter; the joint points are used for representing the connection points of the mechanical main arm and the mechanical slave arm;
step 303: and determining the working position parameters of the mechanical arm according to the joint point coordinate information.
In this embodiment, a geometric structure relationship between the angle of the mechanical arm and the working position of the mechanical arm is considered, so that the working position parameter of the mechanical arm can be accurately calculated by using the angle parameter of the mechanical arm and the length parameter of the mechanical arm, thereby providing a guarantee for high-precision control of the mechanical arm.
In step 302, when calculating the coordinate information of the joint point of the robot arm, the joint point information may be calculated according to the distance between the connection points of the main arm, the length of the main arm, and the angle representing the included angle between the main arm and the mechanical fixing plane.
Of course, as shown in fig. 4, the parallel type manipulator structure under scenario one is a schematic diagram, and for the parallel type manipulator structure, since it includes two manipulators, namely, a first manipulator and a second manipulator, the first manipulator specifically includes a first manipulator main arm and a second manipulator slave arm, and the second manipulator specifically includes a second manipulator main arm and a second manipulator slave arm. Therefore, in calculating the joint point coordinate information, the coordinates of the joint point D of the first robot arm and the coordinates of the joint point E of the second robot arm should be calculated, respectively. Further, in step 303, when determining the working position parameter of the robot arm according to the coordinate information of the joint point, the working position parameter of the robot arm should be determined according to the coordinate of the joint point D of the first robot arm and the coordinate of the joint point E of the second robot arm.
1.1 coordinate calculation of the articulation point D of the first robot arm
As shown in fig. 4, a and B are driving points of the first mechanical main arm and the second mechanical main arm, respectively, the distance between the driving points is the distance between the main arm connecting points, and the planes of a and B form the installation plane of the mechanical arm. When calculating the coordinate of the joint point D of the first mechanical arm according to the distance between the connecting points of the main arm, the length of the mechanical main arm, and the angle, the calculation can be performed by the following calculation formula:
wherein D isxAbscissa information for characterizing a D-joint, DyThe longitudinal coordinate information is used for representing the D joint point, L is used for representing the distance between the main arm connecting points, and L1For characterizing the length, theta, of the main arm of the machine1For characterizing the first angle.
From the above formula, after the distance between the main arm connection points, the length and the angle of the mechanical main arm are known, the coordinate information of the joint point D can be obtained by the above calculation formula. It is noted that L representing the distance between the main table connection points in the above calculation formula1The calculation in this embodiment should be the length of the first mechanical main arm, θ1Should be the angle between the first mechanical main arm and the mounting plane, i.e. the first angle.
1.2 coordinate calculation of Joint Point E of the second robot arm
As shown in fig. 4, when calculating the coordinate of the joint point E of the second robot arm from the distance between the connecting points of the main arms, the length of the mechanical main arm, and the angle, the calculation can be performed by the following calculation formula:
wherein E isxAbscissa information for characterizing E-joint points, EyInformation on the ordinate, L, for characterizing the E-joint2For characterizing the length, theta, of the main arm of the machine2For characterizing the second angle.
From the above formula, it is knownThe coordinate information of the joint point E can be obtained by the above calculation formula after the distance to the main arm connection point, the length and the angle of the mechanical main arm. Also, L for characterizing the distance between the main table connection points in the above calculation formula2The calculation in this embodiment should be the length of the second mechanical main arm, θ2The angle between the second mechanical main arm and the mounting plane, i.e. the second angle, shall be.
1.3 calculation of the working position C
In one possible implementation, as shown in fig. 4, when calculating the working position coordinates from the joint point coordinates, the K point coordinates may be first calculated using the following calculation formula:
wherein, K is the intersection point of HC and DE, H is the intersection point of circles which take two joint points as the center of circle and the distance between the joint point and the working position C as the radius, KxInformation of the abscissa used to characterize the point K, KyOrdinate information for characterizing point K, i for characterizing the length of DK, and K for characterizing the length of DE.
Further, the coordinates of the working position C point are calculated by the following calculation formula through the obtained coordinates of the K point:
wherein, CxInformation on the abscissa used to characterize point C, CyThe ordinate information used for representing the point C and the length h used for representing the KC.
In this way, the coordinates of the point C at the end working position of the robot arm can be accurately calculated by using the calculated coordinates of the joint point D, the coordinates of the joint point D, and the coordinates of the point K.
1.4 coordinate transformation
As the working environment of the mechanical arm is more and more complicated, the installation of the mechanical arm is not horizontal frequently. If the mechanical arm is controlled according to the condition of horizontal installation, the control precision is inevitably reduced. Based on this, as shown in fig. 5, the installation of the robot arm has an angle θ with the horizontal plane, and then the coordinate of the C-point working position obtained in the horizontal state can be converted into the coordinate of the C-point working position with the angle θ by using the following calculation formula:
wherein, [ x ', y' ] is used for representing the working position coordinate when the included angle between the installation plane of the mechanical arm and the horizontal plane is theta, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane.
Similarly, if the obtained working position coordinate is a working position coordinate when the mounting plane of the mechanical arm is not parallel to the horizontal plane, when determining the working position parameter, the working position coordinate when the mounting plane of the mechanical arm is parallel to the horizontal plane can be converted by the following calculation formula:
therefore, the scheme not only considers the space limitation caused by different environments, but also considers the condition whether the installation is horizontal or not. In this way, even if the mounting plane is no longer horizontal, the coordinate conversion can be performed by the above calculation formula, thereby further improving the control accuracy of the robot arm.
2. Situation two
When the mechanical arm is controlled, the position of the tail end of the mechanical arm to work is always certain, and at this time, the working angle parameter of the mechanical arm needs to be determined according to the determined working position parameter. Therefore, the mechanical arm is controlled to work according to the angle parameter, and the tail end working position of the mechanical arm can reach the determined working position.
Thus, when the first parameter is the working position parameter of the robot arm, and the second parameter is the angle parameter of the robot arm, as shown in fig. 6, step 103 may be implemented by the following steps when calculating the second parameter angle parameter according to the first parameter and the length parameter:
step 601: calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameter and the distance between the main arm connecting points; the distance between the main arm connecting points is used for representing the distance between the driving point of the first mechanical main arm and the driving point of the second mechanical main arm;
step 602: and calculating the angle parameter by using the driving distance, the length of the mechanical main arm, the length of the mechanical auxiliary arm and the working position parameter.
In this embodiment, when the coordinate of the working position C of the mechanical arm can be determined, the driving distance between the driving point of the mechanical main arm and the point C of the working position can be calculated by using the coordinate of the working position and the distance between the connecting points of the main arm, so that the angle parameter of the mechanical arm can be further determined by using the obtained result in combination with the parameters such as the length of the mechanical arm. Therefore, the working angle of the mechanical arm is obtained by calculating the working position, and the mechanical arm can move to the target position to be worked more accurately during working.
In step 602, when the driving distance, the length of the mechanical main arm, the length of the mechanical slave arm and the working position parameter are used to calculate the angle parameter, the driving distance, the length of the mechanical main arm, the length of the mechanical slave arm and the working position parameter can be used to calculate the included angle between the mechanical main arm and the mechanical arm fixing plane.
Fig. 7 is a schematic diagram of a parallel type manipulator structure in scenario two, in which the parallel type manipulator structure includes two manipulators, namely a first manipulator and a second manipulator, the first manipulator specifically includes a first manipulator main arm and a second manipulator slave arm, and the second manipulator specifically includes a second manipulator main arm and a second manipulator slave arm. Therefore, in calculating the driving distance between the driving point and the operating position of the mechanical master arm, the driving distance AC between the driving point and the operating position of the first mechanical master arm and the driving distance BC between the driving point and the operating position of the second mechanical master arm should be calculated, respectively. And then calculating a first angle between the first mechanical main arm and the mechanical arm fixing plane by using the driving distance AC of the first mechanical arm in combination with the length of the mechanical arm, and calculating a second angle between the second mechanical main arm and the mechanical arm fixing plane by using the driving distance BC of the second mechanical arm in combination with the length of the mechanical arm.
2.1 calculation of the first angle of the first robot arm
As shown in fig. 7, when calculating the first angle of the first robot, first, the driving distance AC of the first robot is calculated by the following calculation formula using the distance between the main arm connecting points and the coordinates C (x, y) of the working position:
where e is used to characterize 1/2 for the main arm attachment point spacing AB.
As shown in FIG. 7, it is apparent that the first angle θ1The sum of < DAC and < OAC is 180 DEG, and < OAC can pass through
Calculated, and the < DAC can pass
Thus, the first angle theta can be passed1Calculating the relation between the three angles of < DAC and < OAC to obtain a first angle theta1Namely:
2.2 calculation of the second Angle of the second robot arm
As shown in fig. 7, when calculating the second angle of the second robot arm, first, the driving distance BC of the second robot arm is calculated by the following calculation formula using the distance between the main arm connecting points and the coordinates C (x, y) of the working position:
where e is used to characterize 1/2 for the main arm attachment point spacing AB.
As is apparent from FIG. 7, the second angle θ2The sum of < EBC and < OBC is 180 DEG, and < OBC can pass through
Calculated, and the angle EBC can be obtained by
Thus, the second angle theta can be passed2Calculating the relation between the three angles of < EBC and < OBC to obtain a first angle theta2Namely:
therefore, by utilizing the working position parameters and combining the length of each mechanical arm, the working angle at which the mechanical arm should operate can be accurately calculated, and the tail end of the working arm can work at the designated working position.
It is worth noting that neither scenario one nor scenario two, the properties of the symmetrical case of the first and second robotic arms are not utilized in calculating all quantities. Therefore, the scheme is not only suitable for the mechanical arm with the symmetrical structure, but also suitable for the mechanical arm with the asymmetrical structure, and the application range is wider.
Furthermore, it is understood that the above description is provided by way of example of two robot arms, and in other embodiments, it is apparent that the robot arms of the robot arm may include more than two robot arms.
As shown in fig. 8, an embodiment of the present invention provides a control apparatus 800 for a robot arm, which may include: a length parameter acquisition module 801, a first parameter acquisition module 802, a second parameter calculation module 803 and a mechanical arm control module 804;
a length parameter obtaining module 801, configured to obtain a length parameter of the robot arm;
a first parameter obtaining module 802, configured to obtain a first parameter of an angle parameter and a working position parameter of a mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the mounting plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
a second parameter calculating module 803, configured to calculate a second parameter of the angle parameter and the working position parameter according to the first parameter obtained by the first parameter obtaining module 802 and the length parameter obtained by the length parameter obtaining module 801; and the number of the first and second groups,
and the manipulator control module 804 is configured to control the manipulator according to the second parameter calculated by the second parameter calculation module 803.
In one possible implementation manner, the first parameter is an angle parameter of the mechanical arm, and the second parameter is a working position parameter of the mechanical arm;
the robot arm includes: a mechanical master arm and a mechanical slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the second parameter calculation module 803, when calculating the second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter, is configured to perform the following operations:
acquiring the distance between the main arm connection points; the distance between the main arm connecting points is used for representing the distance between the driving point of the first mechanical main arm and the driving point of the second mechanical main arm;
calculating joint point coordinate information of the mechanical arm by using the distance between the connecting points of the main arm, the length of the mechanical main arm and the angle parameter; the joint points are used for representing the connection points of the mechanical main arm and the mechanical slave arm;
and determining the working position parameters of the mechanical arm according to the joint point coordinate information.
In a possible implementation manner, when calculating the joint point coordinate information of the robot arm, the second parameter calculation module 803 is configured to calculate the joint point information according to the distance between the connection points of the main arm, the length of the main arm of the robot, and the angle; the angle is used for representing the included angle between the mechanical main arm and the mechanical arm fixing plane, and the joint point is used for representing the connection point of the mechanical main arm and the mechanical slave arm.
In one possible implementation, the second parameter calculation module 803, when calculating the joint point information according to the main arm connection point distance, the mechanical main arm length, and the angle, is configured to perform the following operations:
calculating the coordinate information of the joint point by using the following calculation formula:
wherein D isxInformation on the abscissa used to characterize the joint points, DyLongitudinal coordinate information for representing joint points, L for representing the distance between main arm connecting points, L1For characterizing the length, theta, of the main arm of the machine1For characterizing the angle.
In one possible implementation, the method further includes: a first location parameter determination module;
the first position parameter determining module is configured to execute the following operations when an included angle between an installation plane of the mechanical arm and a horizontal plane is theta and the working position parameter of the mechanical arm is determined according to the joint point coordinate information:
the working position coordinates are calculated using the following calculation:
wherein, [ x ', y' ] is used for representing the working position coordinate when the included angle between the installation plane of the mechanical arm and the horizontal plane is theta, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane.
In one possible implementation, the manipulator arm comprises at least two pairs of a master manipulator arm and a slave manipulator arm;
the second parameter calculation module 803, when calculating joint point coordinate information of the robot arm, is configured to calculate joint point coordinate information for each pair of the master mechanical arm and the slave mechanical arm.
In one possible implementation manner, the first parameter is a working position parameter of the mechanical arm, and the second parameter is an angle parameter of the mechanical arm;
the robot arm includes: a mechanical master arm and a mechanical slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the second parameter calculation module 803, when calculating the second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter, is configured to perform the following operations:
calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameter and the distance between the main arm connecting points; the distance between the main arm connecting points is used for representing the distance between the driving point of the first mechanical main arm and the driving point of the second mechanical main arm;
and calculating the angle parameter by using the driving distance, the length of the mechanical main arm, the length of the mechanical auxiliary arm and the working position parameter.
In one possible implementation, the second parameter calculation module 803, when calculating the angle parameter using the driving distance, the mechanical master arm length, the mechanical slave arm length, and the working position parameter, is configured to perform the following operations:
calculating an included angle between the mechanical main arm and a mechanical arm fixing plane by using the driving distance, the length of the mechanical main arm, the length of the mechanical slave arm and the working position parameters; wherein the driving distance is used for representing the distance between the driving point of the mechanical main arm and the working position.
In one possible implementation, the method further includes: a second location parameter determination module;
the second position parameter determination module is configured to perform the following operations when the installation plane of the mechanical arm is parallel to the horizontal plane and the working position parameter is determined:
acquiring working position coordinates [ x ', y' ] when the installation plane of the mechanical arm is not parallel to the horizontal plane;
and calculating the working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane by using the following calculation formula:
wherein, theta is used for representing the included angle between the installation plane of the mechanical arm and the horizontal plane, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane.
In one possible implementation, the manipulator arm comprises at least two pairs of a master manipulator arm and a slave manipulator arm;
the second parameter calculation module 803, when calculating the angle parameter, is configured to calculate the angle parameter for each pair of mechanical master arm and mechanical slave arm, respectively.
As shown in FIG. 9, an embodiment of the invention also provides a computing device 900 comprising: at least one memory 901 and at least one processor 902;
at least one memory 901 for storing a machine readable program;
at least one processor 902, coupled to the at least one memory 901, is configured to invoke a machine readable program to execute the method 100 for controlling a robot arm provided by any of the above embodiments.
The present invention further provides a computer readable medium, which stores computer instructions, and when the computer instructions are executed by a processor, the processor executes the method 100 for controlling a robot arm provided in any one of the above embodiments. The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the method 100 for controlling a robot arm as described in any one of the above. Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion module to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It should be noted that not all steps and modules in the above flow and device structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together. The control device of the mechanical arm and the control method of the mechanical arm are based on the same inventive concept.
In the above embodiments, the hardware module may be implemented mechanically or electrically. For example, a hardware module may comprise permanently dedicated circuitry or logic (such as a dedicated processor, FPGA or ASIC) to perform the corresponding operations. A hardware module may also include programmable logic or circuitry (e.g., a general-purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The specific implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been shown and described in detail in the drawings and in the preferred embodiments, it is not intended to limit the invention to the embodiments disclosed, and it will be apparent to those skilled in the art that various combinations of the code auditing means in the various embodiments described above may be used to obtain further embodiments of the invention, which are also within the scope of the invention.
Claims (23)
1. A method for controlling a robot arm, comprising:
acquiring length parameters of the mechanical arm;
acquiring a first parameter in the angle parameter and the working position parameter of the mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter; and the number of the first and second groups,
and controlling the mechanical arm according to the second parameter obtained by calculation.
2. The method of claim 1, wherein the first parameter is an angle parameter of the robotic arm and the second parameter is a working position parameter of the robotic arm;
the robot arm includes: a mechanical master arm and a mechanical slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the step of calculating a second one of the angle parameter and the working position parameter based on the first parameter and the length parameter comprises:
acquiring the distance between the main arm connection points; wherein the main arm connection point spacing is used to characterize the distance between the drive point of the first mechanical main arm and the drive point of the second mechanical main arm;
calculating joint point coordinate information of the mechanical arm by using the distance between the main arm connecting points, the length of the mechanical main arm and the angle parameter; wherein the joint points are used for characterizing the connection points of the mechanical master arm and the mechanical slave arm;
and determining the working position parameters of the mechanical arm according to the joint point coordinate information.
3. The method of claim 2, wherein the step of calculating the joint coordinate information of the robot arm comprises:
calculating joint point information according to the distance between the main arm connecting points, the length of the mechanical main arm and the angle; the angle is used for representing the included angle between the main mechanical arm and a mechanical arm fixing plane, and the joint point is used for representing the connection point of the main mechanical arm and the mechanical slave arm.
4. The method of claim 3, wherein the step of calculating joint information based on the distance between the points of attachment of the master arm, the length of the mechanical master arm, and the angle comprises:
calculating the joint point coordinate information by using the following calculation formula:
wherein D isxInformation on the abscissa used to characterize the joint points, DyLongitudinal coordinate information for characterizing the joint points, L for characterizing the distance between the main arm attachment points, L1For characterizing the length, θ, of the main arm of the machine0For characterizing said angle.
5. The method according to any one of claims 2 to 4, wherein when the angle between the installation plane of the robot arm and the horizontal plane is θ, the step of determining the working position parameter of the robot arm according to the joint coordinate information comprises:
calculating the working position coordinates using the following calculation:
wherein [ x ', y' ] is used for representing the working position coordinate when the included angle between the installation plane of the mechanical arm and the horizontal plane is theta, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane.
6. The method of claim 2, wherein the robotic arm comprises at least two pairs of a mechanical master arm and a mechanical slave arm;
the calculating joint point coordinate information of the mechanical arm comprises: the joint point coordinate information is calculated for each pair of mechanical master and slave arms.
7. The method of claim 1, wherein the first parameter is a working position parameter of the robotic arm and the second parameter is an angle parameter of the robotic arm;
the robot arm includes: a mechanical master arm and a mechanical slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the step of calculating a second one of the angle parameter and the working position parameter based on the first parameter and the length parameter comprises:
calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameters and the distance between the main arm connecting points; wherein the main arm connection point spacing is used to characterize the distance between the drive point of the first mechanical main arm and the drive point of the second mechanical main arm;
and calculating the angle parameter by using the driving distance, the length of the mechanical main arm, the length of the mechanical auxiliary arm and the working position parameter.
8. The method of claim 7, wherein said step of calculating said angle parameter using said drive distance, mechanical master arm length, mechanical slave arm length, and said operating position parameter comprises:
calculating an included angle between the mechanical main arm and a mechanical arm fixing plane by using a driving distance, the length of the mechanical main arm, the length of the mechanical slave arm and the working position parameter; wherein the driving distance is used for representing the distance between the driving point of the mechanical main arm and the working position.
9. The method according to any one of claims 7 to 8, wherein the step of determining the working position parameter when the mounting plane of the robot arm is parallel to the horizontal plane comprises:
acquiring working position coordinates [ x ', y' ] when the installation plane of the mechanical arm is not parallel to the horizontal plane;
and calculating the working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane by using the following calculation formula:
the theta is used for representing an included angle between the installation plane of the mechanical arm and the horizontal plane, and the [ x, y ] is used for representing a working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane.
10. The method of claim 8, wherein the robotic arm comprises at least two pairs of a mechanical master arm and a mechanical slave arm;
the step of calculating the angle parameter comprises: the angle parameters are calculated for each pair of mechanical master and slave arms, respectively.
11. A control device for a robot arm, comprising: the system comprises a length parameter acquisition module, a first parameter acquisition module, a second parameter calculation module and a mechanical arm control module;
the length parameter acquisition module is used for acquiring the length parameter of the mechanical arm;
the first parameter acquisition module is used for acquiring a first parameter of the angle parameter and the working position parameter of the mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
the second parameter calculation module is configured to calculate a second parameter of the angle parameter and the working position parameter according to the first parameter acquired by the first parameter acquisition module and the length parameter acquired by the length parameter acquisition module; and the number of the first and second groups,
and the mechanical arm control module is used for controlling the mechanical arm according to the second parameter calculated by the second parameter calculation module.
12. The apparatus of claim 11, wherein the first parameter is an angle parameter of the robot arm, and the second parameter is a working position parameter of the robot arm;
the robot arm includes: a mechanical master arm and a mechanical slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the second parameter calculation module, when calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter, is configured to perform the following operations:
acquiring the distance between the main arm connection points; wherein the main arm connection point spacing is used to characterize the distance between the drive point of the first mechanical main arm and the drive point of the second mechanical main arm;
calculating joint point coordinate information of the mechanical arm by using the distance between the main arm connecting points, the length of the mechanical main arm and the angle parameter; wherein the joint points are used for characterizing the connection points of the mechanical master arm and the mechanical slave arm;
and determining the working position parameters of the mechanical arm according to the joint point coordinate information.
13. The apparatus of claim 12,
the second parameter calculation module is configured to calculate joint point information according to the distance between the main arm connection points, the length of the mechanical main arm and the angle when calculating the joint point coordinate information of the mechanical arm; the angle is used for representing the included angle between the main mechanical arm and a mechanical arm fixing plane, and the joint point is used for representing the connection point of the main mechanical arm and the mechanical slave arm.
14. The apparatus of claim 13, wherein the second parameter calculation module, when calculating joint point information based on the master arm connection point spacing, mechanical master arm length, and angle, is configured to:
calculating the joint point coordinate information by using the following calculation formula:
wherein D isxInformation on the abscissa used to characterize the joint points, DyLongitudinal coordinate information for characterizing the joint points, L for characterizing the distance between the main arm attachment points, L1For characterizing the length, θ, of the main arm of the machine0For characterizing said angle.
15. The apparatus of any of claims 12 to 14, further comprising: a first location parameter determination module;
when the included angle between the installation plane of the mechanical arm and the horizontal plane is theta and the working position parameter of the mechanical arm is determined according to the joint point coordinate information, the first position parameter determining module is configured to execute the following operations:
calculating the working position coordinates using the following calculation:
wherein [ x ', y' ] is used for representing the working position coordinate when the included angle between the installation plane of the mechanical arm and the horizontal plane is theta, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane.
16. The apparatus of claim 12, wherein the robotic arm comprises at least two pairs of a mechanical master arm and a mechanical slave arm;
the second parameter calculation module, when calculating joint point coordinate information of the robot arm, is configured to calculate joint point coordinate information for each pair of the master mechanical arm and the slave mechanical arm.
17. The apparatus of claim 11, wherein the first parameter is a working position parameter of the robotic arm and the second parameter is an angle parameter of the robotic arm;
the robot arm includes: a mechanical master arm and a mechanical slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the second parameter calculation module, when calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter, is configured to perform the following operations:
calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameters and the distance between the main arm connecting points; wherein the main arm connection point spacing is used to characterize the distance between the drive point of the first mechanical main arm and the drive point of the second mechanical main arm;
and calculating the angle parameter by using the driving distance, the length of the mechanical main arm, the length of the mechanical auxiliary arm and the working position parameter.
18. The apparatus of claim 17, wherein the second parameter calculation module, when calculating the angle parameter using the drive distance, the mechanical master arm length, the mechanical slave arm length, and the working position parameter, is configured to:
calculating an included angle between the mechanical main arm and a mechanical arm fixing plane by using a driving distance, the length of the mechanical main arm, the length of the mechanical slave arm and the working position parameter; wherein the driving distance is used for representing the distance between the driving point of the mechanical main arm and the working position.
19. The apparatus of any of claims 17 to 18, further comprising: a second location parameter determination module;
the second position parameter determination module is configured to perform the following operations when the installation plane of the mechanical arm is parallel to the horizontal plane and the working position parameter is determined:
acquiring working position coordinates [ x ', y' ] when the installation plane of the mechanical arm is not parallel to the horizontal plane;
and calculating the working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane by using the following calculation formula:
the theta is used for representing an included angle between the installation plane of the mechanical arm and the horizontal plane, and the [ x, y ] is used for representing a working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane.
20. The apparatus of claim 18, wherein the robotic arm comprises at least two pairs of a mechanical master arm and a mechanical slave arm;
the second parameter calculation module, when calculating the angle parameter, is configured to calculate the angle parameter for each pair of mechanical master arm and mechanical slave arm, respectively.
21. A computing device, comprising: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor, configured to invoke the machine readable program, to perform the method of any of claims 1 to 10.
22. Computer readable medium, characterized in that it has stored thereon computer instructions which, when executed by a processor, cause the processor to carry out the method of any one of claims 1 to 10.
23. Computer program product, comprising a computer program, characterized in that the computer program realizes the method of any of claims 1 to 10 when executed by a processor.
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