CN114474075B - Robot spiral track control method and device, storage medium and electronic equipment - Google Patents
Robot spiral track control method and device, storage medium and electronic equipment Download PDFInfo
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Abstract
The application provides a robot spiral track control method, a device, a storage medium and an electronic device, wherein a spiral line position planning set and a spiral line posture planning set are obtained based on spiral line parameters, the spiral line position planning set comprises coordinate information under a target coordinate system when the tail end of a robot rotates to a target angle, the spiral line posture planning set comprises posture information under the target coordinate system when the tail end of the robot rotates to the target angle, each circle of spiral line comprises at least 3 target angles, and the interval radian between any two adjacent target angles is the rotation amplitude of the tail end of the robot in a control period; and performing inverse kinematics calculation based on the spiral line position planning set and the spiral line attitude planning set to obtain an interpolation instruction corresponding to each control period, wherein the interpolation instruction comprises the position change of each joint of the robot in the control period.
Description
Technical Field
The application relates to the field of robots, in particular to a method and a device for controlling a spiral track of a robot, a storage medium and electronic equipment.
Background
With the development of industry, robots are widely used in various fields. For example, robots of the arm type are used for gripping, handling and grinding products. However, with the expansion of the application range of the robot, basic motions such as joint motion and cartesian space linear circular motion are gradually difficult to meet the requirements of industries such as polishing and new retail, and the spiral motion becomes a challenge for the trajectory planning of the robot.
Therefore, how to complete the robot trajectory planning quickly and accurately becomes a focus of attention of those skilled in the art.
Disclosure of Invention
An object of the present application is to provide a method, an apparatus, a storage medium, and an electronic device for controlling a spiral trajectory of a robot, so as to at least partially improve the above problems.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a method for controlling a spiral trajectory of a robot, where the method includes:
acquiring a spiral line position planning set and a spiral line posture planning set based on spiral line parameters, wherein the spiral line position planning set comprises coordinate information in a target coordinate system when the tail end of the robot rotates to a target angle, the spiral line posture planning set comprises posture information in the target coordinate system when the tail end of the robot rotates to the target angle, each circle of spiral line comprises at least 3 target angles, and the interval radian between any two adjacent target angles is the rotation amplitude of the tail end of the robot in a control period;
and performing inverse kinematics calculation based on the spiral line position planning set and the spiral line attitude planning set to obtain an interpolation instruction corresponding to each control period, wherein the interpolation instruction comprises the position change of each joint of the robot in the control period.
In a second aspect, an embodiment of the present application provides a robot spiral trajectory control device, where the device includes:
the system comprises a planning unit, a processing unit and a control unit, wherein the planning unit is used for acquiring a spiral line position planning set and a spiral line posture planning set based on spiral line parameters, the spiral line position planning set comprises coordinate information in a target coordinate system when the tail end of a robot rotates to a target angle, the spiral line posture planning set comprises posture information in the target coordinate system when the tail end of the robot rotates to the target angle, each circle of spiral line comprises at least 3 target angles, and the interval radian between any two adjacent target angles is the rotation amplitude of the tail end of the robot in a control period;
and the processing unit is used for performing inverse kinematics calculation based on the spiral line position planning set and the spiral line attitude planning set to obtain an interpolation instruction corresponding to each control period, wherein the interpolation instruction comprises the position change of each joint of the robot in the control period.
In a third aspect, the present application provides a storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method described above.
In a fourth aspect, an embodiment of the present application provides an electronic device, where the electronic device includes: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the methods described above.
Compared with the prior art, the method, the device, the storage medium and the electronic device for controlling the spiral track of the robot provided by the embodiment of the application acquire a spiral position planning set and a spiral attitude planning set based on spiral parameters, wherein the spiral position planning set comprises coordinate information in a target coordinate system when the tail end of the robot rotates to a target angle, the spiral attitude planning set comprises attitude information in the target coordinate system when the tail end of the robot rotates to the target angle, each circle of spiral comprises at least 3 target angles, and the radian of an interval between any two adjacent target angles is the rotation amplitude of the tail end of the robot in a control period; and performing inverse kinematics calculation based on the spiral line position planning set and the spiral line attitude planning set to obtain an interpolation instruction corresponding to each control period, wherein the interpolation instruction comprises the position change of each joint of the robot in the control period.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a method for controlling a spiral track of a robot according to an embodiment of the present disclosure;
fig. 3 is a schematic view of substeps of S101 provided in an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating an instruction point according to an embodiment of the present application;
fig. 5 is a schematic diagram illustrating sub-steps of S102 according to an embodiment of the present application;
fig. 6 is a schematic flowchart of a method for controlling a spiral trajectory of a robot according to an embodiment of the present disclosure;
FIG. 7 is a schematic view of a spatial helix provided in an embodiment of the present application;
fig. 8 is a schematic unit diagram of a spiral trajectory control device of a robot according to an embodiment of the present application.
In the figure: 10-a processor; 11-a memory; 12-a bus; 13-a communication interface; 201-planning unit; 202-processing unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it should also be noted that, unless expressly stated or limited otherwise, the terms "disposed" and "connected" are to be construed broadly, and may for example be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
In a possible implementation mode, a spiral plane coordinate system can be established, a spiral line track is determined according to specified spiral parameters, then the spiral track is discretized, and the discretized path is subjected to speed planning and fitting again, so that the grinding motion of the spiral line of the robot plane with controllable speed is realized. However, this approach has the following disadvantages: the spiral track generation process is complex, and steps such as discretization, re-speed planning, fitting, coordinate transformation and the like are required; the spiral track can only generate a plane spiral track; the spiral track only plans the Cartesian space position of the robot, and does not relate to the posture part planning.
The embodiment of the application provides an electronic device which can be a computer, a server or a robot comprising a control system. Please refer to fig. 1, a schematic structural diagram of an electronic device. The electronic device comprises a processor 10, a memory 11, a bus 12. The processor 10 and the memory 11 are connected by a bus 12, and the processor 10 is configured to execute an executable module, such as a computer program, stored in the memory 11.
The processor 10 may be an integrated circuit chip having signal processing capabilities. In the implementation process, the steps of the robot spiral trajectory control method may be implemented by integrated logic circuits of hardware in the processor 10 or instructions in the form of software. The Processor 10 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components.
The Memory 11 may comprise a high-speed Random Access Memory (RAM) and may further comprise a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. Only one bi-directional arrow is shown in fig. 1, but this does not indicate only one bus 12 or one type of bus 12.
The memory 11 is used for storing programs, such as programs corresponding to the spiral track control device of the robot. The spiral trajectory control device of the robot includes at least one software functional module which can be stored in the memory 11 in the form of software or firmware (firmware) or is solidified in an Operating System (OS) of the electronic device. The processor 10 executes the program to realize the robot spiral track control method after receiving the execution instruction.
Possibly, the electronic device provided by the embodiment of the present application further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus. In one possible implementation, parameter information or instruction information transmitted by other terminals, such as a teaching machine, is received.
It should be understood that the structure shown in fig. 1 is merely a structural schematic diagram of a portion of an electronic device, which may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 2, a method for controlling a spiral trajectory of a robot according to an embodiment of the present application may be applied to, but not limited to, an electronic device shown in fig. 1, and a specific process is provided, where the method for controlling a spiral trajectory of a robot includes: s101 and S102 are specifically described as follows.
S101, acquiring a spiral position planning set and a spiral attitude planning set based on spiral parameters.
The spiral line position planning set comprises coordinate information under a target coordinate system when the tail end of the robot rotates to a target angle, the spiral line posture planning set comprises posture information under the target coordinate system when the tail end of the robot rotates to the target angle, each circle of spiral line comprises at least 3 target angles, and the interval radian between any two adjacent target angles is the rotation amplitude of the tail end of the robot in one control period.
The robot in this application embodiment can be six arms, and the robot end can be the processing arm in the six arms. The processing arm can be used for polishing a workpiece. The target coordinate system is a world coordinate system or a base coordinate system of the robot.
It should be understood that each target angle corresponds to a coordinate. Every circle of helix represents that the robot end rotates 360 degrees, and at least 3 target angles are needed in 360 degrees corresponding to every circle of helix, namely 3 positioning points are corresponding, so that inverse kinematics calculation can be performed.
In the embodiment of the application, directly obtain helix position planning set and helix attitude planning set based on the helix parameter, need not pass through steps such as discretization, speed planning again, fitting, coordinate transformation, also need not can obtain the helix orbit through the coordinate transformation, can greatly simplify planning process complexity, conveniently obtain the motion trajectory fast high-efficiently.
Meanwhile, because the spiral attitude planning set contains attitude information of the robot in a target coordinate system when the tail end of the robot rotates to a target angle, free control of the attitude can be realized.
And S102, performing inverse kinematics calculation based on the spiral line position planning set and the spiral line attitude planning set to obtain an interpolation instruction corresponding to each control period.
The interpolation command comprises position changes of each joint of the robot in a control cycle.
It should be understood that the robot may execute the interpolation command in a corresponding period, so as to control the position change of each joint of the robot in the control period, so that the robot moves according to the preset spiral line and posture.
To sum up, the embodiment of the present application provides a robot spiral trajectory control method, which obtains a spiral position planning set and a spiral attitude planning set based on spiral parameters, where the spiral position planning set includes coordinate information in a target coordinate system when a terminal of a robot rotates to a target angle, the spiral attitude planning set includes attitude information in the target coordinate system when the terminal of the robot rotates to the target angle, each circle of spiral includes at least 3 target angles, and an interval radian between any two adjacent target angles is a rotation amplitude of the terminal of the robot in a control period; and performing inverse kinematics calculation based on the spiral line position planning set and the spiral line attitude planning set to obtain an interpolation instruction corresponding to each control period, wherein the interpolation instruction comprises the position change of each joint of the robot in the control period.
In one possible implementation, the spiral parameters include a number of spiral turns, a total increment of spiral radius, a total increment of spiral shaft direction, a posture correction angle, and coordinate information of at least 3 command points in an initial arc segment. It should be noted that the total increment of the spiral radius may also be replaced by a single-turn increment of the spiral radius, and the total increment of the spiral radius is the product of the single-turn increment of the spiral radius and the number of turns of the spiral. In this case, for the content of S101 in fig. 2, the present application further provides a possible implementation manner, please refer to fig. 3, where S101 includes: s101-1 and S101-2 are specifically described below.
S101-1, acquiring a spiral line position planning set based on spiral turns, total increment of spiral radius, total increment of spiral rotating shaft direction and coordinate information of at least 3 instruction points in an initial arc section.
Optionally, the set of spiral position plans is obtained according to the following equation:
wherein, theta represents the target angle,
representing coordinate information of the tail end of the robot in a target coordinate system when the tail end of the robot rotates to a target angle, N representing the number of spiral turns, dr representing the total increment of the spiral radius, dx representing the total increment of the direction of a spiral rotating shaft, and/or>
The coordinate information of the initial position of the spiral line at which the characteristic target angle is located, and the characteristic value is analyzed to determine whether the characteristic value is greater than or equal to the preset value>
Representing a direction vector of the spiral rotating shaft, wherein the direction vector of the spiral rotating shaft is a normal vector of a plane constructed by 3 instruction points, and the normal vector is used for judging whether the direction vector of the spiral rotating shaft is normal or not>
The spiral radial direction vector is characterized.
Referring to fig. 4, when the number of the command points is 3, the 3 command points are, for example, point 1, point 2 and point 3 in the figure, and are respectively corresponding to the coordinate p 1 (x 1 ，y 1 ，z 1 )、p 2 (x 2 ，y 2 ，z 2 ) And p 1 (x 3 ，y 3 ，z 3 ). It should be noted that the distribution of 3 instruction points includes, but is not limited to, the form shown in fig. 4.
Alternatively, it can be based on 3 instruction points p 1 (x 1 ，y 1 ，z 1 )、p 2 (x 2 ，y 2 ，z 2 ) And p 1 (x 3 ，y 3 ，z 3 ) Determining the center of the initial arc segment ((x) 0 ，y 0 ，z 0 ) And the radius is summed, and then the target angle is combined to obtain the target coordinate information on the circular arc
Coordinate information of the robot tip can be obtained when the tip is located at any point on the initial arc segment.
In one possible implementation, when the number of command points is more than 3, the circle center and radius of the initial arc segment can be determined using least squares fitting, and then combined with the targetObtaining the coordinate information of the target on the arc by the angle
The optional method comprises the steps of carrying out multiple teaching on the same instruction point and then taking an average value, and also comprises the step of determining an initial arc segment by using other fitting methods, such as high-order polynomial fitting, a machine learning method and the like.
Optionally, the spiral radial vector expression is as follows:
in one possible implementation, when dr is equal to 0, the specific expression is as follows:
at this time, only the position of the spiral rotating shaft direction changes, the position of the spiral radius direction remains unchanged, and the track at this time is a space spiral track with a constant radius.
In one possible implementation, when dx is equal to 0, the specific expression is as follows:
at this time, only the position in the radial direction of the spiral changes, and the position in the direction of the rotation axis of the spiral remains unchanged, and the trajectory at this time is a planar spiral trajectory.
In the scheme of the application, the space spiral line track and the plane spiral line track can be obtained through spiral parameter configuration.
S101-2, acquiring a spiral line attitude planning set based on spiral turns and an attitude correction angle.
Optionally, the helical pose planning set is obtained according to the following equation:
wherein, theta represents the target angle,
representing the attitude information of the robot under a target coordinate system when the tail end of the robot rotates to a target angle, N representing the number of spiral turns, and/or>
The attitude information representing the starting position of the spiral line at which the target angle is located, and->
Characterizing attitude correction angle (r) x ，r y ，r z ) The attitude correction angle is an included angle between the initial attitude and the target attitude, and the target attitude is an attitude when the movement is completed.
It should be understood that the free control of the posture is realized by the arbitrary setting of the demonstrator and the arbitrary expected posture obtained by modifying the posture correction angle. The starting position of the spiral is a circular arc determined by the coordinate information of the given 3 command points.
On the basis of fig. 2, regarding the content in S102, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 5, in which S102 includes: s102-1 and S102-2, as described below.
S102-1, acquiring a Cartesian space pose instruction based on the spiral position planning set and the spiral attitude planning set.
It should be appreciated that the expression of the Cartesian spatial pose instruction may be
And S102-2, performing inverse kinematics calculation on the Cartesian space pose instruction to obtain an interpolation instruction corresponding to each control period.
It should be understood that the set of the position plan and the posture plan includes the position change and the posture change of the cartesian space, after inverse kinematics, the posture of the cartesian space is converted into the position of each joint, and the interpolation command is the position change of each joint of the robot in the control period.
On the basis of fig. 2, as to how to control the robot to complete the movement, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 6, where the method for controlling the spiral trajectory of the robot further includes: s103, the concrete description is as follows.
And S103, issuing the interpolation instruction to a driver of the robot so that the driver drives each joint of the robot according to the interpolation instruction.
It should be understood that the driver executes the interpolation command, thereby controlling the position change of each joint of the robot in the control period, so that the robot moves according to the preset spiral line and the preset posture.
Referring to fig. 7, fig. 7 is a schematic view of a spatial spiral according to an embodiment of the present application.
The robot spiral track control method provided by the embodiment of the application is directly planned under a robot base coordinate system without coordinate transformation, so that the planning efficiency is improved, the planning time is effectively shortened, the teaching and planning of plane and space spiral tracks are realized through spiral parameter setting, and the free control of the posture is realized through a posture correction angle.
Referring to fig. 8, fig. 8 is a schematic diagram of a robot spiral trajectory control device according to an embodiment of the present disclosure, and optionally, the robot spiral trajectory control device is applied to the electronic device described above.
The robot spiral trajectory control device includes: a planning unit 201 and a processing unit 202.
The planning unit 201 is configured to obtain a spiral position planning set and a spiral posture planning set based on spiral parameters, where the spiral position planning set includes coordinate information in a target coordinate system when a terminal of the robot rotates to a target angle, the spiral posture planning set includes posture information in the target coordinate system when the terminal of the robot rotates to the target angle, each spiral contains at least 3 target angles, and an interval radian between any two adjacent target angles is a rotation amplitude of the terminal of the robot in a control period;
and the processing unit 202 is configured to perform inverse kinematics calculation based on the spiral position planning set and the spiral attitude planning set to obtain an interpolation instruction corresponding to each control period, where the interpolation instruction includes a position change of each joint of the robot in the control period.
Alternatively, the planning unit 201 may execute the above S101, and the processing unit 202 may execute the above S102 and S103.
It should be noted that the robot spiral track control device provided in this embodiment may execute the method flows shown in the above method flow embodiments to achieve the corresponding technical effects. For the sake of brevity, the corresponding contents in the above embodiments may be referred to where not mentioned in this embodiment.
The embodiment of the application also provides a storage medium, wherein the storage medium stores computer instructions and programs, and the computer instructions and the programs execute the robot spiral track control method of the embodiment when being read and run. The storage medium may include memory, flash memory, registers, or a combination thereof, etc.
The following provides an electronic device, which may be a computer, a server and a robot, and as shown in fig. 1, the electronic device may implement the above-mentioned robot spiral trajectory control method; specifically, the electronic device includes: processor 10, memory 11, bus 12. The processor 10 may be a CPU. The memory 11 is used for storing one or more programs, and when the one or more programs are executed by the processor 10, the robot spiral trajectory control method of the above-described embodiment is performed.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. A method for controlling a spiral track of a robot, the method comprising:
acquiring a spiral line position planning set and a spiral line posture planning set based on spiral line parameters, wherein the spiral line position planning set comprises coordinate information in a target coordinate system when the tail end of the robot rotates to a target angle, the spiral line posture planning set comprises posture information in the target coordinate system when the tail end of the robot rotates to the target angle, each circle of spiral line comprises at least 3 target angles, and the interval radian between any two adjacent target angles is the rotation amplitude of the tail end of the robot in a control period;
performing inverse kinematics calculation based on the spiral line position planning set and the spiral line attitude planning set to obtain an interpolation instruction corresponding to each control period, wherein the interpolation instruction comprises position changes of each joint of the robot in the control period;
the helix parameter includes the coordinate information of 3 at least instruction points in the number of spirals, the total increment of spiral radius, the total increment of spiral shaft direction, the attitude correction angle and the initial arc section, acquire helix position planning set and helix attitude planning set based on the helix parameter, include:
acquiring the spiral line position planning set based on the number of spiral turns, the total increment of the spiral radius, the total increment of the direction of the spiral rotating shaft and the coordinate information of at least 3 instruction points in the initial arc section;
acquiring the spiral line attitude planning set based on the spiral turns and the attitude correction angle;
obtaining the spiral position planning set according to the following formula:
wherein θ represents the target angle,
representing coordinate information of the tail end of the robot in a target coordinate system when the tail end of the robot rotates to a target angle, N representing the number of spiral turns, dr representing the total increment of the spiral radius, dx representing the total increment of the direction of the spiral rotating shaft, and/or>
The coordinate information of the starting position of the spiral line representing the target angle is represented, and the pole or the pole is located at>
Characterizing a spiral shaft direction vector, which is a normal vector of a plane constructed by the at least 3 instruction points, and ` H `>
Characterizing the helical radial vector.
2. A method of controlling a spiral trajectory of a robot according to claim 1, wherein dx is equal to 0.
3. The method of controlling a helical trajectory of a robot according to claim 1, wherein said set of helical pose plans is obtained according to the following equation:
wherein θ represents the target angle,
representing the attitude information of the robot under a target coordinate system when the tail end of the robot rotates to a target angle, N representing the number of spiral turns, and/or the number of the judging turns>
Attitude information representing the starting position of the helix at which the target angle is located,
characterizing the attitude correction angle.
4. The method for controlling a spiral track of a robot according to claim 1, wherein the performing inverse kinematics solution based on the spiral position planning set and the spiral attitude planning set to obtain an interpolation command corresponding to each control cycle comprises:
acquiring a Cartesian space pose instruction based on the spiral position planning set and the spiral attitude planning set;
and performing inverse kinematics calculation on the Cartesian space pose instruction to obtain an interpolation instruction corresponding to each control period.
5. The method for controlling the spiral track of the robot according to claim 1, wherein after obtaining the interpolation command corresponding to each control cycle, the method further comprises:
and issuing the interpolation instruction to a driver of the robot so that the driver drives each joint of the robot according to the interpolation instruction.
6. A device for controlling a spiral trajectory of a robot, the device comprising:
the system comprises a planning unit, a processing unit and a control unit, wherein the planning unit is used for acquiring a spiral line position planning set and a spiral line posture planning set based on spiral line parameters, the spiral line position planning set comprises coordinate information in a target coordinate system when the tail end of a robot rotates to a target angle, the spiral line posture planning set comprises posture information in the target coordinate system when the tail end of the robot rotates to the target angle, each circle of spiral line comprises at least 3 target angles, and the interval radian between any two adjacent target angles is the rotation amplitude of the tail end of the robot in a control period;
the processing unit is used for performing inverse kinematics calculation based on the spiral line position planning set and the spiral line attitude planning set to obtain an interpolation instruction corresponding to each control period, wherein the interpolation instruction comprises the position change of each joint of the robot in the control period;
the helix parameter includes the coordinate information of 3 at least instruction points in the number of spirals, the total increment of spiral radius, the total increment of spiral shaft direction, the attitude correction angle and the initial arc section, acquire helix position planning set and helix attitude planning set based on the helix parameter, include:
acquiring the spiral line position planning set based on the number of spiral turns, the total increment of the spiral radius, the total increment of the direction of the spiral rotating shaft and the coordinate information of at least 3 instruction points in the initial arc section;
acquiring the spiral line attitude planning set based on the number of spiral turns and the attitude correction angle;
obtaining the spiral position planning set according to the following formula:
wherein θ represents the target angle,
representing coordinate information of the tail end of the robot in a target coordinate system when the tail end of the robot rotates to a target angle, N representing the number of spiral turns, dr representing the total increment of the spiral radius, dx representing the total increment of the direction of the spiral rotating shaft, and/or>
The coordinate information of the starting position of the spiral line representing the target angle is represented, and the pole or the pole is located at>
Characterizing a spiral shaft direction vector, which is a normal vector of a plane constructed by the at least 3 instruction points, and ` H `>
The spiral radial direction vector is characterized.
7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-5.
8. An electronic device, comprising: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the method of any of claims 1-5.
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