CN114559416A - Manipulator control method, manipulator control device, electronic device and storage medium - Google Patents
Manipulator control method, manipulator control device, electronic device and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The present application provides a robot control method, a device, an electronic apparatus, and a storage medium, the robot including a first joint configured to move in a first direction and a second joint connected by a rotation axis extending in a second direction, the second direction being perpendicular to the first direction, the second joint configured to rotate around the rotation axis, the robot control method including: acquiring current position information of a first joint and a second joint; acquiring a target distance of a workpiece clamped by the manipulator, which needs to move in a third direction, wherein the third direction is perpendicular to the first direction and the second direction; determining target position information of the first joint and the second joint according to the current position information and the target distance; and controlling the first joint to move along the first direction and controlling the second joint to rotate around the rotating shaft according to the target position information so as to enable the workpiece to move the target distance in the third direction. This scheme can improve the user and experience to the use of manipulator.
Description
Technical Field
The present disclosure relates to the field of mechanical engineering technologies, and in particular, to a method and an apparatus for controlling a manipulator, an electronic device, and a storage medium.
Background
A robot is an automatic operating device that simulates some of the motion functions of a human hand and arm to grab, carry objects or operate tools according to a fixed program. In a processing workshop of workpieces such as engine cylinder bodies, cylinder covers and the like, a mechanical arm capable of moving on a truss line is arranged, the mechanical arm grabs the workpieces from a material taking point and then moves along the truss line, the workpieces are conveyed to a material placing point, then the workpieces are placed into a detection device or a numerical control machine, and automation of workpiece detection and processing is achieved. The manipulator needs to control the workpiece to horizontally move along the direction vertical to the truss line in the process of conveying the workpiece, and at the moment, the manipulator needs to be controlled to carry out multi-axis interpolation linkage, so that the position in the vertical direction is kept unchanged while the workpiece moves in the horizontal direction.
At present, the multi-axis interpolation linkage control of the manipulator is realized by a high-level position control function in a motion control module.
However, the high-level position control function in the motion control module is realized through a special programming language, which has high requirements on the professional performance of a manipulator debugging person, and a common debugging person cannot easily make the manipulator grab a workpiece to move in the horizontal direction, and meanwhile, the position of the workpiece in the vertical direction is kept unchanged, so that the use experience of a user is poor.
Disclosure of Invention
In order to solve the technical problem, embodiments of the present application provide a method and an apparatus for controlling a manipulator, an electronic device, and a storage medium, which can improve user experience of the manipulator.
According to a first aspect of embodiments of the present application, there is provided a robot control method, the robot including a first joint configured to move in a first direction and a second joint connected by a rotation axis extending in a second direction, the second direction being perpendicular to the first direction, the second joint being configured to rotate about the rotation axis, the method including: acquiring current position information of the first joint and the second joint; acquiring a target distance of a workpiece clamped by the manipulator in a third direction, wherein the third direction is perpendicular to the first direction and the second direction; determining target position information of the first joint and the second joint according to the current position information and the target distance; and controlling the first joint to move along the first direction and controlling the second joint to rotate around the rotating shaft according to the target position information so as to enable the workpiece to move the target distance in the third direction.
According to a second aspect of the embodiments of the present application, there is provided a robot control device, the robot including a first joint configured to move in a first direction and a second joint connected by a rotation axis extending in a second direction, the second direction being perpendicular to the first direction, the second joint configured to rotate about the rotation axis, the device including: a first obtaining module, configured to obtain current position information of the first joint and the second joint; the second acquisition module is used for acquiring a target distance of a workpiece clamped by the manipulator in a third direction, wherein the third direction is perpendicular to the first direction and the second direction; the calculation module is used for determining target position information of the first joint and the second joint according to the current position information and the target distance; and the control module is used for controlling the first joint to move along the first direction according to the target position information and controlling the second joint to rotate around the rotating shaft so as to enable the workpiece to move the target distance in the third direction.
According to a third aspect of embodiments herein, there is provided an electronic device comprising: the processor, the memory and the communication interface complete mutual communication through the communication bus; the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the manipulator control method in the first aspect.
According to a fourth aspect of embodiments of the present application, there is provided a computer storage medium having stored thereon a computer program that, when executed by a processor, implements the manipulator control method according to the first aspect described above.
According to a fifth aspect of embodiments herein, there is provided a computer program product comprising computer instructions for instructing a computing device to perform operations corresponding to the manipulator control method according to the first aspect.
According to the technical scheme, the target position information of the first joint and the second joint is determined according to the current position information of the first joint and the second joint and the target distance of the workpiece needing to move in the third direction, the first joint is controlled to move along the first direction according to the target position information, and the second joint is controlled to rotate around the rotating shaft, so that the position of the workpiece in the first direction is kept unchanged while the workpiece moves along the third direction. The process of determining the target position information according to the current position information and the target distance can be realized through the G code, so that the user can realize that the workpiece moves along the third direction through the G code programming and keeps the position in the first direction unchanged, the user does not need to master other special programming languages, the requirement on the user specialty is reduced, and the use experience of the user can be improved.
Drawings
Fig. 1 is a schematic view of a truss robot provided in an embodiment of the present application;
fig. 2 is a flowchart of a method for controlling a manipulator according to an embodiment of the present disclosure;
FIG. 3 is a schematic illustration of a second articulation process provided by an embodiment of the present application;
fig. 4 is a flowchart of a method for determining target location information according to an embodiment of the present application;
fig. 5 is a schematic diagram of a robot control device according to an embodiment of the present disclosure;
fig. 6 is a schematic view of an electronic device provided in an embodiment of the present application.
List of reference numbers:
10: the manipulator 20: truss 30: workpiece
200: manipulator control method 400: target location information determination method 500: robot control device
600: the electronic device 11: the sliding member 12: first joint
13: second joint 14: third joint 15: first rotation axis
16: second rotation shaft 21: truss wire 22: supporting frame
602: the processor 604: the communication interface 606: memory device
608: communication bus 610: procedure for measuring the movement of a moving object
201: acquiring current position information of a first joint and a second joint included in a manipulator
202: acquiring the target distance of the workpiece clamped by the mechanical hand to move in the third direction
203: determining target position information of the first joint and the second joint according to the current position information and the target distance
204: controlling the first joint and the second joint to move according to the target position information to enable the workpiece to move the target distance in the third direction
401: according to the current position of the second joint in the point direction and the target distance, the position to which the second joint needs to rotate around the rotating shaft is determined
402: determining the position to which the first joint needs to move along the first direction according to the position to which the second joint needs to rotate around the rotating shaft and the position of the first joint in the first direction
403: obtaining target position information indicating a position to which the first joint needs to be moved in the first direction and a position to which the second joint needs to be rotated about the axis of rotation
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, the following detailed description of the embodiments of the present application will be made with reference to the accompanying drawings.
In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.
Fig. 1 is a schematic view of a truss robot provided in an embodiment of the present application. As shown in fig. 1, the truss robot includes a robot arm 10 and a truss 20. The truss 20 includes truss wires 21 arranged in the second direction (x-axis direction), and support frames 22 for supporting the truss wires 21. The robot 10 includes a slider 11, a first joint 12, a second joint 13, a third joint 14, a first rotation shaft 15, and a second rotation shaft 16. The slider 11 can slide along the truss line 21 in the x-axis direction to move the entire robot 10 in the x-axis direction. The first joint 12 is engaged with the slider 11, and the first joint 12 is movable in the y-axis direction. The first joint 12 and the second joint 13 are connected by a first rotation axis 15, and the second joint 13 can rotate around the first rotation axis 15 in the yz plane. The third joint 14 is connected to the second joint 13 via a second rotation axis 16, and the third joint 14 is rotationally movable in the yz plane about the second rotation axis 16. The third joint 14 is provided with a clamping mechanism which can clamp the workpiece 30.
After the third joint 14 clamps the workpiece 30, the sliding part 11 moves along the x-axis direction to drive the workpiece 30 to move along the x-axis direction, the first joint 12 moves along the z-axis direction to drive the workpiece 30 to move along the z-axis direction, and the second joint 13 and the third joint 14 rotate in the yz plane to drive the workpiece 30 to move in the z-axis direction and the y-axis direction. Through the coordinated movement of the sliding part 11, the first joint 12, the second joint 13 and the third joint 14, the workpiece 30 can be moved in a three-dimensional space, so that loading and unloading operations in the machining process of the workpiece 30 can be realized.
It should be understood that the x-axis, the y-axis and the z-axis are perpendicular to each other to form a three-dimensional cartesian coordinate system, and in the following embodiments, the first direction may be a z-axis direction, the second direction may be an x-axis direction, and the third direction may be a y-axis direction. In some examples, the z-axis direction is vertical and the xy-plane is horizontal.
When the robot 10 takes out the workpiece 30 from the machine tool after putting the workpiece 30 into the machine tool, it is necessary to control the workpiece 30 to move in the y-axis direction while keeping the position of the workpiece 30 in the z-axis direction constant. At present, in order to realize that the workpiece 30 moves in the y-axis direction and keeps the position in the z-axis direction unchanged, the high-level position control function in the motion control module is used for programming, and the high-level position control function controls the first joint 12 and the second joint 13 to perform interpolation motion, so that the workpiece 30 moves in the y-axis direction and keeps the position in the z-axis direction unchanged. However, the high-level position control function in the motion control module is implemented by a dedicated programming language, the high-level position control function programming has a high requirement on the professional performance of the manipulator debugging personnel, and it is difficult for a common user to implement that the workpiece 30 moves in the y-axis direction and keeps the position in the z-axis direction unchanged through the high-level position control function, which may result in poor user experience.
In the embodiment of the present application, the target position information of the first joint 12 and the second joint 13 is determined according to the current position information of the first joint 12 and the second joint 13 and the target distance that the workpiece 30 needs to move in the y-axis direction, and then the first joint 12 is controlled to move in the z-axis direction according to the target position information, and the second joint 13 is controlled to rotate around the first rotation axis 15, so that the workpiece 30 keeps the position in the z-axis direction while moving along the y-axis. The control process can be realized through the G code, a user does not need to master other special programming languages, the requirement on the professional performance of the user is reduced, and therefore the use experience of the user can be improved.
The robot control scheme provided in the embodiments of the present application is not only applicable to a truss robot, but also applicable to other types of robots, and the robot control scheme provided in the embodiments of the present application can be implemented as long as the purpose of controlling a workpiece to move in one direction and not to change a position in another direction is achieved by interpolating motions of a plurality of joints of the robot, and the embodiments of the present application do not limit the types of the robots.
The following describes in detail a robot control method, a robot control device, and an electronic apparatus provided in an embodiment of the present application, with reference to the accompanying drawings, by taking a truss robot as an example.
Fig. 2 is a flowchart of a method 200 for controlling a manipulator according to an embodiment of the present disclosure. As shown in fig. 2, the robot control method 200 includes the steps of:
The manipulator comprises a first joint and a second joint, the first joint can move along a first direction, the first joint and the second joint are connected through a rotating shaft extending along a second direction, the first direction is perpendicular to the second direction, and the second joint can rotate around the rotating shaft. The clamping mechanism is directly arranged on the second joint, or the second joint is connected with the third joint, the clamping mechanism is arranged on the third joint, the third joint can be a joint or a plurality of joints which are connected, and the clamping mechanism can clamp the workpiece. Referring to fig. 1, the robot 10 includes a first joint 12 and a second joint 13, the first joint 12 and the second joint 13 are connected by a first rotation axis 15, the first joint 12 is movable in a first direction (z-axis direction), and the second joint 13 is rotatable about the first rotation axis 15 in the yz plane.
The current position information of the first joint and the second joint is used for indicating the current positions of the first joint and the second joint, namely the positions of the first joint and the second joint before the workpiece is moved along the third direction.
And 202, acquiring a target distance of the workpiece clamped by the manipulator to move in a third direction.
The target distance is a distance that the workpiece needs to move along a third direction, and the third direction is perpendicular to the first direction and the second direction, for example, if the manipulator needs to move the workpiece from the point a to the point B along the third direction, the distance between the point a and the point B is the target distance. Referring to fig. 1, the robot 10 grips the workpiece 30 and moves in the y-axis direction while keeping the position of the workpiece 30 in the z-axis direction constant, and the target distance refers to a distance in the y-axis direction.
It will be appreciated that the relative position of the workpiece and the second joint remains unchanged during movement of the robot holding the workpiece in the third direction. The first end of the second joint is connected with the first joint through the rotating shaft, and the second end of the second joint moves synchronously with the workpiece, namely the second end of the second joint moves only in the third direction, and when the moving distance of the second end of the second joint in the third direction is equal to the target distance, the moving distance of the workpiece in the third direction is also the target distance.
And step 203, determining target position information of the first joint and the second joint according to the current position information and the target distance.
Because the current position information indicates the current positions of the first joint and the second joint, and the target distance is a distance that the workpiece needs to move in the third direction, the target position information can be determined according to the current position information and the target distance, and the target position information is used for indicating the positions of the first joint and the second joint after moving the workpiece in the third direction, namely the positions of the first joint and the second joint after moving the workpiece in the third direction.
For example, referring to fig. 1, the robot 10 needs to move the workpiece 30 from point a to point B in the y-axis direction, and the target position information is used to indicate the positions of the first joint 12 and the second joint 13 when the workpiece 30 is located at point B.
And 204, controlling the first joint to move along the first direction and controlling the second joint to rotate around the rotating shaft according to the target position information so as to enable the workpiece to move the target distance in the third direction.
The target position information indicates the positions to which the first joint and the second joint need to move, so that the first joint and the second joint can be controlled to move according to the target position information, and the workpiece can move along the third direction through the interpolation motion of the first joint and the second joint. Because the second joint rotates around the rotating shaft, the workpiece can be displaced in the first direction as well as in the third direction, and therefore, the first joint needs to be controlled to move in the first direction to counteract the displacement of the workpiece in the first direction caused by the rotation of the second joint around the rotating shaft, so that the workpiece can move in the third direction, and the position of the workpiece in the first direction is kept unchanged.
It should be understood that when the first joint and the second joint are controlled to move according to the target position information, the first joint and the second joint need to be controlled in coordination so that the workpiece moves only in the third direction without displacement in the first direction during movement. Referring to fig. 1, the workpiece 30 is moved in the y-axis direction by the clamping of the robot 10 by the interpolation motion of the first joint 12 and the second joint 13, and the workpiece 30 is not displaced in the z-axis direction during the movement in the y-axis direction.
In the embodiment of the application, the target position information of the first joint and the second joint is determined according to the current position information of the first joint and the second joint and the target distance of the workpiece needing to move in the third direction, the first joint is controlled to move along the first direction according to the target position information, and the second joint is controlled to rotate around the rotating shaft, so that the position of the workpiece in the first direction is kept unchanged while the workpiece moves along the point direction. The process of determining the target position information according to the current position information and the target distance can be realized through the G code, so that the user can realize that the workpiece moves along the third direction through the G code programming and keeps the position in the first direction unchanged, the user does not need to master other special programming languages, the requirement on the user specialty is reduced, and the use experience of the user can be improved.
In a possible implementation, the current position information includes information indicating a current position of the first joint in the first direction due to the movement of the first joint in the first direction, and the current position information includes information indicating a position of the second joint in the third direction due to the rotational movement of the second joint about the rotational axis, which may cause the workpiece to displace in the third direction.
Referring to fig. 1, the first joint 12 moves in the z-axis direction to cause the second joint 13 and the workpiece 30 to displace in the z-axis direction, the second joint 13 rotates around the first rotation axis 15 to cause the workpiece 30 to displace in the z-axis direction and in the y-axis direction, and the displacement of the workpiece 30 in the z-axis direction and the displacement of the workpiece 30 in the y-axis direction are associated, and the displacement of the workpiece 30 in the z-axis direction can be determined according to the displacement of the workpiece 30 in the y-axis direction, so that the current position information can indicate the position of the first joint 12 in the z-axis direction and the position of the second joint 13 in the y-axis direction, and the current positions of the first joint 12 and the second joint 13 can be accurately determined according to the current position information.
It should be understood that in the embodiments of the present application, the position of the second joint refers to the position of the second end of the second joint, the first end of the second joint is connected with the first joint through the rotating shaft, and the second end of the second joint moves synchronously with the workpiece.
In the embodiment of the application, the current position information may indicate the position of the first joint in the first direction and may indicate the position of the second joint in the third direction, and since there is a correlation between the position of the second joint in the third direction and the position of the second joint in the first direction, the position of the second joint in the first direction may be determined according to the position of the second joint in the third direction, so that the current position information only needs to include information indicating the position of the first joint in the first direction and information indicating the position of the second joint in the third direction, and the current positions of the first joint and the second joint may be accurately determined according to the current position information, thereby reducing the number of parameters used in the programming process of a user, reducing the programming difficulty, and increasing the speed of data processing and increasing the response speed of a manipulator, the use experience of the user is further improved.
In one possible implementation manner, when the information indicating the current position of the second joint in the third direction is obtained, the current angle of rotation of the second joint around the rotation axis may be obtained, and then the current position of the second joint in the third direction may be calculated by the following formula (1) according to the length of the second joint and the current angle of rotation of the second joint around the rotation axis.
y1＝l·cosα (1)
y1For characterizing the current position of the second joint in the third direction, l for characterizing the length of the second joint, and a for characterizing the angle through which the second joint is currently rotated about the axis of rotation.
FIG. 3 is a second articulation process schematic provided by an embodiment of the present application. As shown in fig. 3, the position where the second joint is parallel to the y-axis direction is used as the initial position of the second joint, so the included angle α between the second joint and the y-axis direction is the current angle that the second joint rotates around the rotation axis. The length l of the second joint corresponds to the distance between the first axis of rotation 15 and the second axis of rotation 16 in fig. 1. From the geometric relationship shown in fig. 3, the current position of the second joint in the third direction (y-axis direction) can be calculated by the above equation (1).
It should be understood that the information indicating the position of the first joint in the first direction may be determined based on the rotation direction and the number of rotations of a motor that drives the first joint to move in the first direction, or may be determined by detection by a position sensor provided on the robot arm.
In the embodiment of the application, the length of the second joint is a fixed parameter of the manipulator, and the current angle of the second joint rotating around the rotating shaft can be determined according to the rotating direction and the number of rotating turns of a motor driving the second joint to rotate around the rotating shaft, so that the current position of the second joint in the third direction can be calculated through the formula (1), and then the position of the second joint in the third direction can be referred to, the position to which the second joint needs to move is determined, and the accuracy of controlling the manipulator is ensured.
In a possible implementation manner, when determining the target position information according to the current position information and the target distance, the position to which the second joint needs to be moved may be determined first, and then the position to which the first joint needs to be moved may be determined according to the position to which the second joint needs to be moved. Fig. 4 is a flowchart of a method 400 for determining target location information according to an embodiment of the present disclosure. As shown in fig. 4, the target location information determining method 400 includes the steps of:
When the second joint rotates around the rotating shaft, the position of the second joint in the third direction changes, when the second joint rotates to different positions around the rotating shaft, the moving distances of the workpiece in the third direction are different, and the target distance is the distance which the workpiece needs to move in the third direction.
It is to be understood that, as shown in fig. 1, when the workpiece 30 is moved in the y-axis direction (third direction), the second rotation shaft 16 moves in synchronization with the workpiece 30, so the position of the second joint 13 in the third direction may refer to the position of the axis of the second rotation shaft 16 in the y-axis direction.
Since the second joint rotates around the rotating shaft, not only the position of the second joint in the third direction but also the position of the second joint in the first direction can be changed, and the change of the position of the second joint in the third direction is associated with the change of the position in the first direction, the moving distance of the first joint in the first direction can be determined according to the position to which the second joint needs to rotate around the rotating shaft. After the movement distance of the first joint along the first direction is determined, the position to which the first joint needs to move along the first direction can be determined according to the current position of the first joint in the first direction.
In step 403, target position information indicating a position to which the first joint needs to be moved in the first direction and a position to which the second joint needs to be rotated about the rotation axis is obtained.
After determining the position to which the second joint needs to be rotated about the rotation axis, first position information indicating the position is obtained. After determining the position to which the first joint needs to be moved in the first direction, second position information indicating the position is obtained. After the first location information and the second location information are obtained, target location information including the first location information and the second location information is obtained.
In the embodiment of the application, after the position which the second joint needs to rotate around the rotating shaft is determined according to the current position of the second joint in the third direction and the target distance, the position which the first joint needs to move along the first direction is determined according to the position which the second joint needs to rotate around the rotating shaft and the current position of the first joint in the first direction, and then target position information used for indicating the position which the second joint needs to rotate around the rotating shaft and the position which the first joint needs to move along the first direction is obtained, so that the obtained target position information can accurately indicate the positions which the first joint and the second joint need to move to, and further the accuracy of controlling the manipulator is ensured. The position to which the first joint needs to move along the first direction is determined based on the position to which the second joint needs to rotate around the rotating shaft, interpolation motion of the first joint and the second joint can be accurately achieved, the workpiece can be kept unchanged in the position of the first direction while moving in the third direction, and therefore the workpiece can be accurately moved.
In one possible implementation manner, when determining the position to which the second joint needs to rotate around the rotation axis, the angular position to which the second joint needs to rotate around the rotation axis may be calculated by the following formula (2) according to the current position of the second joint in the third direction and the target distance.
Beta is used to characterize the angular position to which the second joint needs to be rotated about the axis of rotation, y1For characterizing the current position of the second joint in a third direction, y2For characterizing the target distance, l for characterizing the length of the second joint.
As shown in fig. 3, when the second joint moves in the third direction (y-axis direction) by the target distance y2When the angle gamma between the second joint and the first direction (z-axis direction) satisfies
At this time, the angle β that the second joint rotates around the rotation axis satisfies β + γ being 90 °, so the angle β that the second joint needs to rotate around the rotation axis can be calculated by the above formula (2). In the above equation (2), the second joint is at the anterior third-direction position y1Target distance y2And the length l of the second joint can both be determined, so will y1、y2And l substituting the above equation (2) can calculate the angular position β to which the second joint needs to be rotated about the rotation axis.
It will be appreciated that the movement of the workpiece in the third direction is directional, with the target distance being a positive number when the second joint is rotated about the axis of rotation such that the angle between the second joint and the third direction (the y-axis direction) increases and a negative number when the second joint is rotated about the axis of rotation such that the angle between the second joint and the third direction (the y-axis direction) decreases.
In the embodiment of the application, since the length of the second joint is fixed, and the rotation angle of the second joint around the rotation axis is associated with the movement distance of the workpiece in the third direction, after the target distance that the workpiece needs to move in the third direction (y-axis direction) is determined, the angular position that the second joint needs to rotate around the rotation axis can be calculated according to the target distance, so that when the second joint is controlled according to the angular position that the second joint needs to rotate around the rotation axis, the displacement of the workpiece in the third direction can be ensured to be equal to the target distance, and the workpiece can be accurately moved.
In one possible implementation, when determining the position to which the first joint needs to be moved in the first direction, the position to which the first joint needs to be moved in the first direction may be calculated by the following formula (3) according to the position to which the second joint needs to be rotated about the rotation axis and the position of the first joint in the first direction.
Z is used to characterize the position to which the first joint needs to be moved in the first direction, Z' is used to characterize the current position of the first joint in the first direction, y1For characterizing the current position of the second joint in the third direction, β is used for characterizing the angular position to which the second joint needs to be rotated about the axis of rotation, and l is used for characterizing the length of the second joint.
As shown in FIG. 3, when the second joint rotates around the rotation axis to a position where the included angle between the second joint and the y-axis direction is β, the displacement of the workpiece in the third direction is the target distance y2The displacement of the workpiece in the first direction Δ z ═ z2-z1In order to counteract a displacement of the workpiece in the first direction due to the rotation of the second joint about the axis of rotation, a corresponding movement Δ z of the first joint in the first direction is required. According to the length l of the second joint, the angle beta to which the second joint needs to rotate around the rotating shaft and the current position y of the second joint in the third direction1And z1And z2Can determine the geometric relationship of
The position of the first joint in the first direction is currently Z', so the position to which the first joint needs to move in the first direction is
It should be understood that Δ z is a positive number when the second joint rotates about the rotation axis such that the angle between the second joint and the third direction (y-axis direction) increases, and a negative number when the second joint rotates about the rotation axis such that the angle between the second joint and the third direction (y-axis direction) decreases.
In the embodiment of the application, when the second joint rotates to the required angle position around the rotating shaft, the displacement of the workpiece in the third direction can be the target distance, if the first joint is kept still, the workpiece will generate a certain displacement in the first direction, for this purpose, the displacement of the first joint which needs to move along the first direction can be determined according to the angular position to which the second joint needs to rotate around the rotating shaft, and then the position of the first joint which needs to move along the first direction is determined according to the current position of the first joint in the first direction and the displacement of the first joint which needs to move along the first direction, so that the position of the workpiece in the first direction can be kept unchanged when the first joint is controlled to move along the first direction according to the determined position of the first joint which needs to move along the first direction, therefore, the workpiece is accurately moved, and the safety of moving the workpiece through the manipulator is ensured.
In controlling the first joint and the second joint based on the target position information, it is necessary to ensure that the position of the workpiece in the first direction is kept unchanged while the displacement of the workpiece in the third direction is the target distance as a result of the movement of the first joint and the second joint, and it is necessary to ensure that the position of the workpiece in the first direction is kept unchanged during the movement of the workpiece, so that the first joint and the second joint are cooperatively controlled. For example, the first joint may be controlled to move at a constant speed in the first direction, and the second joint may be controlled to rotate at a constant speed around the rotation axis, or the first joint may be controlled to move at a constant speed in the first direction, and the second joint may be controlled to rotate at a constant speed around the rotation axis, so that the positions of the workpiece in the first direction during the movement of the first joint and the second joint may be kept unchanged.
In one possible implementation, before controlling the first joint and the second joint to move according to the target position information, size information of the workpiece may be acquired, then a target servo parameter matching the acquired size information is determined from a plurality of preset servo parameters, then the first joint is controlled to move in the first direction based on the target servo parameter, and the second joint is controlled to rotate around the rotation axis. Wherein the servo parameter comprises at least one of a velocity, a servo gain, an acceleration and a jerk.
In the embodiment of the application, the manipulator can be used for moving different workpieces, the different workpieces have different sizes and weights, the different workpieces are distinguished through the sizes of the workpieces, when the different workpieces are moved through the manipulator, servo parameters matched with the sizes and weights of the workpieces are selected to control the manipulator to move, the problems of workpiece shaking and the like in the moving process of the manipulator are avoided, and the moving efficiency and precision of each shaft in the manipulator can be improved.
In one possible implementation, when configuring the motion parameters of the manipulator, the user may input the position of each axis in the manipulator at different set points, for example, as shown in table 1 below, the user may input the position of each axis (X, Z, U, V, and W axes) in the manipulator at the take-off point, the pre-feed point, and the dump point, and then the control logic of each axis when the manipulator moves between different set points is automatically generated through a pre-created path planning program. In addition, the position of each axis in the manipulator at the set point can be determined by position trial teaching.
TABLE 1
| Axle information | Material taking point | Preliminary feeding point | Discharging point |
| X axis position (mm) | 71.941 | 65.795 | 59.336 |
| Z axis position (mm) | 71.337 | 65.165 | 58.668 |
| U axis position (mm) | 70.731 | 64.532 | 57.995 |
| V axis position (mm) | 70.123 | 63.896 | 57.316 |
| W axle position (mm) | 69.513 | 63.256 | 56.633 |
In the embodiment of the application, when the control logic of the workpiece moved by the manipulator is set, a user only needs to input the position of each axis in the manipulator at different set points, the path planning program automatically generates the control logic of each axis when the manipulator moves between different set points according to the position of each axis at each set point, and the user does not need to perform complex programming, so that the use experience of the user on the manipulator can be further improved.
Fig. 5 is a schematic diagram of a robot control device 500 according to an embodiment of the present disclosure, in which a robot includes a first joint and a second joint, the first joint is configured to move in a first direction, the first joint and the second joint are connected by a rotation axis extending in a second direction, the second direction is perpendicular to the first direction, and the second joint is configured to rotate around the rotation axis. As shown in fig. 5, the robot control device 500 includes:
a first obtaining module 501, configured to obtain current position information of a first joint and a second joint;
a second obtaining module 502, configured to obtain a target distance that a workpiece clamped by a manipulator needs to move in a third direction, where the third direction is perpendicular to the first direction and the second direction;
A calculating module 503, configured to determine target position information of the first joint and the second joint according to the current position information and the target distance;
and the control module 504 is configured to control the first joint to move along the first direction and control the second joint to rotate around the rotation axis according to the target position information, so that the workpiece moves the target distance in the third direction.
In this embodiment of the application, the first obtaining module 501 may be configured to perform step 201 in the foregoing method embodiment, the second obtaining module 502 may be configured to perform step 202 in the foregoing method embodiment, the calculating module 503 may be configured to perform step 203 in the foregoing method embodiment, and the control module 504 may be configured to perform step 204 in the foregoing method embodiment.
It should be noted that, because the content of information interaction, execution process, and the like between the modules in the robot control device is based on the same concept as the robot control method embodiment, specific content may refer to the description in the robot control method embodiment, and details are not described here.
Fig. 6 is a schematic diagram of an electronic device provided in an embodiment of the present application, and a specific embodiment of the present application does not limit a specific implementation of the electronic device. Referring to fig. 6, an electronic device 600 provided in an embodiment of the present application includes: a processor (processor)602, a communication Interface 604, a memory 606, and a communication bus 608. Wherein:
A communication interface 604 for communicating with other electronic devices or servers.
The processor 602 is configured to execute the program 610, and may specifically execute the relevant steps in any of the robot control method embodiments described above.
In particular, the program 610 may include program code comprising computer operating instructions.
The processor 602 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement embodiments of the present application. The intelligent device comprises one or more processors which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And a memory 606 for storing a program 610. Memory 606 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 610 may specifically be configured to cause the processor 602 to execute the robot control method in any of the embodiments described above.
For specific implementation of each step in the program 610, reference may be made to corresponding steps and corresponding descriptions in units in any of the foregoing embodiments of the robot control method, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.
According to the electronic equipment provided by the embodiment of the application, the target position information of the first joint and the second joint is determined according to the current position information of the first joint and the second joint and the target distance of the workpiece needing to move in the third direction, the first joint is controlled to move along the first direction according to the target position information, and the second joint is controlled to rotate around the rotating shaft, so that the workpiece keeps the position in the first direction unchanged while moving along the third direction. The process of determining the target position information according to the current position information and the target distance can be realized through the G code, so that the user can realize that the workpiece moves along the third direction through the G code programming and keeps the position in the first direction unchanged, the user does not need to master other special programming languages, the requirement on the user specialty is reduced, and the use experience of the user can be improved.
The present application further provides a computer readable storage medium storing instructions for causing a machine to perform a manipulator control method as described herein. 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 application.
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.
Embodiments of the present application also provide a computer program product, which is tangibly stored on a computer-readable medium and includes computer-executable instructions that, when executed, cause at least one processor to perform the manipulator control method provided by the above embodiments. It should be understood that each scheme in this embodiment has the corresponding technical effect in the above method embodiment, and is not described herein again.
It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution sequence of the steps is not fixed and can be adjusted according to the needs. 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.
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 comprise 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 present application has been illustrated and described in detail in the drawings and foregoing description of the preferred embodiments, the present application is not limited to the disclosed embodiments, 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 present application, which are also within the scope of the present application.
Claims (11)
1. A manipulator control method (200), characterized in that the manipulator (10) comprises a first joint (12) and a second joint (13), the first joint (12) being configured to move in a first direction, the first joint (12) and the second joint (13) being connected by a rotation axis (15) extending in a second direction, the second direction being perpendicular to the first direction, the second joint (13) being configured to rotate about the rotation axis (15), the method comprising:
Acquiring current position information of the first joint (12) and the second joint (13);
acquiring a target distance of a workpiece (30) clamped by the manipulator (10) to move in a third direction, wherein the third direction is perpendicular to the first direction and the second direction;
determining target position information of the first joint (12) and the second joint (13) according to the current position information and the target distance;
and controlling the first joint (12) to move along the first direction and controlling the second joint (13) to rotate around the rotating shaft (15) according to the target position information so as to enable the workpiece (30) to move the target distance in the third direction.
2. The method according to claim 1, characterized in that the current position information is used to indicate the position of the first joint (12) currently in the first direction and the position of the second joint (13) currently in the third direction.
3. The method according to claim 2, wherein the obtaining current position information of the first joint (12) and the second joint (13) comprises:
acquiring the angle of the second joint (13) which rotates around the rotating shaft (15) currently;
Calculating the current position of the second joint (13) in the direction of the point according to the length of the second joint (13) and the angle the second joint (13) currently rotates around the rotation axis (15) by the following formula;
y1＝l·cosα
y1for characterizing the current position of the second joint (13) in the third direction,/, for characterizing the length of the second joint (13), and a, for characterizing the angle through which the second joint (13) is currently rotated about the rotation axis (15).
4. The method according to claim 2, wherein determining target position information for the first joint (12) and the second joint (13) based on the current position information and the target distance comprises:
determining a position to which the second joint (13) needs to be rotated about the rotation axis (15) according to the current position of the second joint (13) in the third direction and the target distance;
determining a position to which the first joint (12) needs to be moved in the first direction, based on a position to which the second joint (13) needs to be rotated about the rotation axis (15) and a position of the first joint (12) currently in the first direction;
-obtaining the target position information indicating the position to which the first joint (12) needs to be moved in the first direction and the position to which the second joint (13) needs to be rotated about the rotation axis (15).
5. The method according to claim 4, wherein said determining a position to which said second joint (13) needs to be rotated about said rotation axis (15) depending on a current position of said second joint (13) in said third direction and said target distance comprises:
calculating the angular position to which the second joint (13) needs to be rotated about the rotation axis (15) according to the current position of the second joint (13) in the third direction and the target distance by the following formula:
beta is used to characterize the angular position to which the second joint (13) needs to be rotated about the axis of rotation (15), y1For characterizing the current position of the second joint (13) in the third direction, y2For characterizing the target distance,/, for characterizing the length of the second joint (13).
6. The method according to claim 4, wherein said determining the position to which the first joint (12) needs to be moved in the first direction depending on the position to which the second joint (13) needs to be rotated about the rotation axis (15) and the position to which the first joint (12) is currently in the first direction comprises:
calculating the position to which the first joint (12) needs to move along the first direction according to the position to which the second joint (13) needs to rotate around the rotating shaft (15) and the position of the first joint (12) in the first direction:
Z is used to characterize the position to which the first joint (12) needs to be moved in the first direction, Z′For characterizing the current position of the first joint (12) in the first direction, y1For characterizing the current position of the second joint (13) in the third direction, β for characterizing the angular position to which the second joint (13) needs to be rotated about the axis of rotation (15), and/for characterizing the length of the second joint (13).
7. The method according to any of claims 1-6, wherein before said controlling said first joint (12) to move in said first direction and said second joint (13) to rotate about said axis of rotation (15) based on said target position information, said method further comprises:
acquiring size information of the workpiece (30);
determining a target servo parameter matched with the size information from at least two preset servo parameters, wherein the servo parameter comprises at least one of speed, servo gain, acceleration and jerk;
-said controlling of the movement of said first joint (12) in said first direction and of the rotation of said second joint (13) about said rotation axis (15), comprises:
-controlling the first joint (12) to move in the first direction and the second joint (13) to rotate around the rotation axis (15) based on the target servo parameter.
8. A manipulator control device (500), characterized in that the manipulator (10) includes a first joint (12) and a second joint (13), the first joint (12) being configured to move in a first direction, the first joint (12) and the second joint (13) being connected by a rotation axis (15) extending in a second direction, the second direction being perpendicular to the first direction, the second joint (13) being configured to rotate about the rotation axis (15), the device comprising:
a first acquisition module (501) for acquiring current position information of the first joint (12) and the second joint (13);
a second acquisition module (502) for acquiring a target distance that a workpiece (30) held by the robot (10) needs to move in a third direction, wherein the third direction is perpendicular to the first direction and the second direction;
a calculation module (503) for determining target position information of the first joint (12) and the second joint (13) according to the current position information and the target distance;
and the control module (504) is used for controlling the first joint (12) to move along the first direction and controlling the second joint (13) to rotate around the rotating shaft (15) according to the target position information so as to enable the workpiece (30) to move the target distance in the third direction.
9. An electronic device (600), comprising: the system comprises a processor (602), a communication interface (604), a memory (606) and a communication bus (608), wherein the processor (602), the communication interface (604) and the memory (606) are communicated with each other through the communication bus (608);
the memory (606) is configured to store at least one executable instruction that causes the processor (602) to perform operations corresponding to the manipulator control method (200) according to any one of claims 1-7.
10. A computer storage medium, characterized in that the computer storage medium has stored thereon a computer program which, when being executed by a processor, carries out the manipulator control method (200) according to any one of claims 1-7.
11. A computer program product, characterized in that it comprises computer instructions for instructing a computing device to perform operations corresponding to the manipulator control method (200) according to any of claims 1-7.
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