CN114589695B - Transfer method, device and storage medium for robot motion trail - Google Patents

Abstract

The application provides a transfer method, a transfer device and a storage medium of a robot motion trail, wherein the transfer method comprises the following steps: determining a starting point A, an ending point C and at least one switching point B of the switching system according to the teaching track of the robot; setting a transfer radius to limit the range of transfer motion, determining a first intersection point A 'of the transfer radius and the AB segment track based on the transfer point B, and determining a second intersection point C' of the transfer radius and the BC segment track; determining switching time according to the switching movement range; calculating joint increment of each interpolation period of the A 'B section track and the BC' section track in the switching time, and superposing to obtain joint increment of each interpolation period in the switching time to generate a switching track; and generating a motion track of the robot according to the teaching track and the transfer track of the robot. The robot transfer area is adjusted based on the transfer radius, and the transfer range is easy to intuitively set.

Description

Transfer method, device and storage medium for robot motion trail

Technical Field

The present application relates to the field of motion control technologies, and in particular, to a method and an apparatus for transferring a motion track of a robot, and a storage medium.

Background

Before the robot runs, teaching is carried out on the robot, and the robot can reproduce the teaching track after the teaching is finished so as to repeatedly execute the work, thereby achieving the purpose of replacing or relieving the manpower work. The operation precision of the robot is one of the key performances of the robot, and the repeated positioning precision of the tail end is higher, so that the robot can process a working scene with higher precision.

The motion trail of the robot comprises a plurality of points, wherein the points comprise points to be accurately reached and points to be accurately reached, and the operation efficiency of the robot is improved.

In the prior art, an arc transfer method exists, namely, transfer is carried out on a robot motion track based on the arc motion of the tail end, and the inventor of the application finds out in the research process that the mode has higher requirement on the servo following difficulty of the robot joint hardware; and executing the transfer of the motion trail according to the set transfer level, so that parameter setting cannot be intuitively performed, and the transfer occurrence area is displayed to the user, and the user experience is limited.

Disclosure of Invention

The application aims to provide a transfer method, a transfer device and a storage medium for a motion trail of a robot, which are used for solving the problems that a robot in the prior art cannot intuitively set transfer parameters and know transfer occurrence areas, so as to improve the operation efficiency and interactive experience of the robot.

In order to achieve the above object, the present application may adopt the following technical scheme: a method for adapting a motion trajectory of a robot, the method comprising: determining a starting point A, an ending point C and at least one switching point B of the switching system according to the teaching track of the robot; setting a transfer radius to limit the range of transfer motion, determining a first intersection point A 'of the transfer radius and the AB segment track based on the transfer point B, and determining a second intersection point C' of the transfer radius and the BC segment track; determining switching time according to the switching movement range; calculating joint increment of each interpolation period of the A 'B section track and the BC' section track in the switching time, and superposing to obtain joint increment of each interpolation period in the switching time to generate a switching track; and generating a motion track of the robot according to the teaching track and the transfer track of the robot.

Further, before determining the transit time according to the range of transit motion, the method includes: and (3) planning the speed of the robot so that the A 'B section track is a deceleration section part of the AB section track and the BC' section track is an acceleration section part of the BC section track.

Further, the speed planning mode is at least one of trapezoidal acceleration and deceleration, S-shaped acceleration and deceleration and 7 th order polynomial acceleration and deceleration.

Further, the determining the transit time according to the range of transit motion includes: and determining the running time T1 of the track of the section A 'B and the running time T2 of the track of the section BC', and taking smaller values of T1 and T2 as the transit time.

Further, the transition radius is smaller than the longest deceleration distance of the A' B track and smaller than the longest acceleration distance of the BC track.

The application can also adopt the following technical scheme: a robotic motion profile switching device, the device comprising: the sampling unit is used for determining a starting point A, an ending point C and at least one switching point B of the switching system according to the teaching track of the robot; the setting unit is used for setting the transfer radius to limit the range of transfer motion, determining a first intersection point A 'of the transfer radius and the AB segment track based on the transfer point B, and determining a second intersection point C' of the transfer radius and the BC segment track; the determining unit is used for determining the switching time according to the switching movement range; the computing unit is used for computing the joint increment of each interpolation period of the track A 'B section and the track BC' section in the switching time and superposing the joint increment to obtain the joint increment of each interpolation period in the switching time to generate a switching track; and the track generation unit is used for generating the motion track of the robot according to the teaching track and the transfer track of the robot.

Further, the robot apparatus further includes: and the speed planning unit is used for carrying out speed planning on the robot so that the A 'B section track is a deceleration section part of the AB section track and the BC' section track is an acceleration section part of the BC section track.

Further, the determining unit is further configured to: and determining the running time T1 of the track of the section A 'B and the running time T2 of the track of the section BC', and taking smaller values of T1 and T2 as the transit time.

Furthermore, the transfer radius is smaller than the longest deceleration distance of the track of the section A 'B and smaller than the longest acceleration distance of the track of the section BC', and the application can also adopt the following technical scheme: a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method of any of the preceding claims.

Compared with the prior art, the beneficial effects of the specific embodiment of the application are as follows: the robot limits the range of the transfer motion according to the transfer radius, and can intuitively set and observe the range of the transfer motion. Meanwhile, the smoothness of the transfer track is further ensured based on the speed planning and transfer range selection of the adjacent tracks.

Drawings

FIG. 1 is a schematic diagram of a transfer method of a robot motion trajectory according to an embodiment of the present application

Fig. 2-4 are schematic diagrams illustrating a transfer process of a robot motion trajectory according to an embodiment of the present application

FIG. 5 is a schematic diagram of a transfer device for a robot motion profile according to an embodiment of the present application

Detailed Description

In order to make the technical solution of the present application more clear, embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood that the detailed description of the embodiments is merely intended to teach a person skilled in the art how to practice the application, and is not intended to be exhaustive of all the possible ways of implementing the application, but rather to limit the scope of the application in its specific implementations. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that, the terms "center," "upper," "lower," "front," "rear," "left," "right," "horizontal," "top," "bottom," "vertical," "horizontal," "vertical," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing or simplifying the description of the present application, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured, installed, and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, in the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The application provides a transfer method of a robot motion track, which is characterized in that a robot can generate a teaching track according to the teaching of a user, for example, the teaching track is generated according to dragging teaching, a teaching program and the like, and the robot can reproduce the teaching track to repeatedly execute preset work tasks. The teaching track of the robot comprises a starting point, an end point and a plurality of passing points, the robot comprises one or a plurality of operation positions, the robot is required to present the best precision control effect as far as possible at the operation positions, and at some intermediate positions, when the robot is executing grabbing work, the robot needs better precision at the grabbing positions to ensure better working effect, in the process of moving the robot to the grabbing positions, the requirement on the operation precision is lower, the robot only needs to reach the destination point, therefore, in the middle movement process, the robot can be switched without strictly operating according to the teaching track, so that the movement efficiency of the robot is improved, and meanwhile, the precision of the robot at the key point can be ensured.

In a specific embodiment, referring to fig. 1, the method for transferring the motion trail of the robot includes:

s1, determining a starting point A, an end point C and at least one switching point B according to a teaching track of a robot;

specifically, the user may teach the robot to determine a teaching track, according to the currently performed task, may determine at least one switching system, i.e. determine a switching requirement of the teaching track according to the teaching track of the robot, determine at least one switching system based on the switching system, perform a switching method based on the switching system, and usually, one switching system may be determined according to the teaching track, but it is not excluded that two or more switching systems are required to achieve an optimal effect in a complex teaching track scenario. Illustratively, the transit system is a virtual system that is used only to facilitate the description of the transit motion process, i.e., the transit system includes a start point, an end point, and a transit point, and can perform transit motions based thereon. The starting point A, the end point C and at least one switching point B of the switching system are determined according to the teaching track, and the robot can comprise two or more switching points according to different types of executed works. The transfer point is used as a circle center, and transfer movement occurs in a preset range of the transfer point. When a plurality of transfer points exist, the transfer method is sequentially executed according to the sequence of the movement, and transfer tracks are correspondingly generated.

The transfer point is used for connecting adjacent tracks, and the movement speed of the robot at the transfer point is 0 or is smaller; when the teaching trajectory of the robot comprises multiple segments of trajectories, the speed at the transfer point may also exhibit different characteristics. For example, after teaching the robot, the transfer point may be set by a teaching device or the like, the user may determine a position that does not need to be accurately reached based on the teaching track, the transfer point is a position that the robot does not need to be accurately reached, and the user may determine the transfer point according to the teaching track.

S2, setting a transfer radius to limit the range of transfer motion, determining a first intersection point A 'of the transfer radius and the AB segment track based on the transfer point B, and determining a second intersection point C' of the transfer radius and the BC segment track;

specifically, a switching radius may be set, where the switching radius is used to limit the range of switching motion, that is, in the switching radius range of the switching point B, the switching radius may be set by the user, and switching motion may occur in the range of switching radius set by the user. Taking the switching point B as an origin, wherein a first intersection point of the switching radius and the AB track is A ', and a second intersection point of the switching radius and the BC track is C', and the maximum movement range of the switching movement is a range between A 'and C'. The user can be according to the actual motion range of robot to make under the prerequisite of guaranteeing the positioning accuracy of target point, can be through the switching of motion track, make the efficiency of the motion process of intermediate transition promote.

S3, determining switching time according to the switching movement range;

as described above, by setting the switching point B and the switching radius, the range in which switching movement can occur is limited, and the switching time can be determined based on the range of switching movement.

S4, calculating joint increment of each interpolation period of the track A 'B and the track BC' in the switching time, and superposing to obtain joint increment of each interpolation period in the switching time to generate a switching track;

according to step S2, the range of the transit motion is defined as the range of the a 'B track and the BC' track, the joint increment of each interpolation period of the a 'B track and the BC' track is calculated in the transit time of the transit track based on the determination of the transit time, and the joint increment of the a 'B track and the BC' track is vector-superimposed, which is equivalent to the situation that the robot completes the motion quantity of the a 'B track and the BC' track in the transit time, for example, the original a 'B track and the BC' track all need to move for 5 milliseconds, after the transit motion is performed, the robot moves the transit track in the time of 5 milliseconds assuming that the transit time is 5 milliseconds, and the transit track completes the motion quantity of the a 'B and the BC' at the same time, so that the motion time can be saved. In addition, when the robot runs the teaching track, there is an acceleration-uniform speed-deceleration process or an acceleration-deceleration process, and when the track of the adjacent section is run, the unavoidable process of running the robot is decelerated and then accelerated, and through transfer processing, the process of decelerating and then accelerating can be smoothed, so that the running efficiency of the robot can be improved. The joint increment of each interpolation period of the A 'B section track and the BC' section track in the switching time is overlapped, the movement of the joint is directly controlled based on the joint increment, the servo control of the robot joint hardware is facilitated, and the implementation is easy.

S5, generating a motion track of the robot according to the teaching track and the transfer track of the robot.

It can be understood that, assuming that the originally planned track of the robot is the motion process of the points a-B-C, the specific position where the transfer occurs can be determined according to the set transfer point, the transfer radius and the calculated transfer time, and then the transfer track can be determined by combining the calculated joint increment of each interpolation period. Assuming that the range of the transfer motion is a range from A 'to C', the robot continues to move according to the teaching track outside the range of the transfer motion, and moves based on the generated transfer track in the range of the transfer motion, and the teaching track and the transfer track are combined together to form a motion track of the robot after transfer.

In some complex scenarios, the teaching track has a plurality of track points, for example, the motion track of the robot is P1-P2-P3-P4, where P1, P2, P3, and P4 are path points of the teaching track of the robot, and by way of example, P1 and P4 are points where the teaching track needs to reach accurately, P2 and P3 are points where the teaching track does not need to reach accurately, the user can set the points where the teaching track needs to reach accurately by way of a demonstrator, and select the points where the teaching track does not need to reach accurately as a transfer point, for example, select a point within the range of P2 and P3 as a transfer point B, and implement the foregoing transfer method to implement transfer of the motion track. Or in another embodiment, the motion track of the robot is P1-P2-P3-P4-P5, where P1, P2, P3, P4, and P5 are path points of the teaching track of the robot, respectively, and the user sets P1, P3, and P5 as points to be accurately reached, where the teaching track may include two switching systems, i.e., P1-P2-P3 and P3-P4-P5, and sequentially perform switching according to the path of the teaching points, so that the robot presents a better precision performance at the point where the robot accurately reaches, and presents a higher running efficiency at the point where high precision is not required.

Further, after teaching the robot, the robot generates a teaching track, for example, the teaching track of the robot is A-B-C, wherein the speed planning of the robot is further included before the transfer time is determined according to the range of the transfer motion. When the robot performs motion teaching, the required maximum speed and the required acceleration of each track segment are determined, and the track segments of the robot are subjected to speed planning. Further, in order to ensure smoothness of transfer tracks of the robot, speed planning is performed on the robot, so that the A 'B track is a deceleration section of the AB track, the BC' track is an acceleration part of the BC track, transfer motion is used for transferring the A 'B track and the BC' track, the deceleration section and the acceleration section are transferred, and the transfer track shows smooth characteristics. Specifically, in the teaching stage of the robot, the speed change condition of each track segment is determined, specifically, the speed change of the track segment is acceleration-uniform speed-deceleration or acceleration-deceleration, the speed at the transfer point of the robot is smaller, or the speed at the transfer point is 0. Before determining the transfer time according to the rotation movement range, carrying out speed planning on the robot, namely judging whether the A 'B section track is the deceleration section part of the AB section track, if so, continuing the execution of the transfer method, and if not, carrying out speed planning on the robot so that the A' B section track is the deceleration section part of the AB section track; similarly, whether the BC 'track is the acceleration section of the BC track is judged, if yes, execution of the transfer method is continued, if not, speed planning is performed on the robot so that the BC' track is the acceleration section of the BC track, it is understood that when the a 'B track is judged to be the deceleration section of the AB track and the BC' track is judged to be the acceleration section of the BC track, the subsequent flow of the transfer method is continued, otherwise, speed planning is performed on the robot so that the a 'B track is the deceleration section of the AB track and the BC' track is the acceleration section of the BC track. Specifically, the method of speed planning may use any common method, such as trapezoidal acceleration and deceleration, S-shaped acceleration and deceleration, or 7 th order polynomial acceleration and deceleration. By taking the A 'B section track as the deceleration section part of the AB section track and the BC' section track as the acceleration section part of the BC section track, when the robot switches the motion track, the maximum range which can occur in switching is the range of the A 'B section track and the BC' section track, so that switching motion occurs, the deceleration section of the AB section and the acceleration section of the BC section are inevitably occurred, the transition track can be smoothly transited by avoiding the constant motion track, and if the transition track is connected through the constant motion track, the switching track can generate broken line motion, the flexibility of the robot performance can be influenced, and meanwhile, the robot is easy to be blocked or collided.

Referring to fig. 2-4, for example, when determining the starting point a, the transition point B, and the ending point C, the movement pattern between the two points may take various forms, for example, the movement pattern between the two points that is currently common includes: movej (i.e., movement between two points in a joint interpolation manner in joint space), movel (i.e., movement between two points in a linear interpolation manner in cartesian space), and movec (i.e., movement between two points in a circular interpolation manner in cartesian space), a third auxiliary point is needed to determine the spatial circular arc). The AB segment trajectory and BC segment trajectory can be equivalently a combination of any two motion modes, and in this embodiment, motion is performed by the AB segment and BC segment, for example, for unfolding. 2-4, a schematic diagram of a motion track of a robot according to an embodiment of the present application is shown, where, as shown in FIG. 2, the robot completes teaching, and a start point A, a transition point B, and an end point C of a transition system are determined according to the teaching track, as shown in FIG. 3, a transition radius is set, and the transition point B is used as a center of a circle, and a range of the transition radius is used as a range of the transition motion; as shown in fig. 4, the transition track has been generated, and it can be seen that the track of a 'C' is a smooth track, and the motion track of the robot includes a teaching track and a transition track. Through executing the switching motion, the motion time of robot reduces, and the average speed increases in the switching scope, has promoted the efficiency of robot motion, still can guarantee the precision of key point simultaneously.

Further, the transfer radius is smaller than the longest deceleration distance of the AB section track and smaller than the longest acceleration distance of the BC section track, so that the transfer radius is further ensured to be the deceleration section comprising the AB section track and the acceleration section of the BC section track, and the smoothness of the transfer track is ensured.

Further, determining the transit time according to the range of transit motion includes: determining the running time T1 of the a ' B track and the running time T2 of the BC ' track, taking smaller values of T1 and T2 as transit times, and exemplarily, assuming that the running time T2 of the BC ' track is less than the running time T1 of the a ' B track, the t=t2, the a ' B track runs according to the teaching track in the duration of T1-T, and executing transit motion in the duration of T. The joint increment of each interpolation period of the A ' B section track in the switching time T is calculated, the joint increment of each interpolation period of the BC ' section track is calculated (when T=T2, the running time of the BC ' section track is the switching time), the joint increments of the A ' section track and the BC ' section track are subjected to vector superposition, the joint increment of each interpolation period in the switching time can be obtained, a switching track is generated according to the joint increment, and the running track of the robot is generated according to the teaching track and the switching track of the robot. Meanwhile, after the joint increment of the transfer motion is obtained, the end motion of a Cartesian space is mapped according to the superimposed joint increment, and then the motion track of the end of the robot is controlled. That is, in the range where the changeover motion is performed, the movement is performed according to the changeover locus, and in the range where the changeover motion is not performed, the movement is performed according to the teaching locus. For example, when the transition time t=bc 'section track running duration T2, the robot performs teaching motion on the AA' section track and the CC 'section track, and during the transition time, the a' B section track and the BC 'section track move according to the transition track, and the part of the a' B section track running outside the transition time runs according to the teaching track.

The beneficial effects of the above preferred embodiments are: the transfer of the motion trail is carried out on the robot based on the radius, the transfer occurrence range is easy to intuitively control, and transfer parameters are easy to set. Meanwhile, the transfer method is realized based on the previous track deceleration section and the next track acceleration section, and smooth movement of the transfer track is facilitated. The joint movement continuity is easy to ensure based on the transfer track generated by superposition of joint increment, and the requirements on joint hardware servo following are reduced.

The application also provides a transfer device of the motion trail of the robot, referring to fig. 5, the device comprises:

the sampling unit 10 is used for determining a track starting point A, a track finishing point C and at least one transition point B of the transition system according to the teaching track of the robot;

a setting unit 20 for setting a transition radius to limit a range of transition movement, determining a first intersection point a' of the transition radius and the AB segment track based on the transition point B, and determining a second intersection point B1 of the transition radius and the BC segment track;

specifically, the switching radius is smaller than the longest deceleration distance of the track of the section A' B and smaller than the longest acceleration distance of the track of the section B1C.

A determining unit 30 for determining a transit time according to a range of transit motions;

a calculating unit 40, configured to calculate and superimpose the joint increment of each interpolation period in the transit time of the track of segment a 'B and the track of segment BC' to obtain the joint increment of each interpolation period in the transit time to generate a transit track;

the track generation unit 50 is configured to generate a running track of the robot according to the teaching track and the transition track of the robot.

In a specific embodiment, the transfer device of the motion track of the robot further includes a speed planning unit, configured to perform speed planning on the robot, so that the a' B track is a deceleration section portion of the AB track, and the B1C track is an acceleration section portion of the BC track.

In a specific embodiment, the determining unit 30 is further configured to: and determining the running time T1 of the track of the section A 'B and the running time T2 of the track of the section BC', and taking smaller values of T1 and T2 as the transit time.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

In an exemplary embodiment, the present application also provides a computer-readable storage medium storing a computer program, such as a memory storing a computer program executable by a processor to perform a method of transferring a motion profile of a robot. Alternatively, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

Finally, it should be pointed out that the above description is merely illustrative and not exhaustive, and that the application is not limited to the embodiments disclosed, but that several improvements and modifications can be made by those skilled in the art without departing from the scope and spirit of the examples described above, which are also considered as being within the scope of the application. The scope of the application should therefore be pointed out in the appended claims.

Claims (4)

1. The transfer method of the robot motion trail is characterized by comprising the following steps:

determining a starting point A, an ending point C and at least one switching point B of the switching system according to the teaching track of the robot;

setting a transfer radius to limit the range of transfer motion, determining a first intersection point A 'of the transfer radius and the AB segment track based on the transfer point B, and determining a second intersection point C' of the transfer radius and the BC segment track;

determining switching time according to the switching movement range;

calculating joint increment of each interpolation period of the A 'B section track and the BC' section track in the switching time, and superposing to obtain joint increment of each interpolation period in the switching time to generate a switching track;

generating a motion track of the robot according to the teaching track and the transfer track of the robot;

before determining the switching time according to the switching movement range, the method comprises the following steps: carrying out speed planning on the robot so that the track of the section A' B is a deceleration section part of the track of the section AB, and the track of the section BC is an acceleration section part of the track of the section BC;

the determining the switching time according to the switching movement range comprises the following steps: determining the running time T1 of the track of the section A 'B and the running time T2 of the track of the section BC', and taking smaller values of T1 and T2 as switching time;

the transfer radius is smaller than the longest deceleration distance of the A 'B section track and smaller than the longest acceleration distance of the BC' section track.

2. The method for adapting a motion trajectory of a robot according to claim 1, wherein the speed planning mode is at least one of trapezoidal acceleration and deceleration, S-shaped acceleration and deceleration, and 7 th order polynomial acceleration and deceleration.

3. A transfer device for a motion trajectory of a robot, the device comprising:

the sampling unit is used for determining a starting point A, an ending point C and at least one switching point B of the switching system according to the teaching track of the robot;

the setting unit is used for setting the transfer radius to limit the range of transfer motion, determining a first intersection point A 'of the transfer radius and the AB segment track based on the transfer point B, and determining a second intersection point C' of the transfer radius and the BC segment track;

the determining unit is used for determining the switching time according to the switching movement range;

the computing unit is used for computing the joint increment of each interpolation period of the track A 'B section and the track BC' section in the switching time and superposing the joint increment to obtain the joint increment of each interpolation period in the switching time to generate a switching track;

the track generation unit is used for generating a motion track of the robot according to the teaching track and the transfer track of the robot;

the apparatus further comprises: the speed planning unit is used for carrying out speed planning on the robot so that the A 'B section track is a deceleration section part of the AB section track and the BC' section track is an acceleration section part of the BC section track;

the determining unit is further configured to: determining the running time T1 of the track of the section A 'B and the running time T2 of the track of the section BC', and taking smaller values of T1 and T2 as switching time;

the transfer radius is smaller than the longest deceleration distance of the A 'B section track and smaller than the longest acceleration distance of the BC' section track.

4. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method of any one of claims 1-2.