CN114952868B - 7-degree-of-freedom SRS (sounding reference Signal) type mechanical arm control method and device and piano playing robot - Google Patents
7-degree-of-freedom SRS (sounding reference Signal) type mechanical arm control method and device and piano playing robot 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
- B25J9/00—Programme-controlled manipulators
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- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B25J11/00—Manipulators not otherwise provided for
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- B25J11/004—Playing a music instrument
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a control method and a control device for a 7-degree-of-freedom SRS type mechanical arm and a piano playing robot, wherein the method comprises the following steps: respectively carrying out inverse kinematics resolving on a starting joint angle sequence and a target joint angle sequence of a mechanical arm joint space according to the current pose of the tail end of the mechanical arm and the target pose of a key corresponding to the next rhythm; calculating the distance between the current position of the tail end of the mechanical arm and the target position according to the current position and the target position; if the distance is smaller than or equal to a preset threshold value, performing track interpolation of a joint space, and controlling the mechanical arm to move to the target pose; otherwise, planning a track of a Cartesian space, taking at least three track points on a preset track, performing inverse kinematics calculation on four joint angles of the elbow and the shoulder of the mechanical arm corresponding to the track points, keeping the three joint angles of the wrist of the mechanical arm corresponding to the track points consistent with the joint angle of the current pose, and controlling the mechanical arm to move to the target pose according to the joint angle sequence of each track point.
Description
Technical Field
The invention belongs to the technical field of robot mechanical arm control, and particularly relates to a 7-degree-of-freedom SRS type mechanical arm control method and device and a piano playing robot.
Background
Humanoid robots have been used in various industries, wherein humanoid robots have difficulties in actual floor application due to their multiple degrees of freedom, complex configuration, and the like. When the mechanical arm executes a task, task information is described in a cartesian space, however, when the actual mechanical arm is controlled, the task is completed by controlling motors of each joint of the mechanical arm, so that the description of the task in the cartesian space needs to be converted into a joint space of the mechanical arm, and the conversion is inverse kinematics of the mechanical arm. Meanwhile, when the robot executes a task, the track information of the robot is also described in a cartesian space, so that inverse kinematics calculation needs to be performed on points on the whole track.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
at present, in practical application, trajectory planning is generally required to be performed on the tail end of a redundant mechanical arm in a cartesian space, and further, the cartesian space trajectory is converted into a joint space trajectory through inverse kinematics calculation so as to control the motion of the mechanical arm. However, when inverse kinematics solution is actually performed on the cartesian space trajectory, a problem of solution failure occurs, which causes termination of the mechanical arm in the motion process. In addition, in the prior art, cartesian-space trajectory planning is also adopted for a case where the moving distance of the robot arm tip is short, but in this case, the motion of the robot arm after cartesian-space trajectory planning is performed is not smooth.
Disclosure of Invention
The embodiment of the application aims to provide a control method and device for a 7-degree-of-freedom SRS type mechanical arm and a piano playing robot, so as to solve the technical problems of discontinuous mechanical arm movement and unsmooth movement in a short distance in the related technology.
According to a first aspect of the embodiments of the present application, there is provided a 7-degree-of-freedom SRS-type mechanical arm control method applied to a piano playing robot, including:
establishing a world coordinate system by taking the center of the waist of the piano playing robot as an origin;
respectively carrying out inverse kinematics resolving on a starting joint angle sequence and a target joint angle sequence of a mechanical arm joint space according to the current pose of the tail end of the mechanical arm and the target pose of the tail end of the mechanical arm corresponding to the key in the next rhythm;
calculating the distance between the current position of the tail end of the mechanical arm and the target position according to the current position and the target position;
if the distance is smaller than or equal to a preset threshold value, performing track interpolation of a joint space, and calculating a joint angle sequence, a joint angular velocity sequence and a joint angular acceleration sequence of the mechanical arm in a certain time period, so as to control the mechanical arm to move to the target pose;
if the distance is larger than the preset threshold value, planning a track of a Cartesian space, taking at least three track points on a preset track, performing inverse kinematics calculation on four joint angles of an elbow and a shoulder of the mechanical arm corresponding to the track points, keeping the three joint angles of the wrist of the mechanical arm corresponding to the track points consistent with the joint angle corresponding to the current pose, and controlling the mechanical arm to move to the target pose according to a joint angle sequence of each track point.
Further, the distance between the current position of the tail end of the mechanical arm and the target position is a difference value of coordinates of the current position and the target position in the Y direction.
Further, in the process of the track interpolation of the joint space, the angle, the angular velocity and the acceleration corresponding to the current position and the target position satisfy the relationship shown in the following formula:
wherein the starting point angle, the angular velocity and the angular acceleration are
，
， 
The angle, angular velocity and angular acceleration of the target point are
，
，
，
In order to be the starting time of the exercise,
is the exercise end time;
obtaining polynomial coefficients according to the formula
And calculating a joint angle sequence, a joint angular velocity sequence and a joint angular acceleration sequence of the mechanical arm in a certain time period according to the polynomial coefficient, so as to control the mechanical arm to move to the target pose.
Further, the preset track is a straight track or a parabolic track.
Further, at least three track points are taken on the preset track, including:
calculating a coefficient of a parabola according to the empirical value and the distance between the current position of the tail end of the mechanical arm and the target position;
and calculating the coordinate of each track point in the Z direction according to the coefficient, the Y coordinate of the current position and the Y coordinate of the target position.
According to a second aspect of the embodiments of the present application, there is provided a 7-degree-of-freedom SRS-type manipulator control device applied to a piano playing robot, including:
the establishing module is used for establishing a world coordinate system by taking the waist center of the piano playing robot as an origin;
the resolving module is used for respectively performing inverse kinematics resolving on a starting joint angle sequence and a target joint angle sequence of a mechanical arm joint space according to the current pose of the tail end of the mechanical arm and the target pose of the tail end of the mechanical arm corresponding to the key in the next rhythm;
the calculation module is used for calculating the distance between the current position and the target position of the tail end of the mechanical arm according to the current position and the target position;
the track interpolation module is used for performing track interpolation of joint space if the distance is less than or equal to a preset threshold value, and calculating a joint angle sequence, a joint angular velocity sequence and a joint angular acceleration sequence of the mechanical arm in a certain time period so as to control the mechanical arm to move to the target pose;
and the track planning module is used for planning the track of a Cartesian space if the distance is greater than a preset threshold value, taking at least three track points on a preset track, performing inverse kinematics calculation on four joint angles of the elbow and the shoulder of the mechanical arm corresponding to the track points, keeping the three joint angles of the wrist of the mechanical arm corresponding to the track points consistent with the joint angle corresponding to the current pose, and controlling the mechanical arm to move to the target pose according to the joint angle sequence of each track point.
According to a third aspect of embodiments herein, there is provided an electronic device comprising:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the 7-degree-of-freedom SRS-type robot control method according to the first aspect.
According to a fourth aspect of embodiments herein, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the 7-degree-of-freedom SRS-type robot control method as described in the first aspect.
According to a fifth aspect of the embodiments of the present application, there is provided a piano playing robot, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the 7-degree-of-freedom SRS-type mechanical arm control method according to the first aspect when calling the computer program in the memory.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the embodiment, the track interpolation of the joint space is carried out on the short-distance movement, so that the movement of the mechanical arm is smoother; the Cartesian space trajectory planning is carried out on long-distance movement, the poses of the tail end of the mechanical arm at the starting point and the ending point of the trajectory are accurately calculated, the position of the tail end of the mechanical arm is accurately calculated at the middle point of the trajectory, the initial angles of joints which only affect the pose of the tail end of the mechanical arm and do not affect the position of the tail end of the mechanical arm, namely three joint angles of a wrist, are maintained, and the problem of motion termination caused by the fact that an inverse kinematics solution does not exist at the middle point when a 7-freedom-degree SRS type mechanical arm moves along the Cartesian space trajectory is solved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a flow diagram illustrating a 7-degree-of-freedom SRS-type robot control method in accordance with an exemplary embodiment.
Fig. 2 is a schematic diagram of a harp playing robot according to an exemplary embodiment.
Fig. 3 is a flowchart illustrating the step S15 of taking at least three track points on the preset track according to an exemplary embodiment.
Fig. 4 is a block diagram illustrating a 7-degree-of-freedom SRS-type robotic arm control apparatus in accordance with an exemplary embodiment.
FIG. 5 is a schematic diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if," as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination," depending on the context.
Fig. 1 is a flowchart illustrating a 7-degree-of-freedom SRS-type robot control method according to an exemplary embodiment, where the method is applied to a piano robot, and may include the following steps:
step S11: establishing a world coordinate system by taking the center of the waist of the piano playing robot as an origin;
step S12: respectively carrying out inverse kinematics resolving on a starting joint angle sequence and a target joint angle sequence of a mechanical arm joint space according to the current pose of the tail end of the mechanical arm and the target pose of the tail end of the mechanical arm corresponding to the key in the next rhythm;
step S13: calculating the distance between the current position of the tail end of the mechanical arm and the target position according to the current position and the target position;
step S14: if the distance is smaller than or equal to a preset threshold value, performing track interpolation of a joint space, and calculating a joint angle sequence, a joint angular velocity sequence and a joint angular acceleration sequence of the mechanical arm in a certain time period, so as to control the mechanical arm to move to the target pose;
step S15: and if the distance is greater than a preset threshold value, carrying out Cartesian space track planning, taking at least three track points from a preset track, carrying out inverse kinematics calculation on four joint angles of the elbow and the shoulder of the mechanical arm corresponding to the track points, keeping the three joint angles of the wrist of the mechanical arm corresponding to the track points consistent with the joint angle corresponding to the current pose, and controlling the mechanical arm to move to the target pose according to the joint angle sequence of each track point.
According to the embodiment, the track interpolation of the joint space is carried out on the short-distance movement, so that the movement of the mechanical arm is smoother; the Cartesian space trajectory planning is carried out on long-distance movement, the poses of the tail end of the mechanical arm at the starting point and the ending point of the trajectory are accurately calculated, the position of the tail end of the mechanical arm is accurately calculated at the middle point of the trajectory, the initial angles of joints which only affect the pose of the tail end of the mechanical arm and do not affect the position of the tail end of the mechanical arm, namely three joint angles of a wrist, are maintained, and the problem of motion termination caused by the fact that an inverse kinematics solution does not exist at the middle point when a 7-freedom-degree SRS type mechanical arm moves along the Cartesian space trajectory is solved.
In the specific implementation of the step S11, a world coordinate system is established with the center of the waist of the piano playing robot as an origin;
specifically, as shown in fig. 2, a world coordinate system of the robot is established, the coordinate origin is located at the center of the waist of the robot, the positive direction of the X axis points right in front of the robot, the positive direction of the Y axis points to the left side of the robot, and the positive direction of the Z axis points above the robot, so that the right-hand criterion is met. The world coordinate system is established in such a way that the left arm and the right arm of the robot are symmetrical relative to the center line of the robot, so that the understanding and the derivation of the algorithm are facilitated.
In the specific implementation of the step S12, inverse kinematics solution is respectively performed on the start joint angle sequence and the target joint angle sequence of the mechanical arm joint space according to the current pose of the mechanical arm end and the target pose of the mechanical arm end corresponding to the key in the next rhythm;
specifically, the seven joint angles corresponding to the current pose and the seven joint angles corresponding to the target pose are obtained through inverse kinematics calculation, and the inverse kinematics calculation method may be any existing analysis solution, preferably a method in patent application with publication number CN113814988a, and is not described herein again.
In the specific implementation of the step S13, calculating the distance between the current position of the end of the mechanical arm and the target position according to the current position and the target position;
specifically, in the application scene of playing the piano, the distance between the robot and the piano in the X direction is fixed, and when the robot plays the piano, the distance between the tail end of the mechanical arm and the piano in the X direction is also fixed, so that the process of playing the piano can be simplified into the process that the coordinate of the tail end of the mechanical arm in the X direction is fixed and unchanged; when the mechanical arm is located at a key position corresponding to the rhythm, namely when the mechanical arm plays a piano at the current position and the target position of the mechanical arm, the relative distance between the tail end of the mechanical arm and the piano face of the piano in the Z direction is the same, so that the coordinate of the tail end of the mechanical arm in the Z-axis direction at the key can also be considered to be fixed; therefore, the distance between the current position of the tail end of the mechanical arm and the target position is the difference value of the coordinates of the current position and the target position in the Y direction, namely:
in the formula (I), the compound is shown in the specification,
the distance between the current position of the end of the mechanical arm and the target position,
as the coordinates of the current position in the Y direction,
is the coordinate of the target position in the Y direction.
In the specific implementation of step S14, if the distance is less than or equal to the predetermined threshold, performing trajectory interpolation of a joint space, and calculating a joint angle sequence, a joint angular velocity sequence, and a joint angular acceleration sequence of the mechanical arm at a certain time period, so as to control the mechanical arm to move to the target pose;
in particular, when
In the process, instead of cartesian space trajectory planning, trajectory interpolation is performed on the starting joint angle sequence and the target joint angle sequence at the end of the mechanical arm in step S12 in the joint space, where the trajectory interpolation in the joint space includes a quintic polynomial method and a cubic polynomial method. Wherein the content of the first and second substances,
as the predetermined threshold value, the width of three white keys on the piano is set according to the actual performance effect setting in the present embodiment.
In a specific implementation, the trajectory interpolation of the joint space may be performed by a quintic polynomial method, a cubic polynomial method, or the like. In the embodiment, a quintic polynomial method is adopted, and the position, the speed and the angular speed of each joint of the mechanical arm can be continuous through the planned track, so that the smooth motion of the mechanical arm is realized. In the fifth-order polynomial method, the angle, the angular velocity, and the acceleration of the current position corresponding to the target position satisfy the relationship shown as the following expression:
wherein the starting point angle, the angular velocity and the angular acceleration are
，
，
The angle, angular velocity and angular acceleration of the target point are
，
，
，
In order to be the starting time of the exercise,
is the end time of the exercise;
obtaining polynomial coefficients according to the formula
And calculating a joint angle sequence, a joint angular velocity sequence and a joint angular acceleration sequence of the mechanical arm in a certain time period according to the polynomial coefficient, so as to control the mechanical arm to move to the target pose. The time period is consistent with the control period of the motor forming the mechanical arm.
In the specific implementation of the step S15, if the distance is greater than the predetermined threshold, performing cartesian space trajectory planning, taking at least three trajectory points on a preset trajectory, performing inverse kinematics solution on four joint angles of the elbow and the shoulder of the mechanical arm corresponding to the trajectory points, keeping the three joint angles of the wrist of the mechanical arm corresponding to the trajectory points consistent with the joint angle corresponding to the current pose, and controlling the mechanical arm to move to the target pose according to the joint angle sequence of each trajectory point;
in particular, when
And when the robot is used, cartesian space trajectory planning is carried out on the trajectory of the tail end of the mechanical arm, and the preset trajectory can be a straight trajectory or a parabolic trajectory. And planning the tail end track of the mechanical arm into a reverse parabola according to the actual piano playing scene. Wherein the content of the first and second substances,
as the predetermined threshold value, the width of three white keys on the piano is set according to the actual performance effect setting in the present embodiment. Selecting an inverse parabolaThe track of the line can make the motion of the piano playing robot more anthropomorphic.
In this embodiment, as shown in fig. 3, taking at least three track points on the preset track may include the following steps:
step S21: calculating a coefficient of a parabola according to the empirical value and the distance between the current position of the tail end of the mechanical arm and the target position;
specifically, the highest point of the parabola is set as the middle point of the current position and the target position in the Y-axis direction, and the distance between the Z-axis and the Z-axis coordinate of the current position is set as
Namely:
wherein K is an empirical value and satisfies the following constraints:
Taking three points on the trajectory, a quadratic coefficient can be set:
step S22: calculating the coordinate of each track point in the Z direction according to the coefficient, the Y coordinate of the current position and the Y coordinate of the target position;
specifically, the coordinate of each track point in the Z direction can be obtained according to the coefficient, the Y coordinate of the current position and the Y coordinate of the target position
，
In this embodiment, the inverse kinematics calculation method for "performing inverse kinematics calculation on four joint angles of the elbow and the shoulder of the mechanical arm corresponding to the track point, keeping three joint angles of the wrist of the mechanical arm corresponding to the track point consistent with the joint angle corresponding to the current pose, and controlling the mechanical arm to move to the target pose according to the seven joint angles of each track point" may also be an existing arbitrary resolution method, and is preferably a method in patent application publication No. CN113814988a, and is not described herein again. In the embodiment, the initial angles of the joints which only affect the tail end posture of the mechanical arm and do not affect the tail end position of the mechanical arm, namely the three joint angles of the wrist, are maintained, and the problem of motion termination caused by the fact that an inverse kinematics solution does not exist in the middle point when the 7-freedom-degree SRS type mechanical arm moves along a Cartesian space track is solved.
Corresponding to the foregoing embodiment of the 7-degree-of-freedom SRS-type robot control method, the present application also provides an embodiment of a 7-degree-of-freedom SRS-type robot control apparatus.
Fig. 4 is a block diagram illustrating a 7-degree-of-freedom SRS-type robot control apparatus according to an exemplary embodiment. Referring to fig. 4, the apparatus is applied to a piano playing robot, and may include:
the establishing module 21 is used for establishing a world coordinate system by taking the waist center of the piano playing robot as an origin;
the resolving module 22 is used for respectively performing inverse kinematics resolving on a starting joint angle sequence and a target joint angle sequence of a mechanical arm joint space according to the current pose of the tail end of the mechanical arm and the target pose of the tail end of the mechanical arm corresponding to the key in the next rhythm;
the calculating module 23 is configured to calculate a distance between a current position of the end of the mechanical arm and a target position according to the current pose and the target pose;
the track interpolation module 24 is configured to perform track interpolation of a joint space if the distance is less than or equal to a predetermined threshold, and calculate a joint angle sequence, a joint angular velocity sequence, and a joint angular acceleration sequence of the mechanical arm at a certain time period, so as to control the mechanical arm to move to the target pose;
and the track planning module 25 is configured to plan a track in a cartesian space if the distance is greater than a predetermined threshold, take at least three track points on a preset track, perform inverse kinematics solution on four joint angles of the elbow and the shoulder of the mechanical arm corresponding to the track points, keep the three joint angles of the wrist of the mechanical arm corresponding to the track points consistent with the joint angle corresponding to the current pose, and control the mechanical arm to move to the target pose according to a joint angle sequence of each track point.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
Correspondingly, the present application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement a 7-degree-of-freedom SRS-type robot arm control method as described above. As shown in fig. 5, for a hardware structure diagram of any device with data processing capability in which a 7-degree-of-freedom SRS-type mechanical arm control method according to an embodiment of the present invention is located, in addition to the processor, the memory, the DMA controller, the magnetic disk, and the nonvolatile memory shown in fig. 5, any device with data processing capability in which a device is located in an embodiment may also include other hardware according to an actual function of the any device with data processing capability, which is not described again.
Accordingly, the present application also provides a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the 7-degree-of-freedom SRS-type robot control method as described above. The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of any data processing capability device described in any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the wind turbine, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), and the like, provided on the device. Further, the computer readable storage medium may include both an internal storage unit of any data processing capable device and an external storage device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the arbitrary data processing-capable device, and may also be used for temporarily storing data that has been output or is to be output.
As shown in fig. 2, the application further provides a piano playing robot, which includes a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the 7-degree-of-freedom SRS-type mechanical arm control method when calling the computer program in the memory.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.
It will be understood that the present application is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.
Claims (9)
1. A control method of a 7-degree-of-freedom SRS type mechanical arm is applied to a piano playing robot and comprises the following steps:
establishing a world coordinate system by taking the waist center of the piano playing robot as an origin, wherein the origin of coordinates is positioned at the waist center of the robot, the positive direction of an X axis points to the front of the robot, the positive direction of a Y axis points to the left side of the robot, and the positive direction of a Z axis points to the upper side of the robot;
respectively carrying out inverse kinematics resolving on a starting joint angle sequence and a target joint angle sequence of a mechanical arm joint space according to the current pose of the tail end of the mechanical arm and the target pose of the tail end of the mechanical arm corresponding to the key in the next rhythm;
calculating the distance between the current position of the tail end of the mechanical arm and the target position according to the current position and the target position, wherein the distance between the current position of the tail end of the mechanical arm and the target position is the difference value of the coordinates of the current position and the target position in the Y direction;
if the distance is smaller than or equal to a preset threshold value, performing track interpolation of a joint space, and calculating a joint angle sequence, a joint angular velocity sequence and a joint angular acceleration sequence of the mechanical arm in a certain time period, so as to control the mechanical arm to move to the target pose;
if the distance is larger than the preset threshold value, planning a track of a Cartesian space, taking at least three track points on a preset track, performing inverse kinematics calculation on four joint angles of an elbow and a shoulder of the mechanical arm corresponding to the track points, keeping the three joint angles of the wrist of the mechanical arm corresponding to the track points consistent with the joint angle corresponding to the current pose, and controlling the mechanical arm to move to the target pose according to a joint angle sequence of each track point.
2. The method of claim 1, wherein the distance between the current position of the end of the robotic arm and the target position is a difference between the current position and the target position in the Y-direction.
3. The method according to claim 1, wherein in the process of the track interpolation of the joint space, the angle, the angular velocity and the acceleration corresponding to the current position and the target position satisfy the following relationship:
wherein the starting point angle, angular velocity and angular acceleration are
，
，
The angle, angular velocity and angular acceleration of the target point are
，
，
，
In order to be the starting time of the exercise,
is the end time of the exercise;
obtaining polynomial coefficients according to the formula
And calculating a joint angle sequence, a joint angular velocity sequence and a joint angular acceleration sequence of the mechanical arm in a certain time period according to the polynomial coefficient, so as to control the mechanical arm to move to the target pose.
4. The method of claim 1, wherein the predetermined trajectory is a straight trajectory or a parabolic trajectory.
5. The method of claim 1, wherein taking at least three trajectory points on the predetermined trajectory comprises:
calculating a coefficient of a parabola according to the empirical value and the distance between the current position of the tail end of the mechanical arm and the target position;
and calculating the coordinate of each track point in the Z direction according to the coefficient, the Y coordinate of the current position and the Y coordinate of the target position.
6. The utility model provides a 7 degree of freedom SRS type arm controlling means which characterized in that is applied to the robot of playing a musical instrument, includes:
the establishment module is used for establishing a world coordinate system by taking the waist center of the piano playing robot as an origin, wherein the origin of coordinates is positioned at the waist center of the robot, the positive direction of an X axis points right in front of the robot, the positive direction of a Y axis points to the left side of the robot, and the positive direction of a Z axis points to the upper side of the robot;
the resolving module is used for respectively performing inverse kinematics resolving on a starting joint angle sequence and a target joint angle sequence of a mechanical arm joint space according to the current pose of the tail end of the mechanical arm and the target pose of the tail end of the mechanical arm corresponding to the key in the next rhythm;
the calculation module is used for calculating the distance between the current position of the tail end of the mechanical arm and the target position according to the current position and the target position, wherein the distance between the current position of the tail end of the mechanical arm and the target position is the difference value of the current position and the coordinate of the target position in the Y direction;
the track interpolation module is used for performing track interpolation of joint space if the distance is less than or equal to a preset threshold value, and calculating a joint angle sequence, a joint angular velocity sequence and a joint angular acceleration sequence of the mechanical arm in a certain time period so as to control the mechanical arm to move to the target pose;
and the track planning module is used for planning the track of a Cartesian space if the distance is greater than a preset threshold value, taking at least three track points on a preset track, performing inverse kinematics calculation on four joint angles of the elbow and the shoulder of the mechanical arm corresponding to the track points, keeping the three joint angles of the wrist of the mechanical arm corresponding to the track points consistent with the joint angle corresponding to the current pose, and controlling the mechanical arm to move to the target pose according to the joint angle sequence of each track point.
7. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the 7-degree-of-freedom SRS-type robot arm control method of any one of claims 1-5.
8. A computer readable storage medium having stored thereon computer instructions, which when executed by a processor, carry out the steps of the 7-degree-of-freedom SRS-type robot control method as claimed in any one of claims 1 to 5.
9. A piano robot comprising a memory in which a computer program is stored and a processor, wherein the processor executes the steps of the 7-degree-of-freedom SRS-type manipulator control method according to any one of claims 1-5 when calling the computer program stored in the memory.
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| CN115781683B (en) * | 2022-12-20 | 2024-05-24 | 实时侠智能控制技术有限公司 | Online track planning method and device for mechanical arm and computer readable medium |
| CN115922728B (en) * | 2023-01-03 | 2023-06-30 | 之江实验室 | Robot pointing motion control method, apparatus, electronic device, and storage medium |
| CN116125906A (en) * | 2023-01-04 | 2023-05-16 | 中国林业科学研究院生态保护与修复研究所 | Motion planning method, device and equipment for numerical control machining and storage medium |
| CN116394277B (en) * | 2023-06-08 | 2023-08-25 | 之江实验室 | Robot is played to imitative people piano |
| CN116587289B (en) * | 2023-07-17 | 2024-03-29 | 西北工业大学太仓长三角研究院 | Seven-degree-of-freedom wrist joint bias mechanical arm inverse solution method, system and medium |
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| CN106346478A (en) * | 2016-11-09 | 2017-01-25 | 广州视源电子科技股份有限公司 | Control method and device for mechanical arm |
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