CN116038660A - Method and device for cooperation of robot and guide rail and electronic equipment - Google Patents
Method and device for cooperation of robot and guide rail and electronic equipment Download PDFInfo
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- CN116038660A CN116038660A CN202211718356.XA CN202211718356A CN116038660A CN 116038660 A CN116038660 A CN 116038660A CN 202211718356 A CN202211718356 A CN 202211718356A CN 116038660 A CN116038660 A CN 116038660A
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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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 invention provides a method, a device and electronic equipment for cooperation of a robot and a guide rail, which are characterized in that a conversion matrix of a guide rail coordinate system and a robot base coordinate system is determined according to a robot calibration position coordinate and a guide rail calibration position coordinate of each calibration point, the guide rail coordinate system is used as a world coordinate system, the guide rail is used as a zero axis of the robot, a tool center point insertion position coordinate of a tool center point at each insertion point in the world coordinate system is obtained, and the tool center point coordinate of the robot base coordinate system is obtained by combining the conversion matrix, so that the robot and the guide rail are cooperated. After a conversion matrix of a guide rail coordinate system and a robot base coordinate system is determined, the guide rail coordinate system is determined to be a world coordinate system, the guide rail is used as a zero axis of the robot, and according to the conversion matrix, a tool center point of the robot is inserted into a position coordinate at a tool center point corresponding to each insertion point, and is converted from the world coordinate system to the robot base coordinate system, so that collaborative planning of the robot and the guide rail is realized.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and an apparatus for cooperation between a robot and a guide rail, and an electronic device.
Background
In some situations, a robot is required to have a large working range, but the arm of the robot cannot meet the requirement, and in the related art, in order to expand the working range of the robot, the robot may be placed on a guide rail, and the working range of the robot is expanded by translating the additional guide rail, however, in this manner, the robot body works in its own robot base coordinate system, the guide rail works in the guide rail coordinate system, and the guide rail coordinate system and the robot base coordinate system are not integrated, so that cooperation cannot be performed.
Disclosure of Invention
The invention aims to provide a method, a device and electronic equipment for cooperation of a robot and a guide rail, so as to realize cooperation of a guide rail coordinate system and a robot base coordinate system, and facilitate realization of complex space tracks.
According to the method for cooperation of the robot and the guide rail, the robot is arranged on the guide rail, and a measuring tool sharp point is arranged at a preset position outside the guide rail; the method comprises the following steps: acquiring a plurality of calibration points, determining a conversion matrix of a guide rail coordinate system and a robot base coordinate system according to the robot calibration position coordinates and the guide rail calibration position coordinates corresponding to each calibration point, determining the guide rail coordinate system as a world coordinate system, and taking the guide rail as a zero axis of the robot; acquiring a plurality of insertion points inserted among a plurality of teaching points, and inserting position coordinates of a tool center point of the robot at the tool center point corresponding to each insertion point under a world coordinate system; for each insertion point, determining the coordinate of the tool center point of the robot at the tool center point corresponding to the insertion point under the robot base coordinate system according to the conversion matrix and the coordinate of the tool center point of the robot at the tool center point corresponding to the insertion point; and carrying out collaborative planning on the robot and the guide rail according to the position coordinates of the tool center point.
Further, after the step of obtaining the plurality of calibration locations, the method further includes: and respectively running the guide rail to each calibration point, controlling the position of the tail end of the robot to reach the point of the measuring tool at each calibration point, and recording the calibration position coordinates of the robot under the robot base coordinate system and the guide rail calibration position coordinates of the guide rail under the guide rail coordinate system, which correspond to each calibration point.
Further, the steps of respectively running the guide rail to each calibration point, at each calibration point, controlling the position of the tail end of the robot to reach the measuring tool point, recording the robot calibration position coordinates of the robot under the robot base coordinate system corresponding to each calibration point, and the guide rail calibration position coordinates of the guide rail under the guide rail coordinate system, include: running the guide rail to a first calibration point, controlling the position of the tail end of the robot to reach the point of the measuring tool, and recording the first robot calibration position coordinate of the robot under the robot base coordinate system and the first guide rail calibration position coordinate of the guide rail under the guide rail coordinate system; running the guide rail to a second calibration point, controlling the tail end of the robot to reach the position of the measuring tool point, and recording the second robot calibration position coordinates of the robot under the robot base coordinate system and the second guide rail calibration position coordinates of the guide rail under the guide rail coordinate system; and running the guide rail to a third calibration point position, controlling the tail end of the robot to reach the position of the measuring tool sharp point, and recording the third robot calibration position coordinates of the robot under the robot base coordinate system and the third guide rail calibration position coordinates of the guide rail under the guide rail coordinate system.
Further, the step of obtaining a plurality of insertion points inserted between the plurality of teaching points, and inserting position coordinates of a tool center point of the robot at the tool center point corresponding to each insertion point in the world coordinate system includes: acquiring a plurality of teaching points and information of each teaching point, wherein the information of each teaching point comprises: under a world coordinate system, the guide rail teaches position coordinates on the guide rail corresponding to the teaching point position, and the tool center point of the robot teaches position coordinates on the tool center point corresponding to the teaching point position; inserting a plurality of insertion points among a plurality of teaching points according to a preset mode; and calculating the tool center point insertion position coordinates of the robot at the tool center point corresponding to each insertion point in the world coordinate system according to the information of each teaching point.
Further, the plurality of teaching points include: the first teaching point position and the second teaching point position.
Further, according to a preset mode, the step of inserting a plurality of insertion points among a plurality of teaching points comprises the following steps: obtaining an interpolation period; and inserting a plurality of insertion points among the plurality of teaching points according to the interpolation period.
Further, the step of co-planning the robot and the guide rail according to the position coordinates of the tool center point includes: determining joint position data of the robot according to the position coordinates of the tool center point; the joint position data is converted into servo data, and the servo data is sent to the servo motor so that the servo motor rotates according to the servo data.
The invention provides a device for cooperation of a robot and a guide rail, wherein the robot is arranged on the guide rail, and a measuring tool sharp point is arranged at a preset position outside the guide rail; the device comprises: the first acquisition module is used for acquiring a plurality of calibration points, determining a conversion matrix of a guide rail coordinate system and a robot base coordinate system according to the robot calibration position coordinates and the guide rail calibration position coordinates corresponding to each calibration point, determining the guide rail coordinate system as a world coordinate system, and taking the guide rail as a zero axis of the robot; the second acquisition module is used for acquiring a plurality of insertion points inserted among the plurality of teaching points and inserting position coordinates of a tool center point of the robot at the tool center point corresponding to each insertion point under a world coordinate system; the determining module is used for determining the tool center point position coordinates of the robot corresponding to the insertion point under the robot base coordinate system according to the conversion matrix and the tool center point insertion position coordinates of the robot corresponding to the insertion point; and the coordination module is used for performing coordination planning on the robot and the guide rail according to the position coordinates of the tool center point.
The invention provides an electronic device comprising a processor and a memory, the memory storing computer executable instructions executable by the processor, the processor executing the computer executable instructions to implement any of the methods described above.
The invention provides a computer readable storage medium storing computer executable instructions that, when invoked and executed by a processor, cause the processor to implement a method of any of the above.
According to the method, the device and the electronic equipment for cooperation of the robot and the guide rail, a plurality of calibration points are obtained, a conversion matrix of a guide rail coordinate system and a robot base coordinate system is determined according to the robot calibration position coordinates and the guide rail calibration position coordinates corresponding to each calibration point, the guide rail coordinate system is determined to be a world coordinate system, the guide rail is taken as a zero axis of the robot, a plurality of insertion points inserted between the plurality of teaching points are obtained, and under the world coordinate system, the tool center point of the robot is inserted into the tool center point corresponding to each insertion point. And determining the position coordinates of the tool center point of the robot at the tool center point corresponding to the insertion point under the robot base coordinate system according to the conversion matrix and the tool center point insertion position coordinates of the tool center point of the robot at the tool center point corresponding to the insertion point for each insertion point. And carrying out collaborative planning on the robot and the guide rail according to the position coordinates of the tool center point. After a conversion matrix of a guide rail coordinate system and a robot base coordinate system is determined, the guide rail coordinate system is determined to be a world coordinate system, the guide rail is used as a zero axis of the robot, and according to the conversion matrix, a tool center point of the robot is inserted into a position coordinate at a tool center point corresponding to each insertion point, and is converted from the world coordinate system to the robot base coordinate system, so that collaborative planning of the robot and the guide rail is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for cooperation of a robot and a guide rail according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for cooperating a robot with a guide rail according to an embodiment of the present invention;
FIG. 3 is a flow chart of a robot and rail cooperative apparatus provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In some situations, the working range of the robot is required to be large, the arm span of the robot cannot meet the requirement, the addition of the guide rail to the base of the machine is an option, and specifically, the robot can be installed on the guide rail, so that the working range of the robot can be enlarged. Based on the above, the embodiment of the invention provides a method, a device and electronic equipment for cooperation of a robot and a guide rail, and the technology can be applied to applications requiring cooperation of the robot and the guide rail.
In order to facilitate understanding of the present embodiment, first, a method for cooperation between a robot and a guideway disclosed in the present embodiment is described, where the robot is disposed on the guideway, and a measuring tool point is disposed at a preset position outside the guideway; the robot may be an industrial robot, which is a multi-joint manipulator or a multi-degree-of-freedom mechanical device widely used in the industrial field, and has a certain degree of automation, for example, may be a four-axis robot, a six-axis robot, or the like; the preset position can be set according to actual requirements; for example, a measuring tool point can be arranged at a position which is at a certain distance from the guide rail outside the guide rail, and the robot and the guide rail can be calibrated through the measuring tool point; as shown in fig. 1, the method comprises the steps of:
step S102, a plurality of calibration points are obtained, a conversion matrix of a guide rail coordinate system and a robot base coordinate system is determined according to the robot calibration position coordinates and the guide rail calibration position coordinates corresponding to each calibration point, the guide rail coordinate system is determined to be a world coordinate system, and the guide rail is taken as a zero axis of the robot.
The number of the plurality of calibration points can be set according to actual requirements, for example, three calibration points can be selected; in practical implementation, the guide rail where the robot is placed may be operated to a plurality of positions, that is, the plurality of calibration points, the robot calibration position coordinates and the guide rail calibration position coordinates under each calibration point are recorded, according to the plurality of robot calibration position coordinates and the plurality of guide rail calibration position coordinates, the pose and the guide rail direction of the robot base when the guide rail is at zero point may be calculated, that is, the relation between the guide rail coordinate system and the robot base coordinate system is calculated, the guide rail coordinate system is taken as the world coordinate system, the guide rail is regarded as the zero axis of the robot, for example, the robot is a four-axis robot, typically 1-axis to 4-axis, typically 1-axis to 6-axis if six-axis, after unification, the guide rail is taken as the starting axis of the robot, so far, the TCP (Tool Central Point, tool center point) point of the robot becomes the point under the world coordinate system, but not the point under the robot base coordinate system.
Step S104, a plurality of insertion points inserted among the plurality of teaching points are obtained, and under a world coordinate system, the tool center point of the robot inserts position coordinates at the tool center point corresponding to each insertion point.
The teaching points can be understood as points corresponding to the robot in specific work, for example, if the robot is used for picking up an article from one point and placing the article on another point, the two points can be understood as two teaching points; the plurality of insertion points may be inserted between the plurality of teaching points, for example, the plurality of insertion points may be inserted between the plurality of teaching points according to an interpolation period, and a tool center point insertion position coordinate of a tool center point of the robot corresponding to each insertion point in the world coordinate system may be calculated.
Step S106, for each insertion point, determining the position coordinates of the tool center point of the robot corresponding to the insertion point under the robot base coordinate system according to the conversion matrix and the position coordinates of the tool center point of the robot corresponding to the insertion point.
For each insertion point, since the transformation matrix of the guide rail coordinate system and the robot base coordinate system has been determined, and the guide rail coordinate system has been determined as the world coordinate system, and the tool center point insertion position coordinates of the robot at the tool center point corresponding to the insertion point are known, the relation from the robot base to the tool center point can be determined according to the information, that is, the tool center point position coordinates of the tool center point of the robot at the tool center point corresponding to the insertion point under the robot base coordinate system are determined.
And S108, carrying out collaborative planning on the robot and the guide rail according to the position coordinates of the tool center point.
After the position coordinates of the tool center point of the robot corresponding to each insertion point are determined, the robot and the guide rail can be planned cooperatively according to the position coordinates of the tool center points.
According to the method for combining the robot and the guide rail, the plurality of calibration points are obtained, the transformation matrix of the guide rail coordinate system and the robot base coordinate system is determined according to the robot calibration position coordinates and the guide rail calibration position coordinates corresponding to each calibration point, the guide rail coordinate system is determined to be a world coordinate system, the guide rail is taken as a zero axis of the robot, a plurality of insertion points inserted between the plurality of teaching points are obtained, and the tool center point of the robot is inserted into the tool center point corresponding to each insertion point in the world coordinate system. And determining the position coordinates of the tool center point of the robot at the tool center point corresponding to the insertion point under the robot base coordinate system according to the conversion matrix and the tool center point insertion position coordinates of the tool center point of the robot at the tool center point corresponding to the insertion point for each insertion point. And carrying out collaborative planning on the robot and the guide rail according to the position coordinates of the tool center point. After a conversion matrix of a guide rail coordinate system and a robot base coordinate system is determined, the guide rail coordinate system is determined to be a world coordinate system, the guide rail is used as a zero axis of the robot, and according to the conversion matrix, a tool center point of the robot is inserted into a position coordinate at a tool center point corresponding to each insertion point, and is converted from the world coordinate system to the robot base coordinate system, so that collaborative planning of the robot and the guide rail is realized.
Another method for cooperation of a robot and a guide rail is provided, which is implemented on the basis of the method of the above embodiment, as shown in fig. 2, and includes the following steps:
step S202, a plurality of calibration points are obtained.
Step S204, the guide rail is respectively operated to each calibration point, the position of the tail end of the robot reaching the measuring tool point is controlled at each calibration point, and the robot calibration position coordinates of the robot under the robot base coordinate system and the guide rail calibration position coordinates of the guide rail under the guide rail coordinate system, which correspond to each calibration point, are recorded.
The robot calibration position coordinates may be three-dimensional coordinates in an XYZ three-dimensional coordinate system, and the rail calibration position coordinates are generally one-dimensional, for example, may be an angle value or a distance value.
The step S204 may specifically include the following steps one to three:
step one, running a guide rail to a first calibration point position, controlling the tail end of a robot to reach the position of a measuring tool point, and recording the first robot calibration position coordinate of the robot under a robot base coordinate system and the first guide rail calibration position coordinate of the guide rail under the guide rail coordinate system.
The first calibration point can be a guide rail zero point, the guide rail zero point can be marked according to actual requirements and can be recorded at any position on the guide rail; specifically, the guide rail where the robot is placed may be moved to the zero point of the guide rail, the position where the end of the robot reaches the tip of the measuring tool is moved, the first calibration position coordinate of the robot under the robot base coordinate system and the first calibration position coordinate of the guide rail under the guide rail coordinate system are recorded, and the recorded position coordinates may be uniformly represented by pt 1.
And secondly, running the guide rail to a second calibration point position, controlling the tail end of the robot to reach the position of the measuring tool point, and recording the second robot calibration position coordinates of the robot under the robot base coordinate system and the second guide rail calibration position coordinates of the guide rail under the guide rail coordinate system.
The position of the measuring tool point is kept motionless, the guide rail is moved to a second calibration point, the tail end of the mobile robot reaches the position of the measuring tool point, the second robot calibration position coordinate of the robot under the robot base coordinate system and the second guide rail calibration position coordinate of the guide rail under the guide rail coordinate system are recorded, and the recorded position coordinates can be uniformly represented by pt 2.
And thirdly, running the guide rail to a third calibration point position, controlling the tail end of the robot to reach the position of the measuring tool sharp point, and recording the third robot calibration position coordinates of the robot under the robot base coordinate system and the third guide rail calibration position coordinates of the guide rail under the guide rail coordinate system.
The position of the measuring tool point is kept motionless, the guide rail is moved to a third calibration point, the tail end of the mobile robot reaches the position of the measuring tool point, the third robot calibration position coordinate of the robot under the robot base coordinate system and the third guide rail calibration position coordinate of the guide rail under the guide rail coordinate system are recorded, and the recorded position coordinates can be uniformly represented by pt 3.
And S206, determining a conversion matrix of a guide rail coordinate system and a robot base coordinate system according to the robot calibration position coordinates and the guide rail calibration position coordinates corresponding to each calibration point, determining the guide rail coordinate system as a world coordinate system, and taking the guide rail as a zero axis of the robot.
According to pt1, pt2 and pt3, the pose and the direction of the guide rail of the robot base at the zero point of the guide rail can be calculated by using a gauss newton method, and the related technology can be referred to for details, so that the conversion relation between the guide rail coordinate system and the robot base coordinate system is calculated, the conversion relation can be expressed in the form of a conversion matrix, the guide rail coordinate system is taken as a world coordinate system, and the guide rail is taken as the zero axis of the robot. To this end, the TCP points of the robot become points in the world coordinate system, instead of points in the robot base coordinate system.
Step S208, acquiring a plurality of teaching points and information of each teaching point, wherein the information of each teaching point comprises: under the world coordinate system, the guide rail teaches position coordinates on the guide rail corresponding to the teaching point position, and the tool center point of the robot teaches position coordinates on the tool center point corresponding to the teaching point position.
In actual implementation, the plurality of teaching points include: first teaching point position and second teaching point position, this first teaching point position can be with PT1 representation, and the second teaching point position can be with PT2 representation, and the information of record point position PT1 includes: under the world coordinate system, the guide rail teaches position coordinates of the guide rail corresponding to the PT1 point position, and under the world coordinate system, TCP teaches position coordinates of the tool center point of the robot corresponding to the PT1 point position; moving the robot and the guide rail to a far position, recording information of a point PT2, wherein the information comprises: in the world coordinate system, the guide rail teaches position coordinates corresponding to the PT2 point position of the guide rail, and in the world coordinate system, the TCP teaches position coordinates corresponding to the PT2 point position of the tool center point of the robot.
Step S210, inserting a plurality of insertion points among a plurality of teaching points according to a preset mode.
The step S210 may specifically include steps a to B:
and step A, obtaining an interpolation period.
And B, inserting a plurality of insertion points among the plurality of teaching points according to the interpolation period.
The interpolation period may be understood as a period of updating the position of the robot end, for example, the position of the robot end is updated every 2 ms; specifically, the interpolation period may be differentiated between PT1 and PT2 into a plurality of insertion points.
Step S212, calculating the tool center point insertion position coordinates of the robot at the tool center point corresponding to each insertion point in the world coordinate system according to the information of each teaching point.
In actual implementation, the tool center point insertion position coordinates and the guide rail insertion position coordinates of the TCP included in each insertion point under the world coordinate system may be calculated according to the information of each teaching point location, for example, a speed curve of the acceleration process, the uniform speed process and the deceleration process of the robot generally exists, and the tool center point insertion position coordinates corresponding to each insertion point location are calculated according to the speed curve, the time point corresponding to each insertion point location and the information of each teaching point location.
Step S214, for each insertion point, determining the position coordinates of the tool center point of the robot corresponding to the insertion point under the robot base coordinate system according to the conversion matrix and the position coordinates of the tool center point of the robot corresponding to the insertion point.
Step S216, according to the position coordinates of the tool center point, joint position data of the robot are determined.
For the task position point PTn between PT1 and PT2, i.e. the insertion point PTn, the conversion relation between the rail coordinate system and the robot base coordinate system is known, and the position of TCP under the world coordinate system is known by determining the rail coordinate system as the world coordinate system, the relation between the robot base and the TCP can be obtained, i.e. the tool center point position coordinate of the tool center point TCP of the robot corresponding to the insertion point under the robot base coordinate system is determined, then the robot joint position data can be obtained according to the DH algorithm (a robot kinematic algorithm), and by this process, the robot joint position data of each insertion point can be calculated.
Step S218, the joint position data are converted into servo data, and the servo data are sent to the servo motor so that the servo motor rotates according to the servo data.
The calculated joint position data are sequentially converted into servo data, the specific conversion mode can refer to the related technology, details are omitted, the obtained servo data are transmitted to a servo motor, and the cooperative flow of the guide rail and the robot body is finished.
According to the method for the cooperation of the robot and the guide rail, the guide rail is regarded as an expansion shaft of the robot body, a coordinate system is established at the zero point of the guide rail, so that the robot base coordinate system and the guide rail coordinate system are unified, the guide rail is regarded as the zero shaft of the robot body, the current method for the cooperation of the robot and the guide rail is improved, the logic is simplified, the calculation is simpler, and the multi-equipment control is easier.
The space motion of the robot is realized by space coordinates; however, the dimension of the movement direction of the guide rail is not the system of the robot, and the robot base coordinate system and the guide rail coordinate system are connected in series, namely, the robot base coordinate system and the guide rail coordinate system are cooperated, so that the realization principle is simpler, the logic principle is simpler and clearer, and the occurrence probability of the BUG is smaller.
The invention provides a device for cooperation of a robot and a guide rail, wherein the robot is arranged on the guide rail, and a measuring tool sharp point is arranged at a preset position outside the guide rail; as shown in fig. 3, the apparatus includes: the first obtaining module 30 is configured to obtain a plurality of calibration points, determine a transformation matrix of a rail coordinate system and a robot base coordinate system according to the robot calibration position coordinate and the rail calibration position coordinate corresponding to each calibration point, determine the rail coordinate system as a world coordinate system, and use the rail as a zero axis of the robot; a second obtaining module 31, configured to obtain a plurality of insertion points inserted between the plurality of teaching points, and insert position coordinates of a tool center point of the robot at a tool center point corresponding to each of the insertion points in a world coordinate system; a determining module 32, configured to determine, for each insertion point, a tool center point position coordinate of the tool center point of the robot corresponding to the insertion point in the robot base coordinate system according to the transformation matrix and the tool center point insertion position coordinate of the tool center point of the robot corresponding to the insertion point; and the coordination module 33 is used for performing coordination planning on the robot and the guide rail according to the position coordinates of the tool center point.
According to the device for cooperation of the robot and the guide rail, the plurality of calibration points are obtained, the conversion matrix of the guide rail coordinate system and the robot base coordinate system is determined according to the robot calibration position coordinates and the guide rail calibration position coordinates corresponding to each calibration point, the guide rail coordinate system is determined to be a world coordinate system, the guide rail is taken as a zero axis of the robot, a plurality of insertion points inserted between the plurality of teaching points are obtained, and under the world coordinate system, the tool center point of the robot is inserted into the tool center point corresponding to each insertion point. And determining the position coordinates of the tool center point of the robot at the tool center point corresponding to the insertion point under the robot base coordinate system according to the conversion matrix and the tool center point insertion position coordinates of the tool center point of the robot at the tool center point corresponding to the insertion point for each insertion point. And carrying out collaborative planning on the robot and the guide rail according to the position coordinates of the tool center point. After a conversion matrix of a guide rail coordinate system and a robot base coordinate system is determined, the guide rail coordinate system is determined to be a world coordinate system, the guide rail is used as a zero axis of the robot, and according to the conversion matrix, a tool center point of the robot is inserted into a position coordinate at a tool center point corresponding to each insertion point, and is converted from the world coordinate system to the robot base coordinate system, so that collaborative planning of the robot and the guide rail is realized.
Further, the first acquisition module is further configured to: and respectively running the guide rail to each calibration point, controlling the position of the tail end of the robot to reach the point of the measuring tool at each calibration point, and recording the calibration position coordinates of the robot under the robot base coordinate system and the guide rail calibration position coordinates of the guide rail under the guide rail coordinate system, which correspond to each calibration point.
Further, the first acquisition module is further configured to: running the guide rail to a first calibration point, controlling the position of the tail end of the robot to reach the point of the measuring tool, and recording the first robot calibration position coordinate of the robot under the robot base coordinate system and the first guide rail calibration position coordinate of the guide rail under the guide rail coordinate system; running the guide rail to a second calibration point, controlling the tail end of the robot to reach the position of the measuring tool point, and recording the second robot calibration position coordinates of the robot under the robot base coordinate system and the second guide rail calibration position coordinates of the guide rail under the guide rail coordinate system; and running the guide rail to a third calibration point position, controlling the tail end of the robot to reach the position of the measuring tool sharp point, and recording the third robot calibration position coordinates of the robot under the robot base coordinate system and the third guide rail calibration position coordinates of the guide rail under the guide rail coordinate system.
Further, the second acquisition module is further configured to: acquiring a plurality of teaching points and information of each teaching point, wherein the information of each teaching point comprises: under a world coordinate system, the guide rail teaches position coordinates on the guide rail corresponding to the teaching point position, and the tool center point of the robot teaches position coordinates on the tool center point corresponding to the teaching point position; inserting a plurality of insertion points among a plurality of teaching points according to a preset mode; and calculating the tool center point insertion position coordinates of the robot at the tool center point corresponding to each insertion point in the world coordinate system according to the information of each teaching point.
Further, the plurality of teaching points include: the first teaching point position and the second teaching point position.
Further, the second acquisition module is further configured to: obtaining an interpolation period; and inserting a plurality of insertion points among the plurality of teaching points according to the interpolation period.
Further, the collaboration module is further configured to: determining joint position data of the robot according to the position coordinates of the tool center point; the joint position data is converted into servo data, and the servo data is sent to the servo motor so that the servo motor rotates according to the servo data.
The device for cooperation of the robot and the guide rail provided by the embodiment of the invention has the same implementation principle and technical effects as those of the embodiment of the method for cooperation of the robot and the guide rail, and for the sake of brief description, reference may be made to corresponding contents in the embodiment of the method for cooperation of the robot and the guide rail where the embodiment of the device for cooperation of the robot and the guide rail is not mentioned.
The embodiment of the present invention further provides an electronic device, referring to fig. 4, where the electronic device includes a processor 130 and a memory 131, where the memory 131 stores machine executable instructions that can be executed by the processor 130, and the processor 130 executes the machine executable instructions to implement the method of the robot and the rail cooperation.
Further, the electronic device shown in fig. 4 further includes a bus 132 and a communication interface 133, and the processor 130, the communication interface 133, and the memory 131 are connected through the bus 132.
The memory 131 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 133 (which may be wired or wireless), and may use the internet, a wide area network, a local network, a metropolitan area network, etc. Bus 132 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.
The processor 130 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in processor 130. The processor 130 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131, and in combination with its hardware, performs the steps of the method of the foregoing embodiment.
The embodiment of the invention also provides a machine-readable storage medium, which stores machine-executable instructions that, when being called and executed by a processor, cause the processor to implement the method for cooperation between the robot and the guide rail, and the specific implementation can be referred to the method embodiment and will not be repeated herein.
The method, the apparatus and the computer program product of the electronic device for cooperation of a robot and a guide rail provided by the embodiment of the invention include a computer readable storage medium storing program codes, and instructions included in the program codes may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be repeated herein.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. A method for cooperation of a robot and a guide rail, characterized in that the robot is arranged on the guide rail, and a measuring tool sharp point is arranged at a preset position outside the guide rail; the method comprises the following steps:
acquiring a plurality of calibration points, determining a conversion matrix of a guide rail coordinate system and a robot base coordinate system according to the robot calibration position coordinates and the guide rail calibration position coordinates corresponding to each calibration point, determining the guide rail coordinate system as a world coordinate system, and taking the guide rail as a zero axis of the robot;
acquiring a plurality of insertion points inserted between a plurality of teaching points, and inserting position coordinates of a tool center point of the robot at the tool center point corresponding to each insertion point under the world coordinate system;
for each insertion point, determining the coordinate of the tool center point of the robot corresponding to the insertion point under the robot base coordinate system according to the transformation matrix and the coordinate of the tool center point insertion position of the tool center point of the robot corresponding to the insertion point;
and carrying out collaborative planning on the robot and the guide rail according to the position coordinates of the tool center point.
2. The method of claim 1, wherein after the step of obtaining a plurality of nominal positions, the method further comprises:
and respectively running the guide rail to each calibration point, controlling the tail end of the robot to reach the position of the measuring tool sharp point at each calibration point, and recording the robot calibration position coordinates of the robot under the robot base coordinate system and the guide rail calibration position coordinates of the guide rail under the guide rail coordinate system, which correspond to each calibration point.
3. The method according to claim 2, wherein the rail is operated to each calibration point, and at each calibration point, the steps of controlling the position of the end of the robot to reach the measuring tool point, recording the robot calibration position coordinates of the robot in the robot base coordinate system, and the rail calibration position coordinates of the rail in the rail coordinate system, corresponding to each calibration point, include:
running the guide rail to a first calibration point, controlling the tail end of the robot to reach the position of the measuring tool sharp point, and recording the first robot calibration position coordinate of the robot under a robot base coordinate system and the first guide rail calibration position coordinate of the guide rail under a guide rail coordinate system;
running the guide rail to a second calibration point, controlling the tail end of the robot to reach the position of the measuring tool sharp point, and recording the second robot calibration position coordinate of the robot under a robot base coordinate system and the second guide rail calibration position coordinate of the guide rail under a guide rail coordinate system;
and running the guide rail to a third calibration point, controlling the tail end of the robot to reach the position of the measuring tool sharp point, and recording the third robot calibration position coordinate of the robot under the robot base coordinate system and the third guide rail calibration position coordinate of the guide rail under the guide rail coordinate system.
4. The method according to claim 1, wherein the step of acquiring a plurality of insertion points inserted between the plurality of teaching points, and the tool center point of the robot inserts position coordinates at the tool center point corresponding to each insertion point in the world coordinate system includes:
acquiring a plurality of teaching points and information of each teaching point, wherein the information of each teaching point comprises: under a world coordinate system, the guide rail teaches position coordinates corresponding to the teaching point position on the guide rail, and the tool center point of the robot teaches position coordinates corresponding to the teaching point position on the tool center point;
inserting a plurality of insertion points among the plurality of teaching points according to a preset mode;
and calculating the tool center point insertion position coordinates of the robot at the tool center point corresponding to each insertion point in the world coordinate system according to the information of each teaching point.
5. The method of claim 4, wherein the plurality of teach points comprises: the first teaching point position and the second teaching point position.
6. The method of claim 4, wherein inserting a plurality of insertion points between the plurality of teaching points in a predetermined manner comprises:
obtaining an interpolation period;
and inserting a plurality of insertion points among the plurality of teaching points according to the interpolation period.
7. The method of claim 1, wherein the step of co-planning the robot and the guideway according to the tool center point position coordinates comprises:
determining joint position data of the robot according to the tool center point position coordinates;
and converting the joint position data into servo data, and sending the servo data to a servo motor so that the servo motor rotates according to the servo data.
8. The device is characterized in that the robot is arranged on the guide rail, and a measuring tool sharp point is arranged at a preset position outside the guide rail; the device comprises:
the first acquisition module is used for acquiring a plurality of calibration points, determining a conversion matrix of a guide rail coordinate system and a robot base coordinate system according to the robot calibration position coordinates and the guide rail calibration position coordinates corresponding to each calibration point, determining the guide rail coordinate system as a world coordinate system, and taking the guide rail as a zero axis of the robot;
the second acquisition module is used for acquiring a plurality of insertion points inserted among a plurality of teaching points, and inserting position coordinates of a tool center point of the robot at the tool center point corresponding to each insertion point under the world coordinate system;
the determining module is used for determining the tool center point position coordinates of the tool center point of the robot corresponding to the insertion point under the robot base coordinate system according to the conversion matrix and the tool center point insertion position coordinates of the tool center point of the robot corresponding to the insertion point for each insertion point;
and the coordination module is used for performing coordination planning on the robot and the guide rail according to the position coordinates of the tool center point.
9. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 7.
10. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116852378A (en) * | 2023-08-23 | 2023-10-10 | 上海奔曜科技有限公司 | Cooperative control method, system, equipment and medium for robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116852378A (en) * | 2023-08-23 | 2023-10-10 | 上海奔曜科技有限公司 | Cooperative control method, system, equipment and medium for robot |
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