CN116141338B - Control method for double-arm robot, computer storage medium, and double-arm robot - Google Patents
Control method for double-arm robot, computer storage medium, and double-arm robot Download PDFInfo
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- CN116141338B CN116141338B CN202310411351.0A CN202310411351A CN116141338B CN 116141338 B CN116141338 B CN 116141338B CN 202310411351 A CN202310411351 A CN 202310411351A CN 116141338 B CN116141338 B CN 116141338B
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- mechanical arm
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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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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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]
Abstract
The invention discloses a control method of a double-arm robot, a computer storage medium and the double-arm robot, wherein the control method of the double-arm robot at least comprises the following steps: s1, acquiring coordinates of a first touch point after a first mechanical arm and a second mechanical arm rotate; s2, obtaining a first reasonable rotation angle of the first mechanical arm and a second reasonable rotation angle of the second mechanical arm; s3, controlling the rotation angle range of the second mechanical arm to be within a second reasonable rotation angle range according to the fact that the expected rotation angle of the first mechanical arm is larger than the first reasonable rotation angle; and controlling the rotation angle range of the first mechanical arm to be within the first reasonable rotation angle range according to the fact that the expected rotation angle of the second mechanical arm is larger than the second reasonable rotation angle. According to the technical scheme, the relation between the rotation angles of the first mechanical arm and the second mechanical arm is controlled, so that the first mechanical arm and the second mechanical arm do not collide in the operation process.
Description
Technical Field
The present invention relates to the field of control technologies of dual-arm robots, and in particular, to a control method of a dual-arm robot, a computer storage medium, and a dual-arm robot.
Background
Double arm robots are typical robotic systems designed to mimic human double arm coordinated operation, showing great potential in performing complex tasks. In the related art, the two arms of the double-arm robot are easy to interfere with each other in the operation process to cause collision so as to cause damage, and the service life of the mechanical arm is influenced.
Disclosure of Invention
The invention mainly aims to provide a control method of a double-arm robot, a computer storage medium and the double-arm robot, and aims to realize no collision of the double-arm robot during respective rotary motions of the double arms.
In order to achieve the above object, the present invention provides a control method of a double-arm robot including a robot main body and first and second robot arms movably mounted on the robot main body, the control method of the double-arm robot including the steps of:
s1, acquiring a first touch point coordinate of the first mechanical arm and the second mechanical arm after rotation according to the arm length of the first mechanical arm, the arm length of the second mechanical arm and the distance between the first mechanical arm and the second mechanical arm;
s2, obtaining a first reasonable rotation angle of the first mechanical arm according to the first touch point coordinate and the current position information of the first mechanical arm, and obtaining a second reasonable rotation angle of the second mechanical arm according to the first touch point coordinate and the current position information of the second mechanical arm;
s3, controlling the rotation angle range of the second mechanical arm to be within a second reasonable rotation angle range according to the fact that the expected rotation angle of the first mechanical arm is larger than the first reasonable rotation angle; and controlling the rotation angle range of the first mechanical arm to be within a first reasonable rotation angle range according to the fact that the expected rotation angle of the second mechanical arm is larger than the second reasonable rotation angle.
In this embodiment, before the step S1, the method further includes:
s0, controlling the initial states of the first mechanical arm and the second mechanical arm to be parallel.
In this embodiment, in the step S0, the first mechanical arm and the second mechanical arm protrude forward from the robot body.
In this embodiment, in the step S0, a distance between the first mechanical arm and the second mechanical arm is smaller than a sum of an arm length of the first mechanical arm and an arm length of the second mechanical arm.
In this embodiment, in the step S0, the arm length of the first mechanical arm is longer than the arm length of the second mechanical arm.
In this embodiment, in the step S3, the rotation tracks of the first mechanical arm and the second mechanical arm are located on a plane.
The present invention also proposes a computer storage medium storing a computer program which, when executed by a processor, implements a control method of a two-arm robot as described above, the control method of the two-arm robot comprising the steps of:
s1, acquiring a first touch point coordinate of the first mechanical arm and the second mechanical arm after rotation according to the arm length of the first mechanical arm, the arm length of the second mechanical arm and the distance between the first mechanical arm and the second mechanical arm;
s2, obtaining a first reasonable rotation angle of the first mechanical arm according to the first touch point coordinate and the current position information of the first mechanical arm, and obtaining a second reasonable rotation angle of the second mechanical arm according to the first touch point coordinate and the current position information of the second mechanical arm;
s3, controlling the rotation angle range of the second mechanical arm to be within a second reasonable rotation angle range according to the fact that the expected rotation angle of the first mechanical arm is larger than the first reasonable rotation angle; and controlling the rotation angle range of the first mechanical arm to be within a first reasonable rotation angle range according to the fact that the expected rotation angle of the second mechanical arm is larger than the second reasonable rotation angle.
The invention also proposes a double-arm robot comprising:
a robot main body;
the first mechanical arm and the second mechanical arm are movably arranged on the robot main body; and
a computer storage medium mounted within the robot body;
the computer storage medium stores a computer program which, when executed by a processor, implements a control method of a two-arm robot as described above, the control method of the two-arm robot comprising the steps of:
s1, acquiring a first touch point coordinate of the first mechanical arm and the second mechanical arm after rotation according to the arm length of the first mechanical arm, the arm length of the second mechanical arm and the distance between the first mechanical arm and the second mechanical arm;
s2, obtaining a first reasonable rotation angle of the first mechanical arm according to the first touch point coordinate and the current position information of the first mechanical arm, and obtaining a second reasonable rotation angle of the second mechanical arm according to the first touch point coordinate and the current position information of the second mechanical arm;
s3, controlling the rotation angle range of the second mechanical arm to be within a second reasonable rotation angle range according to the fact that the expected rotation angle of the first mechanical arm is larger than the first reasonable rotation angle; and controlling the rotation angle range of the first mechanical arm to be within a first reasonable rotation angle range according to the fact that the expected rotation angle of the second mechanical arm is larger than the second reasonable rotation angle.
The control method of the double-arm robot comprises the following steps: s1, acquiring a first touch point coordinate of the first mechanical arm and the second mechanical arm after rotation according to the arm length of the first mechanical arm, the arm length of the second mechanical arm and the distance between the first mechanical arm and the second mechanical arm; s2, obtaining a first reasonable rotation angle of the first mechanical arm according to the first touch point coordinate and the current position information of the first mechanical arm, and obtaining a second reasonable rotation angle of the second mechanical arm according to the first touch point coordinate and the current position information of the second mechanical arm; s3, controlling the rotation angle range of the second mechanical arm to be within a second reasonable rotation angle range according to the fact that the expected rotation angle of the first mechanical arm is larger than the first reasonable rotation angle; and controlling the rotation angle range of the first mechanical arm to be within a first reasonable rotation angle range according to the fact that the expected rotation angle of the second mechanical arm is larger than the second reasonable rotation angle. By controlling the relation between the rotation angles of the first mechanical arm and the second mechanical arm, the first mechanical arm and the second mechanical arm are prevented from collision in the operation process, the use safety of the double-arm robot is improved, and the service life of the double-arm robot is prolonged.
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 required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a control method of a dual-arm robot according to an embodiment of the present invention;
FIG. 2 is a partial logic judgment diagram in step S3 of an embodiment of a control method of a dual-arm robot according to the present invention;
FIG. 3 is another logic determination diagram in step S3 of an embodiment of a control method of a dual-arm robot according to the present invention;
fig. 4 is a schematic diagram of a rotation track of a first mechanical arm and a second mechanical arm according to an embodiment of a control method of a dual-arm robot of the present invention.
Reference numerals illustrate: 100. a first mechanical arm; 200. a second mechanical arm; 300. the first touch point coordinates.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. 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.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, if the meaning of "and/or" is presented throughout this document, it is intended to include three schemes in parallel, taking "a and/or B" as an example, including a scheme, or B scheme, or a scheme where a and B meet simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
Double arm robots are typical robotic systems designed to mimic human double arm coordinated operation, showing great potential in performing complex tasks. In the related art, the two arms of the double-arm robot are easy to interfere with each other in the operation process to cause collision so as to cause damage, and the service life of the mechanical arm is influenced.
Referring to fig. 1 to 4, the present invention provides a control method of a dual-arm robot, the dual-arm robot including a robot body, and a first arm 100 and a second arm 200 movably mounted on the robot body, the control method of the dual-arm robot comprising the steps of:
s0, controlling the initial states of the first mechanical arm 100 and the second mechanical arm 200 to be parallel; specifically, in this step, the first and second robot arms 100 and 200 protrude forward from the robot body, and the two arms are parallel to the ground, and the rotation axes of the first and second robot arms 100 and 200 are perpendicular to the ground. Further, in this step, the distance between the first robot arm 100 and the second robot arm 200 is smaller than the sum of the arm length of the first robot arm 100 and the arm length of the second robot arm 200. If the distance between the first mechanical arm 100 and the second mechanical arm 200 is equal to the sum of the arm length of the first mechanical arm 100 and the arm length of the second mechanical arm 200, the first mechanical arm 100 and the second mechanical arm 200 can move without interference, but the operation range of the first mechanical arm 100 and the second mechanical arm 200 is greatly reduced under the robot body with the same size. Further, in this step, the arm length of the first robot arm 100 is longer than the arm length of the second robot arm 200. Of course, the arm length of the second mechanical arm 200 may be longer than that of the first mechanical arm 100.
S1, acquiring a first touch point coordinate 300 of the first mechanical arm 100 and the second mechanical arm 200 after rotation according to the arm length of the first mechanical arm 100, the arm length of the second mechanical arm 200 and the distance between the first mechanical arm 100 and the second mechanical arm 200; specifically, in this step, the first touch point coordinate 300 may be calculated by a calculation formula according to the arm length of the first mechanical arm 100, the arm length of the second mechanical arm 200, and the distance between the first mechanical arm 100 and the second mechanical arm 200, or may be obtained by drawing the positional relationship between the first mechanical arm 100 and the first mechanical arm 100 on the drawing software according to the above size and positional information. The drawing software may be CAD software.
S2, obtaining a first reasonable rotation angle of the first mechanical arm 100 according to the first touch point coordinate 300 and the current position information of the first mechanical arm 100, and obtaining a second reasonable rotation angle of the second mechanical arm 200 according to the first touch point coordinate 300 and the current position information of the second mechanical arm 200; specifically, in this step, the first reasonable rotation angle and the second reasonable rotation angle may be calculated by a calculation formula, or may be measured by a measuring tool of drawing software. The drawing software may be CAD software.
S3, controlling the rotation angle range of the second mechanical arm 200 to be within a second reasonable rotation angle range according to the fact that the expected rotation angle of the first mechanical arm 100 is larger than the first reasonable rotation angle; and controlling the rotation angle range of the first mechanical arm 100 to be within a first reasonable rotation angle range according to the expected rotation angle of the second mechanical arm 200 being larger than the second reasonable rotation angle. Specifically, the desired rotation angle is a rotation angle at which the user desires the first or second robot arm 100 or 200 to rotate in advance, and may be 45 degrees, 30 degrees, 15 degrees, or the like. In this step, the rotation tracks of the first and second robot arms 100 and 200 are located on a plane. Thus, the rotation axes of the first mechanical arm 100 and the second mechanical arm 200 are perpendicular to the ground, and the two mechanical arms perform rotation operation on a plane.
Referring to fig. 4, it will be understood that a is represented as a first reasonable rotation angle, b is represented as a second reasonable rotation angle, m is represented as an arm length of the first mechanical arm 100, n is represented as an arm length of the second mechanical arm 200, and L is represented as a distance between the first mechanical arm 100 and the second mechanical arm 200. It can be seen that the maximum safe rotation angle of the first or second robot arm 100 or 200, i.e., a or b, can be simply measured by drawing software. By controlling the relation between the rotation angles of the first mechanical arm 100 and the second mechanical arm 200, the first mechanical arm 100 and the second mechanical arm 200 are prevented from collision in the operation process, the use safety of the double-arm robot is improved, and the service life of the double-arm robot is prolonged.
The present invention also proposes a computer storage medium storing a computer program, when executed by a processor, implementing a control method of a dual-arm robot as described above, where the specific structure of the control method of the dual-arm robot refers to the above embodiment.
The invention also provides a double-arm robot, which comprises a robot main body, a first mechanical arm, a second mechanical arm and a computer storage medium, wherein the first mechanical arm and the second mechanical arm are movably arranged on the robot main body; the computer storage medium is installed in the robot main body; the computer storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the dual-arm robot is implemented, and the specific structure of the control method of the dual-arm robot refers to the above embodiment.
The foregoing description is only of the optional embodiments of the present invention, and is not intended to limit the scope of the invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (4)
1. A control method of a double-arm robot, the double-arm robot including a robot main body and first and second robot arms movably mounted on the robot main body, the control method comprising the steps of:
s0, controlling initial states of the first mechanical arm and the second mechanical arm to be arranged in parallel, controlling the first mechanical arm and the second mechanical arm to protrude forward from the robot main body, and controlling the distance between the first mechanical arm and the second mechanical arm to be smaller than the sum of the arm length of the first mechanical arm and the arm length of the second mechanical arm;
s1, acquiring a first touch point coordinate of the first mechanical arm and the second mechanical arm after rotation according to the arm length of the first mechanical arm, the arm length of the second mechanical arm and the distance between the first mechanical arm and the second mechanical arm;
s2, obtaining a first reasonable rotation angle of the first mechanical arm according to the first touch point coordinate and the current position information of the first mechanical arm, and obtaining a second reasonable rotation angle of the second mechanical arm according to the first touch point coordinate and the current position information of the second mechanical arm;
s3, controlling the rotation angle range of the second mechanical arm to be within a second reasonable rotation angle range according to the fact that the expected rotation angle of the first mechanical arm is larger than the first reasonable rotation angle; according to the expected rotation angle of the second mechanical arm is larger than the second reasonable rotation angle, controlling the rotation angle range of the first mechanical arm to be within a first reasonable rotation angle range; the rotating tracks of the first mechanical arm and the second mechanical arm are located on the same plane.
2. The method of controlling a double arm robot according to claim 1, wherein in the step S0, an arm length of the first arm is longer than an arm length of the second arm.
3. A computer storage medium, characterized in that the computer storage medium stores a computer program which, when executed by a processor, implements the control method of the two-arm robot according to any one of the preceding claims 1 to 2.
4. A dual arm robot, the dual arm robot comprising:
a robot main body;
the first mechanical arm and the second mechanical arm are movably arranged on the robot main body; and
a computer storage medium according to claim 3, which is mounted within the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310411351.0A CN116141338B (en) | 2023-04-18 | 2023-04-18 | Control method for double-arm robot, computer storage medium, and double-arm robot |
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| CN202310411351.0A CN116141338B (en) | 2023-04-18 | 2023-04-18 | Control method for double-arm robot, computer storage medium, and double-arm robot |
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| Publication Number | Publication Date |
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| CN116141338A CN116141338A (en) | 2023-05-23 |
| CN116141338B true CN116141338B (en) | 2023-07-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06226666A (en) * | 1993-02-05 | 1994-08-16 | Yaskawa Electric Corp | Twin-arm robot manipulator collision preventing method |
| DE19625637A1 (en) * | 1996-06-26 | 1998-01-02 | Brink Carsten Dipl Ing Ten | Robot operating method for multi-robot operation e.g. in deep sea applications |
| JP5080357B2 (en) * | 2008-05-23 | 2012-11-21 | 株式会社安川電機 | robot |
| JP2015058493A (en) * | 2013-09-18 | 2015-03-30 | セイコーエプソン株式会社 | Control device, robot system, robot, robot operation information generation method, and program |
| JP7141232B2 (en) * | 2018-04-06 | 2022-09-22 | 川崎重工業株式会社 | robot controller |
| CN113715027A (en) * | 2021-09-13 | 2021-11-30 | 哈工大机器人（合肥）国际创新研究院 | 7-degree-of-freedom double-arm cooperative robot self-collision prevention trajectory planning method and system |
| CN114800534B (en) * | 2022-06-29 | 2022-10-14 | 杭州三坛医疗科技有限公司 | Mechanical arm control method and device |
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