CN116494249A - Real-time manual control device, control method and cooperation system of cooperation mechanical arm - Google Patents
Real-time manual control device, control method and cooperation system of cooperation mechanical arm Download PDFInfo
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- CN116494249A CN116494249A CN202310754909.5A CN202310754909A CN116494249A CN 116494249 A CN116494249 A CN 116494249A CN 202310754909 A CN202310754909 A CN 202310754909A CN 116494249 A CN116494249 A CN 116494249A
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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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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- 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 belongs to the technical field of robot control, and provides a real-time manual control device, a control method and a cooperation system for a cooperation mechanical arm, which are used for solving the problem that the cooperation mechanical arm cannot uniformly configure a manual mode and the research and development period of the cooperation mechanical arm is long. Wherein, cooperation arm real-time manual control device includes: the joint monitoring module is used for monitoring the position and speed signals of each axis joint at the current moment of the cooperative mechanical arm and sending the signals to the extended Moveit interface; the extended Moveit interface is used for receiving the position and speed signals of each shaft joint at the current moment of the cooperative mechanical arm in real time, and calculating the position of each shaft joint at the next moment of the mechanical arm according to a predetermined manual control mode; the manual control module is used for issuing instructions to all shaft joints of the mechanical arm so as to control the mechanical arm to move to the corresponding position at the next moment. The manual mode of the cooperative mechanical arm can be configured uniformly, and the time of a research and development period is shortened rapidly.
Description
Technical Field
The invention belongs to the technical field of robot control, and particularly relates to a real-time manual control device, a control method and a cooperation system of a cooperation mechanical arm.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The traditional industrial robot lacks cooperation and interaction with people, and has the following disadvantages: firstly, the volume is large, the production period is longer, and the field adaptability to the update iteration is faster is poor; secondly, the inching teaching is needed, and the teaching process is complex; thirdly, because of safety consideration, the mechanical arm needs to be isolated in the safety door, the mechanical arm and the mechanical arm, the mechanical arm and the human cannot cooperate and interact like human beings, and the intelligent sensing, smart operation and coordinated control capability of the human beings cannot be embodied on the traditional industrial mechanical arm, so that the application of the mechanical arm in the fields of electronic information, home service, light power assembly and the like is limited. Unlike traditional industrial robot arm, the cooperation arm is a novel industrial robot, has advantages such as light in weight, small, security height, need not set up the rail, can carry out collaborative work in same space with operating personnel.
The existing MoveIt is used as a mechanical arm track planning system and is mainly used for mechanical arm tail end working space track planning or axial joint space track planning, the track planning belongs to offline planning, the MoveIt is based on ROS as a bottom communication mechanism, most function service interfaces are usually two types of service or action server, but the response time of the mode is long, and the mode is not suitable for a real-time manual control mode. For the user of the collaborative mechanical arm, if the manual mode is required to be realized in the actual use process, the research personnel need to independently carry out matching programming aiming at the collaborative mechanical arms with different models and different fields, so that the collaborative mechanical arm cannot uniformly configure the manual mode, and the research and development period of the collaborative mechanical arm is prolonged.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a real-time manual control device, a control method and a cooperation system for a cooperation mechanical arm, which can uniformly configure the manual mode of the cooperation mechanical arm, quickly shorten the time of a research and development period and quickly form the cooperation mechanical arm.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides a real-time manual control device for a cooperative mechanical arm.
A real-time manual control device for a collaborative robotic arm, comprising: the system comprises a joint monitoring module, an extended MoveIt interface and a manual control module;
the joint monitoring module is used for monitoring the position and speed signals of each axis joint at the current moment of the cooperative mechanical arm and sending the signals to the extended Moveit interface;
the extended Moveit interface is used for receiving the position and speed signals of each shaft joint at the current moment of the cooperative mechanical arm in real time and calculating the position of each shaft joint at the next moment of the mechanical arm according to a predetermined manual control mode;
and the manual control module is used for issuing instructions to all the shaft joints of the mechanical arm according to the positions of all the shaft joints at the next moment of the mechanical arm so as to control the mechanical arm to move to the corresponding position at the next moment.
As an implementation manner, the extended movetit interface is further configured to send the calculated positions of the joints of the mechanical arm at the next moment to the shared memory for storing.
The technical scheme has the advantages that the calculated positions of the joints of the mechanical arm at the next moment are sent to the shared memory for storage by using the extended Moveit interface, and a data basis is provided for sharing and calling of the positions of the joints of the mechanical arm at the next moment.
As an implementation manner, the manual control module is configured to retrieve, from the shared memory, each axial joint position of the mechanical arm at a next moment.
The technical scheme has the advantages that the shared memory is utilized to store the position information of each shaft joint of the mechanical arm, so that the manual control module can quickly retrieve data, and the data sharing efficiency is improved.
As one implementation, the extended movetit interface is a topic plug-in extended movetit interface.
The technical scheme has the advantages that the manual mode of the unified configuration cooperation mechanical arm is realized by combining the topic plug-in type extension movetit interface with the manual control module, and the topic plug-in type extension movetit interface can monitor the positions and the speeds of all shaft joints of the mechanical arm in real time.
As one embodiment, the manual control mode includes a joint control mode and an end pose control mode.
As an implementation manner, when the manual control mode is the joint control mode, the extended movit interface is used for calculating the joint position at the next moment according to the position and the speed signal of each axis joint at the current moment.
As an implementation manner, when the manual control mode is the terminal pose control mode, the extended movit interface is used for calculating the pose at the next moment according to the position and the speed signal of each axis joint at the current moment, and then obtaining the position of each joint at the next moment by inverse solution.
The second aspect of the invention provides a real-time manual control method for a cooperative mechanical arm.
A method for real-time manual control of a collaborative robotic arm, comprising:
monitoring the position and speed signals of each shaft joint at the current moment of the cooperative mechanical arm;
according to the position and speed signals of each shaft joint at the current moment of the cooperative mechanical arm and a predetermined manual control mode, calculating the position of each shaft joint at the next moment of the mechanical arm;
and issuing a command to each shaft joint of the mechanical arm according to the position of each shaft joint of the mechanical arm at the next moment so as to control the mechanical arm to move to the corresponding position at the next moment.
As one embodiment, each axis joint position at the next moment of the arm is stored in a shared memory.
A collaboration system comprising a collaboration robot and a collaboration robot real-time manual control device as described above.
Compared with the prior art, the invention has the beneficial effects that:
in order to solve the problems that the existing MoveIt has longer response time, is not suitable for a real-time manual control mode, and the collaborative mechanical arm cannot uniformly configure the manual mode, and the research and development period of the collaborative mechanical arm is long, the invention develops a real-time manual control device of the collaborative mechanical arm, which consists of a joint monitoring module, an extended MoveIt interface and a manual control module, receives the position and speed signals of each axis joint at the current moment of the collaborative mechanical arm in real time by utilizing the extended MoveIt interface, calculates the position of each axis joint at the next moment of the mechanical arm according to the predetermined manual control mode, compensates the requirements of mechanical arm developers or users in actual work, and realizes the uniform configuration of the manual mode of the collaborative mechanical arm; for research personnel, the time of the research and development period is shortened rapidly, so that the cooperative mechanical arm is formed rapidly.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic diagram of real-time manual control of a cooperative mechanical arm according to an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Term interpretation:
code sys: the PLC software programming tool is a powerful PLC software programming tool which supports six PLC programming languages of IEC61131-3 standard IL, ST, FBD, LD, CFC, SFC, and a user can select different language editing subroutines, functional modules and the like in the same project.
The embodiment provides a real-time manual control device of a cooperative mechanical arm, which comprises: the system comprises a joint monitoring module, an extended MoveIt interface and a manual control module;
the joint monitoring module is used for monitoring the position and speed signals of each axis joint at the current moment of the cooperative mechanical arm and sending the signals to the extended Moveit interface;
the extended Moveit interface is used for receiving the position and speed signals of each shaft joint at the current moment of the cooperative mechanical arm in real time and calculating the position of each shaft joint at the next moment of the mechanical arm according to a predetermined manual control mode;
and the manual control module is used for issuing instructions to all the shaft joints of the mechanical arm according to the positions of all the shaft joints at the next moment of the mechanical arm so as to control the mechanical arm to move to the corresponding position at the next moment.
The extended movit interface is further configured to send the calculated positions of the joints of the mechanical arm at the next moment to the shared memory for storage.
In a specific implementation process, the manual control module is used for retrieving the positions of all the shaft joints of the mechanical arm at the next moment from the shared memory.
For example, the extended movetit interface is a topic plug-in extended movetit interface.
In a specific implementation, the manual control mode includes a joint control mode and an end pose control mode.
When the manual control mode is the joint control mode, the extended movit interface is used for calculating the joint position at the next moment according to the position and the speed signals of each axis joint at the current moment.
According to fig. 1, when the manual control mode is the joint control mode, the flow of real-time manual control of the collaborative mechanical arm is:
step a1: topic subscription monitors joint positions and starts a shared memory reading speed instruction;
step a2: in the initial stage: acquiring a joint position and a speed instruction;
step a3: in the acceleration phase:
step a31: calculating the next moment speed and the joint position by utilizing the joint space;
step a32: writing the joint position at the next moment into the shared memory;
step a33: controlling the mechanical arm to move to a desired joint position;
step a34: judging whether the cooperative mechanical arm decelerates, if so, entering a deceleration stage, and calculating the speed and joint position at the next moment according to a corresponding formula in the deceleration stage;
step a35: otherwise, continuously calculating the next moment speed and joint position according to the corresponding formula in the acceleration stage;
step a36: writing the joint position at the next moment into the shared memory;
step a37: controlling the mechanical arm to move to a desired joint position;
step a4: judging whether the speed of the cooperative mechanical arm is zero, if so, ending the control; otherwise, continuously calculating the next moment speed and joint position according to the corresponding formula in the deceleration stage.
When the manual control mode is the terminal pose control mode, the extended movetit interface is used for calculating the pose at the next moment according to the positions and the speed signals of the joints at the current moment, and then solving reversely to obtain the positions of the joints at the next moment.
In fig. 1, IK is an abbreviation of Inverse Kinametics, and refers to inverse kinematics.
Specifically, according to fig. 1, when the manual control mode is the end pose control mode, the flow of real-time manual control of the cooperative mechanical arm is:
step b1: topic subscription monitors joint positions and starts a shared memory reading speed instruction;
step b2: in the initial stage: acquiring a joint position and a speed instruction;
step b3: in the acceleration phase:
step b31: calculating the next moment speed and pose by using the working space, and solving the joint position at the next moment;
step b32: writing the joint position at the next moment into the shared memory;
step b33: controlling the mechanical arm to move to a desired joint position;
step b34: judging whether the cooperative mechanical arm decelerates, if so, entering a deceleration stage, and calculating the speed and joint position at the next moment according to a corresponding formula in the deceleration stage;
step b35: otherwise, continuously calculating the next moment speed and joint position according to the corresponding formula in the acceleration stage;
step b36: writing the joint position at the next moment into the shared memory;
step b37: controlling the mechanical arm to move to a desired joint position;
step b4: judging whether the speed of the cooperative mechanical arm is zero, if so, ending the control; otherwise, continuously calculating the next moment speed and joint position according to the corresponding formula in the deceleration stage.
In this embodiment, a topic plug-in is adopted to extend a movit interface, for example, by combining with a code sys real-time control software, the position and speed instructions of each shaft joint of the mechanical arm can be monitored in real time, for example: the control period is 10ms, the positions of all the shaft joints can be obtained by reading shared memory data in the CODESYS in real time, then the position of the tail end of the mechanical arm at the next moment or the position of a certain joint of the mechanical arm is calculated according to the speed instruction, the position is written into the shared memory, the mechanical arm executes the track point at the next moment, and finally the real-time manual control mode function of the mechanical arm is realized.
In other embodiments, a method for real-time manual control of a cooperative mechanical arm is also provided, which specifically includes the following steps:
step (1): monitoring the position and speed signals of each shaft joint at the current moment of the cooperative mechanical arm;
step (2): according to the position and speed signals of each shaft joint at the current moment of the cooperative mechanical arm and a predetermined manual control mode, calculating the position of each shaft joint at the next moment of the mechanical arm;
step (3): and issuing a command to each shaft joint of the mechanical arm according to the position of each shaft joint of the mechanical arm at the next moment so as to control the mechanical arm to move to the corresponding position at the next moment.
Specifically, the positions of the joints of the axes of the mechanical arm at the next moment are stored in the shared memory.
The method for controlling the real-time manual operation of the cooperative mechanical arm includes the steps of the method for controlling the real-time manual operation of the cooperative mechanical arm, the steps of the method for controlling the real-time manual operation of the cooperative mechanical arm are in one-to-one correspondence with modules in the device for controlling the real-time manual operation of the cooperative mechanical arm, the specific implementation processes of the method are the same, and the detailed description is omitted.
In one or more embodiments, there is also provided a collaboration system comprising a collaboration robot and a collaboration robot real-time manual control device as described above.
In order to solve the problems that the existing MoveIt has longer response time, is not suitable for a real-time manual control mode, and the collaborative mechanical arm cannot uniformly configure the manual mode, and the research and development period of the collaborative mechanical arm is long, the invention develops a real-time manual control device of the collaborative mechanical arm, which consists of a joint monitoring module, an extended MoveIt interface and a manual control module, receives the position and speed signals of each axis joint at the current moment of the collaborative mechanical arm in real time by utilizing the extended MoveIt interface, calculates the position of each axis joint at the next moment of the mechanical arm according to the predetermined manual control mode, compensates the requirements of mechanical arm developers or users in actual work, and realizes the uniform configuration of the manual mode of the collaborative mechanical arm; for research personnel, the time of the research and development period is shortened rapidly, so that the cooperative mechanical arm is formed rapidly.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a cooperation arm real-time manual control device which characterized in that includes: the system comprises a joint monitoring module, an extended MoveIt interface and a manual control module;
the joint monitoring module is used for monitoring the position and speed signals of each axis joint at the current moment of the cooperative mechanical arm and sending the signals to the extended Moveit interface;
the extended Moveit interface is used for receiving the position and speed signals of each shaft joint at the current moment of the cooperative mechanical arm in real time and calculating the position of each shaft joint at the next moment of the mechanical arm according to a predetermined manual control mode;
and the manual control module is used for issuing instructions to all the shaft joints of the mechanical arm according to the positions of all the shaft joints at the next moment of the mechanical arm so as to control the mechanical arm to move to the corresponding position at the next moment.
2. The real-time manual control device of a collaborative mechanical arm according to claim 1, wherein the extended movit interface is further configured to send the calculated positions of the joints of the mechanical arm at the next moment to a shared memory for storage.
3. The real-time manual control device of a collaborative mechanical arm according to claim 2, wherein the manual control module is configured to retrieve each axis joint position of the mechanical arm at a next time from the shared memory.
4. The collaborative robot real-time manual control apparatus of claim 1, wherein the extended movit interface is a topic plug-in extended movit interface.
5. The cooperative mechanical arm real-time manual control apparatus of claim 1, wherein the manual control modes include a joint control mode and a tip pose control mode.
6. The real-time manual control device of a cooperative mechanical arm according to claim 5, wherein when the manual control mode is a joint control mode, the extended movit interface is used for calculating a joint position at a next moment according to each axis joint position and speed signal at a current moment.
7. The real-time manual control device of a cooperative mechanical arm according to claim 5, wherein when the manual control mode is a terminal pose control mode, the extended movit interface is used for calculating pose at the next moment first according to the position and speed signals of each axis joint at the current moment, and then solving reversely to obtain the position of each joint at the next moment.
8. The real-time manual control method for the cooperative mechanical arm is characterized by comprising the following steps of:
monitoring the position and speed signals of each shaft joint at the current moment of the cooperative mechanical arm;
according to the position and speed signals of each shaft joint at the current moment of the cooperative mechanical arm and a predetermined manual control mode, calculating the position of each shaft joint at the next moment of the mechanical arm;
and issuing a command to each shaft joint of the mechanical arm according to the position of each shaft joint of the mechanical arm at the next moment so as to control the mechanical arm to move to the corresponding position at the next moment.
9. The method for real-time manual control of a cooperative mechanical arm according to claim 8, wherein the positions of the joints of the mechanical arm at the next moment are stored in a shared memory.
10. A collaboration system comprising a collaboration robot and a collaboration robot real-time manual control device as claimed in any one of claims 1-7.
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