CN117270381B - Industrial robot outer ring controller and control method - Google Patents
Industrial robot outer ring controller and control method Download PDFInfo
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- CN117270381B CN117270381B CN202311461632.3A CN202311461632A CN117270381B CN 117270381 B CN117270381 B CN 117270381B CN 202311461632 A CN202311461632 A CN 202311461632A CN 117270381 B CN117270381 B CN 117270381B
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
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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
- 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
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- 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
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- 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 an industrial robot outer ring controller and a control method, wherein the industrial robot outer ring controller comprises an outer ring master controller, a high-speed bus interface, a man-machine interaction interface, a high-speed simulation interface, a controlled parameter closed-loop regulator, a robot track planning controller and a robot interface; the high-speed bus interface, the man-machine interaction interface, the high-speed simulation interface, the controlled parameter closed-loop regulator, the robot track planning controller and the robot interface are all connected with the outer ring main controller; the controlled parameter closed-loop regulator is connected with the robot track planning controller; according to the invention, the external parameters are sampled in real time through the high-speed bus interface or the high-speed simulation interface, and the external parameters are processed by the controlled parameter closed-loop regulator and the robot track planning controller to generate pose parameters which are acceptable and can be operated by the industrial robot, so that the automation and the intellectualization of the industrial robot are improved while the adaptation of the industrial robot to different environments is improved, and the actual production capacity of the industrial robot is further enhanced.
Description
Technical Field
The application relates to the technical field of industrial robots, in particular to an outer ring controller of an industrial robot and a control method.
Background
Along with the wide popularization and application of industrial robots, most industrial robots in the market at present repeatedly perform simple production motions in a manual teaching reproduction mode, are completely mechanical repeated work, and have lower automation degree due to the fact that the early industrial robots have simple motion functions after the technical level; and many industrial robots produced in China at present only can do some repetitive teaching work. In addition, due to the improvement of social production quality requirements and more small batches, industrial robots are required to complete more complex and intelligent work in various kinds of work, more external sensors are required to be connected to identify and detect the working environment so as to assist the industrial robots to perform higher-quality and higher-intelligent work, and the existing industrial robots cannot be connected to various sensors in a standardized manner and have no corresponding sensor controllers, so that the industrial robots alone cannot achieve high-quality and intelligent production.
Disclosure of Invention
The embodiment of the application provides an industrial robot outer ring controller and a control method, and aims to solve the problems of insufficient automation and intellectualization of an industrial robot in the prior art.
In order to solve the above problems, in a first aspect, an embodiment of the present application provides an industrial robot outer ring controller, including an outer ring master controller, a high-speed bus interface, a man-machine interface, a high-speed analog interface, a controlled parameter closed-loop regulator, a robot trajectory planning controller, and a robot interface; the high-speed bus interface, the man-machine interaction interface, the high-speed simulation interface, the controlled parameter closed-loop regulator, the robot track planning controller and the robot interface are all connected with the outer ring main controller; the controlled parameter closed-loop regulator is connected with the robot track planning controller;
the man-machine interaction interface is used for receiving the parameter configuration information of the outer ring controller;
the outer ring master controller is used for starting the high-speed bus interface or the high-speed simulation interface according to the outer ring controller parameter configuration information when the outer ring controller parameter configuration information is received at the man-machine interaction interface;
the high-speed bus interface or the high-speed analog interface is used for sampling external parameters in real time according to the parameter configuration information of the outer ring controller to obtain sampling parameters;
The outer ring master controller is further used for transmitting the sampling parameters to the controlled parameter closed-loop regulator;
the controlled parameter closed-loop regulator is used for carrying out real-time closed-loop regulation on the sampling parameter so as to obtain a target controlled parameter;
the controlled parameter closed-loop regulator is also used for issuing the target controlled parameter to a robot track planning controller;
the robot track planning controller is used for receiving the target controlled parameters and converting the target controlled parameters into pose parameters of the industrial robot;
the robot track planning controller is further used for sending the pose parameters to a robot interface through the outer ring master controller;
the robot interface is used for transmitting the pose parameters to the industrial robot to be connected.
In a second aspect, an embodiment of the present application provides a control method of an outer ring controller of an industrial robot, which is applied to the outer ring controller of the industrial robot according to the first aspect, and the method includes:
when receiving the parameter configuration information of the outer ring controller, the man-machine interaction interface starts a high-speed bus interface or a high-speed simulation interface according to the parameter configuration information of the outer ring controller;
The high-speed bus interface or the high-speed simulation interface samples external parameters in real time according to the outer loop controller parameter configuration information to obtain sampling parameters;
the outer ring master controller transmits the sampling parameters to a controlled parameter closed-loop regulator;
the controlled parameter closed-loop regulator carries out real-time closed-loop regulation on the sampling parameter so as to obtain a target controlled parameter;
the controlled parameter closed-loop regulator issues the target controlled parameter to a robot track planning controller;
the robot track planning controller receives the target controlled parameters and converts the target controlled parameters into pose parameters of the industrial robot;
the robot track planning controller sends the pose parameters to a robot interface through the outer ring master controller;
the robot interface transmits the pose parameters to the industrial robot to be connected.
The embodiment of the invention provides an industrial robot outer ring controller and a control method, wherein the industrial robot outer ring controller comprises an outer ring master controller, a high-speed bus interface, a man-machine interaction interface, a high-speed simulation interface, a controlled parameter closed-loop regulator, a robot track planning controller and a robot interface; the high-speed bus interface, the man-machine interaction interface, the high-speed simulation interface, the controlled parameter closed-loop regulator, the robot track planning controller and the robot interface are all connected with the outer ring main controller; the controlled parameter closed-loop regulator is connected with the robot track planning controller. According to the invention, the external parameters are sampled in real time through the high-speed bus interface or the high-speed simulation interface, and the external parameters are processed by the controlled parameter closed-loop regulator and the robot track planning controller to generate pose parameters which are acceptable and can be operated by the industrial robot, so that the automation and the intellectualization of the industrial robot are improved while the adaptation of the industrial robot to different environments is improved, and the actual production capacity of the industrial robot is further enhanced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic block diagram of an industrial robot outer ring controller provided by an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a controlled parameter closed-loop regulator in an outer loop controller of an industrial robot provided by an embodiment of the present invention;
FIG. 3 is a schematic block diagram of a robot trajectory planning controller in an industrial robot outer ring controller provided by an embodiment of the present invention;
fig. 4 is a flow chart of a control method of an outer ring controller of an industrial robot according to an embodiment of the present invention.
Wherein, each reference sign in the figure:
100. an outer ring master controller; 200. a high-speed bus interface; 300. a man-machine interaction interface; 400. a high-speed analog interface; 500. a controlled parameter closed loop regulator; 510. a comparator; 520. a PID regulator; 530. a first wave limiter; 540. a first filter; 550. a second wave limiter; 560. a second filter; 600. a robot trajectory planning controller; 610. a planning module; 620. an interpolation module; 700. a robot interface.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Referring to fig. 1, fig. 1 is a schematic block diagram of an outer ring controller of an industrial robot according to an embodiment of the present invention. The embodiment of the invention provides an industrial robot outer ring controller, which comprises an outer ring master controller 100, a high-speed bus interface 200, a man-machine interaction interface 300, a high-speed simulation interface 400, a controlled parameter closed-loop regulator 500, a robot track planning controller 600 and a robot interface 700; the high-speed bus interface 200, the man-machine interaction interface 300, the high-speed simulation interface 400, the controlled parameter closed-loop regulator 500, the robot trajectory planning controller 600 and the robot interface 700 are all connected with the outer-ring overall controller 100; the controlled parameter closed loop regulator 500 is connected to the robot trajectory planning controller 600.
In an embodiment, the man-machine interface 300 is configured to receive outer loop controller parameter configuration information; the external ring master controller 100 is configured to start the high-speed bus interface 200 or the high-speed analog interface 400 according to the external ring controller parameter configuration information when the external ring controller parameter configuration information is received at the man-machine interaction interface 300.
In this embodiment, the man-machine interface 300 is a man-machine channel between a user and the outer ring master controller 100, and the user can set parameter configuration information of the outer ring controller through the man-machine interface 300 according to the current application occasion. The parameter configuration information of the outer loop controller can be one or a combination of more information of a transmission bus type, a per unit of a controlled parameter, a data transmission frequency with the robot, a data exchange protocol and a mode with the robot, a control parameter of a PID regulator, a related parameter of a filter, a control frequency of a closed loop regulator of the controlled parameter and sampling data resolution of an analog channel. After the parameter configuration information of the outer ring controller is set, the outer ring controller 100 can be connected, so that the outer ring controller 100 can adapt to the current industrial robot and the working environment thereof at the fastest speed and can work normally, and the high-speed bus interface 200 or the high-speed analog interface 400 is started to sample the external parameters in real time.
The outer ring master controller 100 is a control center, and has a high-performance digital signal processor therein, wherein the processor adopts a multi-core heterogeneous architecture mode, and has more than ten cores therein so as to meet development requirements on functions and performances; therefore, the outer ring master controller 100 can be responsible for the functions of data communication processing, control logic processing, time sequence control, data collection and distribution, real-time control and the like of the whole system.
In an embodiment, the high-speed bus interface 200 or the high-speed analog interface 400 is configured to sample the external parameters in real time according to the parameter configuration information of the outer ring controller to obtain sampling parameters.
In this embodiment, the high-speed bus interface 200 or the high-speed analog interface 400 is a channel for inputting variables of the external environment parameter sensor, so as to obtain the change condition of the external environment. The high-speed bus interface 200 is used in applications where bus data transmission is required, such as RS232, 485, ethernet, USB, optical fiber, etc. The high-speed analog interface 400 is an analog input channel, and is mainly used for directly inputting analog voltage as an external controlled parameter. In addition, the high-speed bus interface 200 or the high-speed analog interface 400 may sample the external parameters monitored by the external environmental parameter sensor in real time according to the external ring controller parameter configuration information, and remove noise signals from the external parameters through a filtering algorithm integrated inside the high-speed bus interface 200 or the high-speed analog interface 400 to obtain sampling parameters; and sends the sampling parameters to the outer ring master controller 100 to facilitate the subsequent conversion of the sampling parameters into pose parameters to be adjusted by the robot.
In an embodiment, the outer loop master controller 100 is further configured to issue the sampling parameter to the controlled parameter closed loop regulator 500.
In this embodiment, the sampling parameters sampled by the high-speed bus interface 200 or the high-speed analog interface 400 are issued to the controlled parameter closed-loop regulator 500 by the outer-loop overall controller 100, so as to facilitate the subsequent closed-loop adjustment of the sampling parameters. The controlled parameter closed-loop regulator 500 performs real-time closed-loop control on the sampling parameter, and can respond to the input sampling parameter variation of the external environment in a closed-loop manner in real time.
In an embodiment, the controlled parameter closed-loop adjuster 500 is configured to perform real-time closed-loop adjustment on the sampling parameter to obtain a target controlled parameter.
In this embodiment, the controlled parameter closed-loop adjuster 500 performs real-time closed-loop adjustment on the received sampling parameter to obtain a target controlled parameter, so as to ensure that the output target controlled parameter meets a safety adjustment value of the robot; the safety regulation value ensures that the industrial robot can safely and stably execute complete movement in the control period after the target controlled parameter output in the control period is given to the industrial robot, so as to prevent the shake of the industrial robot caused by the large-scale parameter change in the control period.
In an embodiment, the controlled parameter closed loop regulator 500 is further configured to issue the target controlled parameter to the robot trajectory planning controller 600.
In this embodiment, after the controlled parameter closed-loop adjuster 500 adjusts the sampling parameter to obtain the target controlled parameter, the controlled parameter closed-loop adjuster 500 issues the obtained target controlled parameter to the robot trajectory planning controller 600, so that the subsequent robot trajectory planning controller 600 converts the target controlled parameter into the pose parameter of the industrial robot.
In an embodiment, the robot trajectory planning controller 600 is configured to receive the target controlled parameter and convert the target controlled parameter into a pose parameter of the industrial robot.
In this embodiment, the robot trajectory planning controller 600 converts the target controlled parameter into the pose parameter for controlling the motion of the robot, and after receiving the target controlled parameter, calculates the target controlled parameter by the robot trajectory planning controller 600 to obtain the pose parameter capable of ensuring the stable response of the industrial robot to achieve the effect of controlling the industrial robot to coordinate and stabilize the motion.
In an embodiment, the robot trajectory planning controller 600 is further configured to send the pose parameter to the robot interface 700 through the outer ring overall controller 100.
In this embodiment, in order to send the pose parameters of the industrial robot output by the robot trajectory planning controller 600 to the industrial robot, the robot trajectory planning controller 600 may send the pose parameters to the robot interface 700 through the outer ring overall controller 100 by using the configuration of the robot interface 700. Wherein the robot interface 700 is an interface for data interaction with an industrial robot.
In an embodiment, the robot interface 700 is configured to transmit the pose parameter to an industrial robot to be connected.
In this embodiment, the robot interface 700 integrates a standard industrial communication bus interface, and can be used for docking with most industrial robots in the market, or performing communication adaptation with related industrial robots, so long as the standard industrial communication bus can be satisfied, for example EtherCat, profiNet, canOpen, etc.; so that the pose parameters can be transmitted to the industrial robot to be connected through the robot interface 700, and the robot interface 700 can refresh the motion track pose of the robot in real time and send the motion track pose to the industrial robot. In addition, the robot interface 700 may perform secondary development work of communication with the industrial robot to formulate a dedicated communication control protocol corresponding to the robot; and the pose parameters are transmitted to the industrial robot to be connected through the robot interface 700, and the industrial robot finally makes a corresponding pose response, so that the industrial robot moves towards the direction of the controlled preset parameters, and the production quality is improved.
In one embodiment, as shown in fig. 1-2, the controlled parameter closed-loop regulator 500 includes a comparator 510, a PID regulator 520, a first wave limiter 530, a first filter 540, a second wave limiter 550, and a second filter 560; a first end of the comparator 510 is connected with the outer ring master controller 100, a second end of the comparator 510 is connected with one end of the second filter 560, and a third end of the comparator 510 is connected with an input end of the PID regulator 520; the output end of the PID regulator 520 is connected with the input end of the first wave limiter 530; an output end of the first wave limiter 530 is connected to an input end of the first filter 540; an output end of the first filter 540 is connected to an input end of the second wave limiter 550; the output end of the second wave limiter 550 is connected with the robot trajectory planning controller 600; the other end of the second filter 560 is connected to the high-speed bus interface 200 or the high-speed analog interface 400.
In this embodiment, a first end of the comparator 510 is connected to the outer ring master controller 100, a second end of the comparator 510 is connected to one end of the second filter 560, and a third end of the comparator 510 is connected to an input end of the PID controller 520, so that a preset controlled parameter in the outer ring master controller 100 and a sampled parameter sampled by the high-speed bus interface 200 or the high-speed analog interface 400 are compared by the comparator 510 to obtain a controlled parameter difference value, and the controlled parameter difference value is subjected to a series of wave-limiting and filtering processes of the PID controller 520, the first wave-limiting device 530, the first wave-limiting device 540 and the second wave-limiting device 550, so as to output a target controlled parameter which is convenient for the robot trajectory planner to convert the controlled parameter into an actual motion trajectory of the robot.
In one embodiment, as shown in fig. 1-3, the robot trajectory planning controller 600 includes a planning module 610 and an interpolation module 620, wherein an input end of the planning module 610 is connected to the controlled parameter closed-loop regulator 500, and an output end of the planning module 610 is connected to an input end of the interpolation module 620; the output end of the interpolation module 620 is connected to the outer ring master controller 100.
In this embodiment, a planning module 610 and an interpolation module 620 are disposed in the robot trajectory planning controller 600; the planning module 610 in the robot trajectory planning controller 600 is configured to perform trajectory planning smoothing on the target controlled parameter output by the controlled parameter closed-loop regulator 500, where the trajectory planning smoothing is specifically a higher-order spline smoothing fitting control and a speed planning S-type transition algorithm, so as to ensure stability of a trajectory planning curve; the output end of the planning module 610 is connected with the input end of the interpolation module 620, so that the interpolation module 620 in the robot trajectory planning controller 600 performs trajectory interpolation operation on the trajectory planning curve, and the trajectory interpolation operation specifically performs periodic variation interpolation output on the position parameters and the posture parameters of the industrial robot according to the direction vector and the posture rotation axis vector which need to be compensated for closed-loop control of the robot, so as to calculate the actual posture parameters of the industrial robot; therefore, the planning module 610 and the interpolation module 620 plan a smooth and steady robot adjusting track, so that the steady motion of the industrial robot can be ensured.
Referring to fig. 4, fig. 4 is a flow chart of a control method of an outer ring controller of an industrial robot according to an embodiment of the invention. The embodiment of the invention also provides a control method of the outer ring controller of the industrial robot, which is applied to the outer ring controller of the industrial robot shown in figures 1-3.
As shown in FIG. 4, the method includes steps S110 to S180.
And S110, when the man-machine interaction interface receives the parameter configuration information of the outer ring controller, the outer ring master controller starts a high-speed bus interface or a high-speed simulation interface according to the parameter configuration information of the outer ring controller.
The outer loop controller parameter configuration information comprises one or more of transmission bus type, per unit of controlled parameter, data transmission frequency with the robot, data exchange protocol and mode with the robot, control parameter of PID regulator, control frequency of controlled parameter closed loop regulator and analog channel sampling data resolution.
In this embodiment, the man-machine interaction interface is a man-machine channel between a user and the outer ring controller, and the user can set parameter configuration information of the outer ring controller according to a current application occasion and through the man-machine interaction interface. The parameter configuration information of the outer loop controller can be one or a combination of more information of a transmission bus type, a per unit of a controlled parameter, a data transmission frequency with the robot, a data exchange protocol and a mode with the robot, a control parameter of a PID regulator, a related parameter of a filter, a control frequency of a closed loop regulator of the controlled parameter and sampling data resolution of an analog channel. After the parameter configuration information of the outer ring controller is set, the outer ring controller can be connected, so that the outer ring controller can adapt to the current industrial robot and the working environment thereof at the highest speed and can work normally, and a high-speed bus interface or a high-speed simulation interface is started to sample external parameters in real time.
The outer ring master controller is a control center, and a high-performance digital signal processor is arranged in the outer ring master controller, wherein the processor adopts a multi-core heterogeneous architecture mode, and the number of cores in the outer ring master controller is up to more than ten so as to meet the development requirements on functions and performance. Therefore, the outer ring master controller can be responsible for the functions of data communication processing, control logic processing, time sequence control, data collection and distribution, real-time control and the like of the whole system.
And S120, the high-speed bus interface or the high-speed analog interface samples the external parameters in real time according to the parameter configuration information of the outer loop controller to obtain sampling parameters.
In this embodiment, the high-speed bus interface or the high-speed analog interface is a channel for inputting variables of an external environment parameter sensor, and is used for obtaining the change condition of the external environment. The high-speed bus interface is used in occasions requiring bus data transmission, such as RS232, 485, ethernet, USB, optical fiber and the like. The high-speed analog interface is an analog input channel and is mainly used for directly inputting analog voltage as an external controlled parameter. In addition, the high-speed bus interface or the high-speed analog interface can sample the external parameters monitored by the external environment parameter sensor in real time according to the parameter configuration information of the external ring controller, and remove noise signals from the external parameters through a filtering algorithm integrated inside the high-speed bus interface or the high-speed analog interface to obtain sampling parameters; and sending the sampling parameters to an outer ring master controller so as to facilitate the subsequent conversion of the sampling parameters into pose parameters required to be regulated by the robot.
And S130, the outer ring master controller transmits the sampling parameters to a controlled parameter closed-loop regulator.
In this embodiment, the sampling parameters sampled by the high-speed bus interface or the high-speed analog interface are issued to the controlled parameter closed-loop regulator by the outer ring master controller, so as to facilitate the subsequent closed-loop regulation of the sampling parameters. The controlled parameter closed-loop regulator performs real-time closed-loop control on sampling parameters, and can respond to the input sampling parameter changes of the external environment in a closed-loop manner in real time.
And S140, the controlled parameter closed-loop regulator carries out real-time closed-loop regulation on the sampling parameter so as to obtain a target controlled parameter.
In this embodiment, the controlled parameter closed-loop adjuster performs real-time closed-loop adjustment on the received sampling parameter to obtain a target controlled parameter, so as to ensure that the output target controlled parameter meets a safety adjustment value of the robot; the safety regulation value ensures that the industrial robot can safely and stably execute complete movement in the control period after the target controlled parameter output in the control period is given to the industrial robot, so as to prevent the shake of the industrial robot caused by the large-scale parameter change in the control period.
In one embodiment, the step S140 includes:
the controlled parameter closed-loop regulator performs preprocessing operation on the sampling parameters to obtain first parameters;
the controlled parameter closed-loop regulator compares the first parameter with a preset controlled parameter to obtain a controlled parameter difference value;
and the controlled parameter closed-loop regulator regulates the controlled parameter difference value to obtain the target controlled parameter.
In this embodiment, in order to ensure that the value output by the controlled parameter closed-loop regulator is a safe regulation value for the industrial robot, the controlled parameter closed-loop regulator performs a preprocessing operation on the sampling parameter to obtain a first parameter; comparing the sampling parameter with a preset controlled parameter in a deviation way to obtain a controlled parameter difference value; and finally, carrying out closed-loop parameter processing on the controlled parameter difference value to obtain a target controlled parameter, so that the robot track planning controller can convert the target controlled parameter into an actual action track parameter of the industrial robot. The closed-loop parameters are acquired and identified for feedback parameters of the controlled object, output compensation information is obtained through closed-loop stable control by a closed-loop controller, such as polishing force control, the force feedback parameters of the force sensor can be acquired for closed-loop control, and the distance parameters are subjected to closed-loop control compensation by distance detection sensing and feedback.
In one embodiment, the controlled parameter closed-loop regulator includes a comparator, a PID regulator, a first wave limiter, a first filter, a second wave limiter, and a second filter; the first end of the comparator is connected with the outer ring main controller, the second end of the comparator is connected with one end of the second filter, and the third end of the comparator is connected with the input end of the PID regulator; the output end of the PID regulator is connected with the input end of the first wave limiter; the output end of the first wave limiter is connected with the input end of the first filter; the output end of the first filter is connected with the input end of the second wave limiter; the output end of the second wave limiter is connected with the robot track planning controller; the other end of the second filter is connected with the high-speed bus interface or the high-speed analog interface;
the controlled parameter closed-loop regulator performs preprocessing operation on the sampling parameter to obtain a first parameter, including:
a second filter in the controlled parameter closed-loop regulator performs preprocessing operation on the sampling parameter to obtain the first parameter; wherein the preprocessing operation is a filtering process.
In this embodiment, in order to remove the external noise signal of the sampling parameter, the sampling parameter needs to be sampled and filtered by a second filter in the controlled parameter closed-loop regulator, so as to remove the influence of the high-frequency noise signal on the outer ring controller of the industrial robot.
In one embodiment, the controlled parameter closed-loop regulator includes a comparator, a PID regulator, a first wave limiter, a first filter, a second wave limiter, and a second filter; the first end of the comparator is connected with the outer ring main controller, the second end of the comparator is connected with one end of the second filter, and the third end of the comparator is connected with the input end of the PID regulator; the output end of the PID regulator is connected with the input end of the first wave limiter; the output end of the first wave limiter is connected with the input end of the first filter; the output end of the first filter is connected with the input end of the second wave limiter; the output end of the second wave limiter is connected with the robot track planning controller; the other end of the second filter is connected with the high-speed bus interface or the high-speed analog interface;
the controlled parameter closed-loop regulator compares the first parameter with a preset controlled parameter to obtain a controlled parameter difference value, and the method comprises the following steps:
And a comparator in the controlled parameter closed-loop regulator compares the first parameter with a preset controlled parameter to obtain the controlled parameter difference value.
In this embodiment, after the sampling filtering processing of the second filter, the first parameter is compared with a preset controlled parameter in the outer ring main controller by the comparator to obtain the controlled parameter difference value, so that the follow-up PID regulator, the first wave limiter, the first filter and the second wave limiter can perform closed-loop parameter processing according to the controlled parameter difference value.
In one embodiment, the controlled parameter closed-loop regulator includes a comparator, a PID regulator, a first wave limiter, a first filter, a second wave limiter, and a second filter; the first end of the comparator is connected with the outer ring main controller, the second end of the comparator is connected with one end of the second filter, and the third end of the comparator is connected with the input end of the PID regulator; the output end of the PID regulator is connected with the input end of the first wave limiter; the output end of the first wave limiter is connected with the input end of the first filter; the output end of the first filter is connected with the input end of the second wave limiter; the output end of the second wave limiter is connected with the robot track planning controller; the other end of the second filter is connected with the high-speed bus interface or the high-speed analog interface;
The controlled parameter closed-loop regulator regulates the controlled parameter difference value to obtain a target controlled parameter, and the method comprises the following steps:
the PID regulator in the controlled parameter closed-loop regulator performs deviation regulation on the controlled parameter difference value to obtain a second parameter;
the first wave limiter in the controlled parameter closed-loop regulator carries out wave limiting treatment on the second parameter to obtain a third parameter;
the first filter in the controlled parameter closed-loop regulator carries out filtering treatment on the third parameter to obtain a fourth parameter;
and a second wave limiter in the controlled parameter closed-loop regulator carries out wave limiting processing on the fourth parameter to obtain the target controlled parameter.
In this embodiment, after a controlled parameter difference value is calculated by comparing a first parameter with a preset controlled parameter, the controlled parameter difference value is offset adjusted by a PID (proportion integration differentiation) regulator in the controlled parameter closed-loop regulator to obtain a second parameter; performing wave limiting treatment on the second parameter through a first wave limiter in the controlled parameter closed-loop regulator to obtain a third parameter; the first wave limiter is used for ensuring that the amplitude range of the third parameter is within a preset amplitude safety range; filtering the third parameter through a first filter in the controlled parameter closed-loop regulator to obtain a fourth parameter; the first filter is used for ensuring that the high-frequency jitter interference signal does not affect the fourth parameter, and then the second wave limiter in the controlled parameter closed-loop regulator is used for carrying out wave limiting treatment on the fourth parameter to obtain the target controlled parameter; the second wave limiter is an adjusting value for ensuring that the target controlled parameter is safe for the industrial robot, so that the robot trajectory planner can convert the target controlled parameter into an actual action trajectory parameter of the robot.
And S150, the controlled parameter closed-loop regulator transmits the target controlled parameter to a robot track planning controller.
In this embodiment, after the controlled parameter closed-loop regulator adjusts the sampling parameter to obtain the target controlled parameter, the controlled parameter closed-loop regulator issues the obtained target controlled parameter to the robot trajectory planning controller, so that the subsequent robot trajectory planning controller converts the target controlled parameter into the pose parameter of the industrial robot.
And S160, the robot track planning controller receives the target controlled parameters and converts the target controlled parameters into pose parameters of the industrial robot.
In this embodiment, the robot trajectory planning controller converts the target controlled parameter into the pose parameter for robot motion control, and after the target controlled parameter is received, the robot trajectory planning controller calculates the target controlled parameter to obtain the pose parameter capable of ensuring the stable response of the industrial robot to achieve the effect of controlling the industrial robot to coordinate and stabilize the motion.
In an embodiment, the robot trajectory planning controller includes a planning module and an interpolation module, wherein an input end of the planning module is connected with the controlled parameter closed-loop regulator, and an output end of the planning module is connected with an input end of the interpolation module; the output end of the interpolation module is connected with the outer ring main controller; the step S160 includes:
A planning module in the robot track planning controller receives the target controlled parameter and carries out track planning smoothing on the target controlled parameter to obtain a track planning curve;
the planning module in the robot track planning controller sends the track planning curve to the interpolation module in the robot track planning controller;
and the interpolation module receives the track planning curve and carries out track interpolation operation on the track planning curve to obtain the pose parameters of the industrial robot.
In this embodiment, a planning module and an interpolation module are disposed in the robot trajectory planning controller; the method comprises the steps that a planning module in a robot track planning controller carries out track planning smoothing treatment on target controlled parameters output by a controlled parameter closed-loop regulator, the track planning smoothing treatment is specifically a high-order spline smoothing fitting control and speed planning S-shaped transition algorithm so as to ensure the stability of a track planning curve, then an interpolation module in the robot track planning controller carries out track interpolation operation on the track planning curve, and the track interpolation operation is specifically carrying out periodical change interpolation output on industrial robot position parameters and attitude parameters according to a direction vector and an attitude rotation axis vector which need to be compensated by the robot closed-loop control so as to calculate actual pose parameters of an industrial robot. In addition, the control frequency of the robot trajectory planning controller can be set to be 1KHZ at the fastest speed, namely, a robot pose interpolation point is calculated every 1ms period; therefore, the smooth and stable robot adjusting track can be planned through the planning module and the interpolation module, and further the stable movement of the industrial robot can be ensured.
S170, the robot track planning controller sends the pose parameters to a robot interface through the outer ring master controller.
In this embodiment, in order to send the pose parameters of the industrial robot output by the robot trajectory planning controller to the industrial robot, the robot trajectory planning controller may send the pose parameters to the robot interface through the outer ring master controller by using the configuration of the robot interface. The robot interface is an interface for carrying out data interaction with the industrial robot.
S180, the robot interface transmits the pose parameters to the industrial robot to be connected.
In this embodiment, the robot interface integrates a standard industrial communication bus interface, which can be used for docking with most industrial robots in the market, or performing communication adaptation with related industrial robots, and any standard industrial communication bus can be satisfied, such as EtherCat, profiNet, canOpen; therefore, the pose parameters can be transmitted to the industrial robot to be connected through the robot interface, and the robot interface can refresh the motion track pose of the robot in real time and send the motion track pose to the industrial robot. In addition, the robot interface can also carry out secondary development work of communication on the industrial robot so as to formulate a special communication control protocol corresponding to the robot; and finally, the industrial robot makes a corresponding pose response, so that the industrial robot moves towards the direction of the controlled preset parameter, and the production quality is improved.
According to the embodiment of the invention, the external parameters are sampled in real time through the high-speed bus interface or the high-speed simulation interface, and the external parameters are processed by the controlled parameter closed-loop regulator and the robot track planning controller to generate pose parameters which can be accepted and operated by the industrial robot, so that the automation and the intellectualization of the industrial robot are improved while the adaptation of the industrial robot to different environments is improved, and the actual production capacity of the industrial robot is further enhanced.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (5)
1. The industrial robot outer ring controller is characterized by comprising an outer ring master controller, a high-speed bus interface, a man-machine interaction interface, a high-speed simulation interface, a controlled parameter closed-loop regulator, a robot track planning controller and a robot interface; the high-speed bus interface, the man-machine interaction interface, the high-speed simulation interface, the controlled parameter closed-loop regulator, the robot track planning controller and the robot interface are all connected with the outer ring main controller; the controlled parameter closed-loop regulator is connected with the robot track planning controller;
The man-machine interaction interface is used for receiving the parameter configuration information of the outer ring controller;
the outer ring master controller is used for starting the high-speed bus interface or the high-speed simulation interface according to the outer ring controller parameter configuration information when the outer ring controller parameter configuration information is received at the man-machine interaction interface;
the high-speed bus interface or the high-speed analog interface is used for sampling external parameters in real time according to the parameter configuration information of the outer ring controller to obtain sampling parameters;
the outer ring master controller is further used for transmitting the sampling parameters to the controlled parameter closed-loop regulator;
the controlled parameter closed-loop regulator is used for carrying out real-time closed-loop regulation on the sampling parameter so as to obtain a target controlled parameter;
the controlled parameter closed-loop regulator is also used for issuing the target controlled parameter to a robot track planning controller;
the robot track planning controller is used for receiving the target controlled parameters and converting the target controlled parameters into pose parameters of the industrial robot;
the robot track planning controller is further used for sending the pose parameters to a robot interface through the outer ring master controller;
The robot interface is used for transmitting the pose parameters to an industrial robot to be connected;
the controlled parameter closed-loop regulator comprises a comparator, a PID regulator, a first wave limiter, a first filter, a second wave limiter and a second filter; the first end of the comparator is connected with the outer ring main controller, the second end of the comparator is connected with one end of the second filter, and the third end of the comparator is connected with the input end of the PID regulator; the output end of the PID regulator is connected with the input end of the first wave limiter; the output end of the first wave limiter is connected with the input end of the first filter; the output end of the first filter is connected with the input end of the second wave limiter; the output end of the second wave limiter is connected with the robot track planning controller; the other end of the second filter is connected with the high-speed bus interface or the high-speed analog interface;
the controlled parameter closed-loop regulator is configured to perform real-time closed-loop regulation on the sampling parameter to obtain a target controlled parameter, and includes:
the controlled parameter closed-loop regulator is further used for preprocessing the sampling parameters to obtain first parameters;
The controlled parameter closed-loop regulator is further configured to compare the first parameter with a preset controlled parameter to obtain a controlled parameter difference;
the controlled parameter closed-loop regulator is also used for regulating the controlled parameter difference value to obtain the target controlled parameter;
the controlled parameter closed-loop regulator is further configured to regulate the controlled parameter difference value to obtain a target controlled parameter, and includes:
the PID regulator in the controlled parameter closed-loop regulator is used for performing deviation regulation on the controlled parameter difference value to obtain a second parameter;
the first wave limiter in the controlled parameter closed-loop regulator is used for carrying out wave limiting treatment on the second parameter to obtain a third parameter;
the first filter in the controlled parameter closed-loop regulator is used for carrying out filtering treatment on the third parameter to obtain a fourth parameter;
the second wave limiter in the controlled parameter closed-loop regulator is used for carrying out wave limiting treatment on the fourth parameter to obtain the target controlled parameter;
the robot track planning controller comprises a planning module and an interpolation module, wherein the input end of the planning module is connected with the controlled parameter closed-loop regulator, and the output end of the planning module is connected with the input end of the interpolation module; the output end of the interpolation module is connected with the outer ring main controller; the robot trajectory planning controller is configured to receive the target controlled parameter, and convert the target controlled parameter into a pose parameter of the industrial robot, and includes:
The planning module in the robot track planning controller is used for receiving the target controlled parameters and carrying out track planning smoothing on the target controlled parameters to obtain a track planning curve;
the planning module in the robot track planning controller is further used for sending the track planning curve to the interpolation module in the robot track planning controller;
the interpolation module is used for receiving the track planning curve and carrying out track interpolation operation on the track planning curve to obtain the pose parameters of the industrial robot.
2. A control method of an outer ring controller of an industrial robot, applied to the outer ring controller of an industrial robot as claimed in claim 1, characterized by comprising:
when receiving the parameter configuration information of the outer ring controller, the man-machine interaction interface starts a high-speed bus interface or a high-speed simulation interface according to the parameter configuration information of the outer ring controller;
the high-speed bus interface or the high-speed simulation interface samples external parameters in real time according to the outer loop controller parameter configuration information to obtain sampling parameters;
the outer ring master controller transmits the sampling parameters to a controlled parameter closed-loop regulator;
The controlled parameter closed-loop regulator carries out real-time closed-loop regulation on the sampling parameter so as to obtain a target controlled parameter;
the controlled parameter closed-loop regulator issues the target controlled parameter to a robot track planning controller;
the robot track planning controller receives the target controlled parameters and converts the target controlled parameters into pose parameters of the industrial robot;
the robot track planning controller sends the pose parameters to a robot interface through the outer ring master controller;
the robot interface transmits the pose parameters to an industrial robot to be connected;
the controlled parameter closed-loop regulator comprises a comparator, a PID regulator, a first wave limiter, a first filter, a second wave limiter and a second filter; the first end of the comparator is connected with the outer ring main controller, the second end of the comparator is connected with one end of the second filter, and the third end of the comparator is connected with the input end of the PID regulator; the output end of the PID regulator is connected with the input end of the first wave limiter; the output end of the first wave limiter is connected with the input end of the first filter; the output end of the first filter is connected with the input end of the second wave limiter; the output end of the second wave limiter is connected with the robot track planning controller; the other end of the second filter is connected with the high-speed bus interface or the high-speed analog interface;
The controlled parameter closed-loop regulator performs real-time closed-loop regulation on the sampling parameter to obtain a target controlled parameter, including:
the controlled parameter closed-loop regulator performs preprocessing operation on the sampling parameters to obtain first parameters;
the controlled parameter closed-loop regulator compares the first parameter with a preset controlled parameter to obtain a controlled parameter difference value;
the controlled parameter closed-loop regulator regulates the controlled parameter difference value to obtain the target controlled parameter;
the controlled parameter closed-loop regulator regulates the controlled parameter difference value to obtain a target controlled parameter, and the method comprises the following steps:
the PID regulator in the controlled parameter closed-loop regulator performs deviation regulation on the controlled parameter difference value to obtain a second parameter;
the first wave limiter in the controlled parameter closed-loop regulator carries out wave limiting treatment on the second parameter to obtain a third parameter;
the first filter in the controlled parameter closed-loop regulator carries out filtering treatment on the third parameter to obtain a fourth parameter;
a second wave limiter in the controlled parameter closed-loop regulator carries out wave limiting treatment on the fourth parameter to obtain the target controlled parameter;
The robot track planning controller comprises a planning module and an interpolation module, wherein the input end of the planning module is connected with the controlled parameter closed-loop regulator, and the output end of the planning module is connected with the input end of the interpolation module; the output end of the interpolation module is connected with the outer ring main controller; the robot trajectory planning controller receives the target controlled parameter and converts the target controlled parameter into a pose parameter of the industrial robot, comprising:
a planning module in the robot track planning controller receives the target controlled parameter and carries out track planning smoothing on the target controlled parameter to obtain a track planning curve;
the planning module in the robot track planning controller sends the track planning curve to the interpolation module in the robot track planning controller;
and the interpolation module receives the track planning curve and carries out track interpolation operation on the track planning curve to obtain the pose parameters of the industrial robot.
3. The method of claim 2, wherein the outer loop controller parameter configuration information includes a combination of one or more of transmission bus type, controlled parameter per unit, data transmission frequency with the robot, data exchange protocol and manner with the robot, control parameters of the PID regulator, control frequency of the controlled parameter closed loop regulator, and analog channel sampling data resolution.
4. The method of claim 2, wherein the pre-processing the sampling parameter by the controlled parameter closed loop regulator to obtain a first parameter comprises:
a second filter in the controlled parameter closed-loop regulator performs preprocessing operation on the sampling parameter to obtain the first parameter; wherein the preprocessing operation is a filtering process.
5. The method of claim 2, wherein the controlled parameter closed loop regulator compares the first parameter with a preset controlled parameter to obtain a controlled parameter difference value, comprising:
and a comparator in the controlled parameter closed-loop regulator compares the first parameter with a preset controlled parameter to obtain the controlled parameter difference value.
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