CN117444962A - Robot tail end control method and device and computer equipment - Google Patents
Robot tail end control method and device and computer equipment Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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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
- B25J9/1656—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
- 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 application relates to a robot tail end control method, a robot tail end control device and computer equipment. Comprising the following steps: acquiring a processing request for a workpiece and a preset joint track model; determining an initial processing path of the workpiece in Cartesian space, the initial processing path including a plurality of actual path positions; according to the joint track model, determining a theoretical joint position of an actual path position in a joint space, and determining a theoretical path position of the theoretical joint position in a Cartesian space; the initial machining path is corrected by the actual path position and the theoretical path position. The method can effectively ensure that the tail end of the robot runs at a specified speed and improves the path precision.
Description
Technical Field
The present disclosure relates to the field of industrial robot control, and in particular, to a method and apparatus for controlling a robot end, and a computer device.
Background
Motion planning has become a popular research direction as an important component of industrial robot control technology. For example, in continuous welding, painting, and other processes, it is necessary to ensure that the industrial robot end moves not only according to a predetermined path, but also at a predetermined speed in order to obtain a good quality of the processed surface.
The track motion of the existing robot consists of a series of discrete points, and the robot demonstrator can only give the overall speed of one robot and does not effectively and directly control the tail end speed of the robot, so that the tail end of the robot cannot be processed at a designated speed in actual production and the quality of a processed surface cannot be effectively ensured. And due to the existence of various external factors, the robot often has errors, so that the movement path deviates from the set position or posture. Therefore, how to achieve precise control of the robot tip is the focus of current research.
Disclosure of Invention
Based on the above, the present application aims to provide a robot end control method, a device and a computer device capable of accurately controlling a robot end, so as to solve the technical problem that a motion path deviates from an ideal position.
In a first aspect, the present application provides a robot tip control method. Comprising the following steps:
acquiring a processing request for a workpiece and a preset joint track model;
determining an initial processing path of the workpiece in cartesian space including a plurality of actual path positions;
according to the joint track model, determining a theoretical joint position of the actual path position in joint space, and determining a theoretical path position of the theoretical joint position in Cartesian space;
and correcting the initial processing path through the actual path position and the theoretical path position.
In one embodiment, determining a theoretical joint position of the actual path location in joint space based on the joint trajectory model comprises: determining an initial speed of the tail end of the robot on the initial processing path and a joint speed corresponding to the initial speed; and determining the theoretical joint position of the actual path position in the joint space according to the joint speed and the joint track model.
In one embodiment, determining the theoretical path location of the theoretical joint location in cartesian space comprises: acquiring a positive kinematic model corresponding to the tail end of the robot; the positive kinematic model is determined by a POE modeling method; the theoretical joint position is converted into a theoretical path position in cartesian space by the positive kinematic model.
In one embodiment, modifying the initial tooling path from the actual path position and the theoretical path position comprises: acquiring a dynamic path modification model, and determining the maximum allowable offset of the initial processing path; the dynamic path modification model at least comprises an offset calculation mode and a channel input mode; determining an actual offset between the actual path position and the theoretical path position according to the offset calculation mode; and correcting the initial processing path according to the channel input mode and the maximum offset.
In one embodiment, modifying the initial tooling path based on the channel input pattern and the maximum offset includes: when the channel input mode characterization directly reads the actual offset and stores the actual offset in a register, determining a target correction speed allowed by the initial processing path; and correcting the initial processing path according to the target correction speed by taking the joint track model and the maximum offset as constraint conditions.
In one embodiment, the dynamic path modification model further includes a correction mode, a tracking direction, and a tracking mode; the method further comprises the following steps: and correcting the initial processing path based on the correction mode, the tracking direction and the tracking mode.
In one embodiment, the method for constructing the joint trajectory model includes: determining a plurality of sample path points acquired in a preset period; the sample waypoints are in cartesian space; converting each sample path point into a joint path point in joint space through an inverse kinematics model corresponding to the tail end of the robot; performing interpolation planning on each joint path point through a target interpolation algorithm to obtain a joint track model corresponding to the tail end of the robot
In a second aspect, the present application also provides a robot end control device. Comprising the following steps:
the actual path position determining module is used for acquiring a processing request for a workpiece and a preset joint track model; determining an initial processing path of the workpiece in cartesian space including a plurality of actual path positions;
the theoretical path position determining module is used for determining a theoretical joint position of the actual path position in a joint space according to the joint track model and determining a theoretical path position of the theoretical joint position in a Cartesian space;
and the initial processing path correction module is used for correcting the initial processing path through the actual path position and the theoretical path position.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring a processing request for a workpiece and a preset joint track model;
determining an initial processing path of the workpiece in cartesian space including a plurality of actual path positions;
according to the joint track model, determining a theoretical joint position of the actual path position in joint space, and determining a theoretical path position of the theoretical joint position in Cartesian space;
and correcting the initial processing path through the actual path position and the theoretical path position.
According to the robot tail end control method, the robot tail end control device and the computer equipment, the initial processing path of the workpiece, which comprises a plurality of actual path positions, in the Cartesian space is determined by acquiring the processing request of the workpiece and the preset joint track model; when the theoretical joint position of the actual path position in the joint space is determined according to the joint track model and the theoretical path position of the theoretical joint position in the Cartesian space is determined, the initial processing path can be corrected through the actual path position and the theoretical path position. According to the invention, based on the processing request of the workpiece, the actual path position of the tail end of the specified robot is directly converted into the theoretical joint position in the joint space, and then the joint track model obtained through the target interpolation algorithm is combined with the dynamic path modification model to carry out real-time modification on the processing path, so that the tail end of the robot is effectively ensured to run at the specified speed, and the accuracy of path modification is improved.
Drawings
FIG. 1 is an application environment diagram of a robot end control method in one embodiment;
FIG. 2 is a flow chart of a robot tip control method in one embodiment;
FIG. 3 is a flow diagram of determining a dynamic path modification model in one embodiment;
FIG. 4 is a flow chart of a robot end control method according to another embodiment;
fig. 5 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The robot tail end control method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The terminal 102 may be a robot of different degrees of freedom, also referred to as a robot tip, such as a robot from the family Fanac. The server 104 is used for acquiring a processing request for a workpiece and a preset joint track model; an initial processing path of the workpiece in cartesian space including a plurality of actual path positions is determined. The server 104 is further configured to determine a theoretical joint position of the actual path position in the joint space according to the joint trajectory model, and determine a theoretical path position of the theoretical joint position in the cartesian space; the initial processing path is corrected by the actual path position and the theoretical path position so that the terminal 102 processes the workpiece in accordance with the corrected initial processing path. The server 104 is used to control the movement of the robot tip, and may be implemented as a separate server or a server cluster composed of a plurality of servers.
In one embodiment, as shown in fig. 2, there is provided a robot end control method, which is applied to the server in fig. 1, including the steps of:
step 202, obtaining a processing request for a workpiece and a preset joint track model.
The joint track model is obtained after processing the joint path points through a target interpolation algorithm; the joint trajectory model includes a position model, a velocity model, and an acceleration model.
Specifically, the server responds to the processing triggering operation of the user on the workpiece to obtain a processing request on the workpiece, so that the server can control the tail end of the robot to process the workpiece. The server acquires a pre-trained joint track model from a preset database.
In one embodiment, the server may be a host computer, where the host computer includes a robot demonstrator, and the robot demonstrator integrates a teaching program, such as a TP program. The TP program can represent that when a user triggers the upper computer, an upper computer signal is obtained, and then relevant parameters of the tail end of the robot are transmitted to the upper computer.
In one embodiment, the upper computer program is built in the upper computer by a TCP/IP protocol, so that the communication between the upper computer and the tail end of the robot is established.
Step 204, determining an initial processing path of the workpiece in Cartesian space including a plurality of actual path positions.
Specifically, before the server controls the robot end to process, the server needs to shoot the surface of the workpiece through a three-dimensional structured light camera and collect related data, and then the initial processing path of the workpiece in the Cartesian space and a plurality of actual path positions in the initial processing path are extracted by utilizing a three-dimensional image algorithm. For example, the actual path position is P k (x k ,y k ,z k ,w k ,p k ,r k ) K=0, 1, …, N, where N is the total number of actual path positions, i.e. the total number of actual path points.
Step 206, determining a theoretical joint position of the actual path position in the joint space according to the joint track model, and determining a theoretical path position of the theoretical joint position in the Cartesian space.
Specifically, the server acquires the actual path position P of the robot tip in cartesian space at each interpolation period T time now (x now ,y now ,z now ,w now ,p now ,r now ) Then, the theoretical joint position q at the moment can be determined through a pre-constructed joint track model now (θ 1now ,θ 2now ,…,θ (n-1)now ,θ nnow ). The server performs coordinate transformation on the theoretical joint position in the joint space, so as to obtain a theoretical path position P in the Cartesian space the (x the ,y the ,z the ,w the ,p the ,r the )。
In one embodiment, the server transmits the theoretical joint position to the robotic control cabinet, which in turn controls the robot to move according to the initial processing path.
In one embodiment, determining a theoretical path location of a theoretical joint location in cartesian space comprises: acquiring a positive kinematic model corresponding to the tail end of the robot; the theoretical joint position is converted into a theoretical path position in cartesian space by a positive kinematic model.
The positive kinematic model is determined by a POE modeling method; positive kinematics is used to characterize the process of converting coordinates in joint space to coordinates in cartesian space.
In one embodiment, the process of building a positive kinematic model by POE modeling is as follows:
wherein T represents a robot terminal pose matrix and can be converted into P (x, y, z, w, P, r) representation; m represents the robot tail end pose matrix when the initial position is reached; n represents the degree of freedom of the robot; s is S i The rotation coordinates of the joint i in the base coordinate system are represented, i=0, 1, …, n.
Step 208, correcting the initial machining path by the actual path position and the theoretical path position.
Specifically, the server calculates an actual offset amount offset (Δx, Δy, Δz, Δw, Δp, Δr) between the actual path position and the theoretical path position, and corrects the actual path position according to the actual offset amount to reach the theoretical path position at this time. After obtaining the corrected initial machining path, the server continues to control the movement of the tail end of the robot according to the machining request.
In the robot tail end control method, the initial processing path of the workpiece, which comprises a plurality of actual path positions in Cartesian space, is determined by acquiring the processing request of the workpiece and the preset joint track model; when the theoretical joint position of the actual path position in the joint space is determined according to the joint track model and the theoretical path position of the theoretical joint position in the Cartesian space is determined, the initial processing path can be corrected through the actual path position and the theoretical path position. According to the invention, based on the processing request of the workpiece, the actual path position of the tail end of the specified robot is directly converted into the theoretical joint position in the joint space, and then the joint track model obtained through the target interpolation algorithm is combined with the dynamic path modification model to carry out real-time correction on the processing path, so that each interpolation period of the tail end of the robot can reach the accurate position according to the specified speed, and the accuracy of path correction is improved.
In one embodiment, determining a theoretical joint position of the actual path location in joint space based on the joint trajectory model comprises: determining an initial speed of the tail end of the robot on an initial processing path and a joint speed corresponding to the initial speed; and determining the theoretical joint position of the actual path position in the joint space according to the joint speed and the joint track model.
Specifically, the processing request for the workpiece generally includes an initial speed of the robot tip on an initial processing path, e.g., the processing request is to perform uniform speed transportation on the path at a preset speedAnd (5) moving. The server initiates the speed v of the robot end k Conversion to joint velocityWherein, can pass->Conversion, J k For the robot jacobian, k=0, 1, …, N. The joint trajectory model is as follows:
q k ＝a k0 +a k1 (t-t k )+a k2 (t-t k ) 2 +a k3 (t-t k ) 3
wherein,for the velocity model corresponding to the joint velocity, +.>An acceleration model corresponding to the joint acceleration, a k0 、a k1 、a k2 、a k3 And (5) curve coefficients of a target interpolation algorithm. The server substitutes the joint velocity into the joint trajectory model to determine the theoretical joint position in joint space.
In one embodiment, the method for constructing the joint trajectory model includes: determining a plurality of sample path points acquired in a preset period; converting each sample path point into a joint path point in a joint space through an inverse kinematics model corresponding to the tail end of the robot; and carrying out interpolation planning on each joint path point through a target interpolation algorithm to obtain a joint track model corresponding to the tail end of the robot.
Wherein the sample waypoints are in Cartesian space; the inverse kinematics model can be reversely deduced through the forward kinematics model and the combination of an analytic method; inverse kinematics characterizes the process of converting coordinates in cartesian space to coordinates in joint space; the target interpolation algorithm may be a cubic spline interpolation algorithm, a quintic spline interpolation algorithm, a seventh spline interpolation algorithm, a hybrid spline interpolation algorithm, or the like, which is not limited in this embodiment.
Specifically, after determining a plurality of sample path points collected within a preset period, the server can utilize an inverse kinematics model to determine a sample path point P in Cartesian space k (x k ,y k ,z k ,w k ,p k ,r k ) Conversion to joint Path Point q in Joint space k (θ 1k ,θ 2k ,…,θ (n-1)k ,θ nk ) Where k=0, 1, …, N, i=0, 1, …, N. And the server performs interpolation planning between two adjacent joint path points of the joint through a target interpolation algorithm, so that a joint track model corresponding to the tail end of the robot can be obtained.
In this embodiment, based on a processing request for a workpiece, an initial speed of a specified robot terminal can be converted into a joint speed through a jacobian matrix, and then a joint track model is constructed through a target interpolation algorithm, so that after the joint track model is combined with a dynamic path modification model, a processing path can be corrected in real time, and the robot terminal is effectively ensured to run at the specified speed.
In one embodiment, modifying the initial tooling path from the actual path position and the theoretical path position comprises: acquiring a dynamic path modification model, and determining the maximum allowable offset of an initial machining path; determining an actual offset between the actual path position and the theoretical path position according to the offset calculation mode; and correcting the initial processing path according to the channel input mode and the maximum offset.
The dynamic path modification model at least comprises an offset calculation mode and a channel input mode; the dynamic path modification model (DPM, dynamic Path Modification) is a robot system software function of the department of fanaceae, and is used for modifying a path or a target position in real time according to external signal information; the maximum offset max_lim is preset by a user; the offset amount calculation mode includes an accumulation type and a coverage type; the channel input modes include AI_TYPE, GI_TYPE, BI_TYPE, SV_TYPE.
Specifically, when the server determines that the mode is the overlay mode according to the offset calculation, the offset stored in the location register is updated according to the actual offset each time, and when the channel input mode is sv_type, the server directly stores the acquired actual offset in the register, so that the initial processing path is corrected according to the actual offset and the maximum offset.
Further, the method for correcting the initial processing path according to the channel input mode and the maximum offset comprises the following steps: when the channel input mode characterization directly reads the actual offset and stores the actual offset in a register, determining a target correction speed allowed by an initial processing path; and correcting the initial processing path according to the target correction speed by taking the joint track model and the maximum offset as constraint conditions.
Wherein the dynamic path modification model further comprises a target correction speed, e.g. ensuring that the actual correction speed per 1s does not exceed max inc.
Specifically, the server uses a speed model and an acceleration model in the joint track model as constraint conditions, and under the condition that the actual offset is smaller than or equal to the maximum offset, uses the minimum actual offset of the tail end of the robot as an objective function to carry out path correction, and corrects the initial processing path according to the target correction speed.
In one embodiment, the method further comprises: the initial processing path is corrected based on the correction mode, the tracking direction, and the tracking mode.
The dynamic path modification model further comprises a modification mode, a tracking direction and a tracking mode; the correction modes comprise Modal and Inline; the tracking direction includes PATH, TOOLPATH, UFRAME, UTOOL; the tracking mode includes a normal tracking mode and a static tracking mode;
specifically, when the server determines that the correction mode is the line and the tracking mode is the normal tracking mode, the dynamic path modification model is triggered to carry out path modification on the whole path, and when the tracking direction is determined to be UTOOL, the dynamic path modification model is triggered to carry out path modification based on the current tool coordinate system.
In this embodiment, since the dynamic path modification model is used to modify the path or the target position in real time according to the external signal information, the robot end speed control method based on dynamic path modification can be accurately executed, and the problem that the motion path deviates from the set position or posture is solved.
In one embodiment, as shown in fig. 3, fig. 3 is a flow diagram of setting a dynamic path modification model in one embodiment. When the server needs to initialize DPM setting, setting a DPM correction mode, setting a DPM channel offset calculation mode, setting a DPM tracking direction, setting a DPM tracking mode, setting a DPM channel input mode, setting a maximum offset allowed by a path and correcting the DPM every 1s in sequence.
In this embodiment, by initializing the DPM setting and establishing communication between the host computer and the robot terminal, the control of the robot terminal is simpler and more direct.
In one embodiment, the method further comprises: performing collision detection on the tail end of the robot moving according to the corrected initial processing path to obtain a collision result comprising a collision function; and determining the gradient corresponding to the collision function, and correcting the initial processing path again through the gradient.
When the tail end of the robot moves according to the corrected initial processing path, and then the workpiece is processed, the situation of collision with an environmental obstacle possibly exists due to external factors, so that obstacle avoidance planning is needed to be further carried out on the tail end of the robot; the geometrical information of the robot tip and the first geometrical model of the obstacle have been pre-introduced into the progress server, the geometrical information of the robot arm comprising the second geometrical model of each joint.
Specifically, the server detects a collision between the first geometric model of the environmental obstacle and the second geometric model of each joint of the robot tip, and if at least one joint in the motion gesture of the robot tip collides with the environmental obstacle, the collision is considered to occur between the motion track of the robot tip and the environmental obstacle. The collision function is calculated by taking the whole motion trail of the tail end of the robot as an input variable of the robot, and the collision detection result of each joint and the environmental obstacle is taken as a basis. Therefore, the server performs gradient solving on the collision function to obtain a corresponding gradient. And the server calculates the variation of all joints according to the gradient of the collision function, and superimposes the variation of the joints with the joint values in the corresponding theoretical joint positions to obtain the initial processing path after further correction.
In the embodiment, by taking the smoothness of the actions of the tail end of the robot as an optimization target and avoiding the obstacle, the change amounts of all joints can be accurately calculated based on the gradient of the collision function, so that the motion track of the mechanical arm can be accurately drawn, and the problem of inaccurate processing of a workpiece caused by the obstacle in the environment is avoided.
In one embodiment, as shown in fig. 4, fig. 4 is a schematic flow chart of a robot end control method in another embodiment. The server establishes a forward kinematics model and an inverse kinematics model of the Fanac robot through a POE modeling method; according to a processing request corresponding to a processing task requirement, shooting the surface of a processed workpiece by a three-dimensional structured light camera, and extracting an initial processing path by utilizing a three-dimensional image algorithm; the server converts the actual path position in the Cartesian space into a theoretical joint position in the joint space through a kinematic model; the server converts the initial speed appointed by the tail end of the robot on the initial processing path into joint speed through the jacobian matrix; and constructing an articulation track model between two adjacent path points of each articulation of the robot through a cubic spline interpolation algorithm. Initializing the setting of a dynamic path modification model; starting a designed TP program on a robot demonstrator; an upper computer program is built in an upper computer through a TCP/IP protocol, so that communication between the upper computer and the tail end of the robot is built; the server transmits the theoretical joint position to the robot control cabinet, so as to control the robot to move according to the initial processing path; determining an actual offset in each interpolation period T time, setting the channel input offset of the DPM as the actual offset, and further correcting the path in real time; and completing the processing task according to the designated end speed of the robot.
It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a robot end control device for realizing the robot end control method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitations in the embodiments of one or more robot end control devices provided below may be referred to the limitations of the robot end control method above, and will not be repeated here.
In one embodiment, there is provided a robot end control device including: the system comprises an actual path position determining module, a theoretical path position determining module and an initial processing path correcting module, wherein:
the actual path position determining module is used for acquiring a processing request for a workpiece and a preset joint track model; determining an initial processing path of a workpiece in a Cartesian space; the initial tooling path includes a plurality of actual path positions.
And the theoretical path position determining module is used for determining the theoretical joint position of the actual path position in the joint space according to the joint track model and determining the theoretical path position of the theoretical joint position in the Cartesian space.
And the initial processing path correction module is used for correcting the initial processing path through the actual path position and the theoretical path position.
The various modules in the robot end control described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store the processing path. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a robot tip control method.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.
In one embodiment, a computer-readable storage medium is provided, storing a computer program which, when executed by a processor, implements the steps of the method embodiments described above.
In one embodiment, a computer program product or computer program is provided that includes computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in the above-described method embodiments.
Those skilled in the art will appreciate that implementing all or part of the above-described embodiment methods may be accomplished by way of a computer program that instructs associated hardware to perform the method, and that the computer program may be stored on a non-volatile computer readable storage medium, which when executed, may comprise the embodiment flows of the above-described methods. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples represent only a few embodiments of the present application, which are described in more detail and are not thereby to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A method of robot end control, the method comprising:
acquiring a processing request for a workpiece and a preset joint track model;
determining an initial processing path of the workpiece in cartesian space including a plurality of actual path positions;
according to the joint track model, determining a theoretical joint position of the actual path position in joint space, and determining a theoretical path position of the theoretical joint position in Cartesian space;
and correcting the initial processing path through the actual path position and the theoretical path position.
2. The method of claim 1, wherein determining a theoretical joint position of the actual path location in joint space based on the joint trajectory model comprises:
determining an initial speed of the tail end of the robot on the initial processing path and a joint speed corresponding to the initial speed;
and determining the theoretical joint position of the actual path position in the joint space according to the joint speed and the joint track model.
3. The method of claim 1, wherein said determining a theoretical path location of said theoretical joint location in cartesian space comprises:
acquiring a positive kinematic model corresponding to the tail end of the robot; the positive kinematic model is determined by a POE modeling method;
the theoretical joint position is converted into a theoretical path position in cartesian space by the positive kinematic model.
4. The method of claim 1, wherein said modifying said initial tooling path through said actual path location and said theoretical path location comprises:
acquiring a dynamic path modification model, and determining the maximum allowable offset of the initial processing path; the dynamic path modification model at least comprises an offset calculation mode and a channel input mode;
determining an actual offset between the actual path position and the theoretical path position according to the offset calculation mode;
and correcting the initial processing path according to the channel input mode and the maximum offset.
5. The method of claim 4, wherein modifying the initial tooling path based on the channel input pattern and the maximum offset comprises:
when the channel input mode characterization directly reads the actual offset and stores the actual offset in a register, determining a target correction speed allowed by the initial processing path;
and correcting the initial processing path according to the target correction speed by taking the joint track model and the maximum offset as constraint conditions.
6. The method of claim 4, wherein the dynamic path modification model further comprises a correction mode, a tracking direction, and a tracking mode; the method further comprises the steps of: and correcting the initial processing path based on the correction mode, the tracking direction and the tracking mode.
7. The method according to claim 1, wherein the method for constructing the joint trajectory model comprises:
determining a plurality of sample path points acquired in a preset period; the sample waypoints are in cartesian space;
converting each sample path point into a joint path point in joint space through an inverse kinematics model corresponding to the tail end of the robot;
and carrying out interpolation planning on each joint path point through a target interpolation algorithm to obtain a joint track model corresponding to the tail end of the robot.
8. A robotic end control device, the device comprising:
the actual path position determining module is used for acquiring a processing request for a workpiece and a preset joint track model; determining an initial processing path of the workpiece in cartesian space including a plurality of actual path positions;
the theoretical path position determining module is used for determining a theoretical joint position of the actual path position in a joint space according to the joint track model and determining a theoretical path position of the theoretical joint position in a Cartesian space;
and the initial processing path correction module is used for correcting the initial processing path through the actual path position and the theoretical path position.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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| CN202311394115.9A CN117444962A (en) | 2023-10-25 | 2023-10-25 | Robot tail end control method and device and computer equipment |
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| CN202311394115.9A CN117444962A (en) | 2023-10-25 | 2023-10-25 | Robot tail end control method and device and computer equipment |
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