CN117601109A - Robot tail end path planning method and system based on external control points - Google Patents
Robot tail end path planning method and system based on external control points 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
- B25J9/1656—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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Abstract
The application relates to a robot tail end path planning method and a system based on external control points, wherein the robot tail end path planning method based on the external control points comprises the steps of establishing a matrix equation according to the relation among the tail end pose of a robot, the discrete path point pose of a workpiece to be processed and the external control point pose; because the external control point is fixed, the external control point pose is calibrated by utilizing the relation between the pose of the tail end of the robot and the pose of the tool coordinate system and the external control point pose; calculating the discrete path point pose of a workpiece to be processed; solving a matrix equation by using the external control point pose obtained by calibration and the discrete path point pose of the workpiece to be processed to obtain the tail end pose of the robot; and sending the pose of the tail end of the robot to a robot controller, wherein the robot controller controls the tail end of the robot to move and drives a workpiece to be processed, which is arranged at the tail end of the robot, to move along an external control point. The method is simple and effective, and the calculated amount is reduced.
Description
Technical Field
The present disclosure relates to the field of robot control, and in particular, to a method and a system for planning a path of a robot end based on an external control point.
Background
With the technical progress, high-precision processing robots are increasingly adopted in industrial processing, and after a workpiece to be processed is installed at the tail end of the processing robot, the processing of the workpiece to be processed can be realized only by calibrating corresponding positions. The processing point sequence of the workpiece is reasonably arranged, so that an excellent processing track planning scheme is obtained, and the method has very important significance in saving processing time, reducing production cost and improving production efficiency.
In the prior art, the application and research of robots have a large space, and processing engineers often rely on long-time teaching and debugging of teaching staff according to own experience and process cards of reference designers, so that theoretical optimum cannot be obtained, and the requirements of industries pursuing efficient production beats are contradicted. How to optimally generate a smooth optimal path in an operation space is a problem to be solved.
Disclosure of Invention
The technical problem that this application mainly solves is how to optimize a robot terminal route planning based on outside control point, makes the robot terminal route planning more simple effective.
In order to solve the above problems, an aspect of the present application provides a robot end path planning method based on an external control point, the method including:
according to the tail end pose of the robot, the discrete path point pose of the workpiece to be processed and the external control point pose, a matrix equation is established according to the acquired relation among the poses;
calibrating the external control point pose by utilizing the relation between the tail end pose of the robot, the pose of a tool coordinate system and the external control point pose;
calculating the discrete path point pose of the workpiece to be processed;
solving the matrix equation by using the external control point pose obtained by calibration and the discrete path point pose of the workpiece to be processed to obtain the tail end pose of the robot;
and sending the pose of the tail end of the robot to a robot controller, so that the robot controller controls the tail end of the robot to move according to the pose of the tail end of the robot, and driving a workpiece to be processed, which is arranged at the tail end of the robot, to move along an external control point.
To solve the above problem, another aspect of the present application provides a robot end path planning system based on an external control point, including:
the robot comprises a robot body, wherein the robot body locally comprises a robot base body and a robot machining moving part, the robot base body is electrically connected with the robot machining moving part, the robot base body is provided with a robot controller, and the robot machining moving part comprises a robot tail end for installing a workpiece to be machined;
the external control piece is independently arranged on the robot body, an external control point is arranged at the top end of the external control piece, and the external control piece is used for planning the path of the tail end of the robot by adopting the robot tail end path planning method based on the external control point.
The beneficial effects are that: different from the prior art, the method establishes a matrix equation according to the relation among the tail end pose of the robot, the discrete path point pose of the workpiece to be processed and the external control point pose; further, as the external control points are fixed, the external control point pose is calibrated by utilizing the relation between the pose of the tail end of the robot, the pose of the tool coordinate system and the external control point pose; calculating the discrete path point pose of a workpiece to be processed; solving a matrix equation by using the external control point pose obtained by calibration and the discrete path point pose of the workpiece to be processed to obtain the tail end pose of the robot; and sending the pose of the tail end of the robot to a robot controller, wherein the robot controller controls the tail end of the robot to move and drives a workpiece to be processed, which is arranged at the tail end of the robot, to move along an external control point. By utilizing the characteristic of fixed positions of external control points, a matrix equation among the tail end pose of the robot, the discrete path point pose of the workpiece to be processed and the external control point pose is constructed, and then the tail end pose of the robot can be obtained by simply and effectively solving the matrix equation, so that the planning of the tail end path of the robot is realized, the whole algorithm process is effective and simple, and the overall calculation amount is small.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:
FIG. 1 is a system schematic diagram of one embodiment of a robot end path planning system based on external control points according to the present application;
fig. 2 is a flow chart of an embodiment of a robot end path planning method based on an external control point according to the present application.
Detailed Description
In the following description of the embodiments of the present disclosure,
a technical solution in the embodiments of the present disclosure will be clearly and completely described, and it is apparent that the described embodiments are some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person skilled in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
The terms "first," "second," and the like in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Specific embodiments of the present application are described in detail below with reference to the accompanying drawings.
In one aspect, the present application proposes a robot end path planning method based on an External control point, where the method is implemented based on an External control point (External ControlPoint, ECP point) used when an industrial robot processes a workpiece to be processed, and in the present application, an ECP point pose is fixed, and in an industrial processing site, the ECP may be a laser emitter, a dispensing head, or the like. As shown in fig. 1, the position relationship between a robot, a workpiece to be processed and ECP points in industrial processing is schematically shown, and the workpiece to be processed is mounted at the end of the robot during industrial processing, and the movement of the end of the robot is controlled to make the workpiece to be processed move along with the movement of the end of the robot, so that the path of the workpiece to be processed passes through the ECP points. In the present application, when planning a robot end path based on an external control point, it is known that the path to be processed is along A->B->C->D->A series of discrete path point poses on a (where the pose of the discrete path point can be set as (t) x ,t y ,t z A, b, c) described in the object coordinate system).
Referring to fig. 2, fig. 2 is a flow chart of a first embodiment of a robot end path planning method based on an external control point according to the present application, and as shown in fig. 2, the embodiment may include the following steps:
and step S101, establishing a matrix equation according to the relation among the tail end pose of the robot, the discrete path point pose of the workpiece to be processed and the external control point pose.
As shown in fig. 1, the workpiece to be processed is mounted at the robot end, the end point of the workpiece to be processed corresponds to an ECP point (a point a shown in fig. 1), the ECP point coordinate system is a coordinate system { o }, and since the ECP point is fixed, the coordinate system { o } is fixed; the robot base coordinate system is a coordinate system { b }, the robot tail end coordinate system is a coordinate system { e }, the workpiece coordinate system of the workpiece to be processed is a coordinate system { w }, and the tool coordinate system is a coordinate system { t }; when a workpiece to be processed is processed, the workpiece coordinate system { w } is aligned with the robot end coordinate system { e }. The processing path of the workpiece to be processed in the application sequentially moves along the sequence of A- > B- > C- > D- > A to form a path, the pose of a series of discrete path points on the path in a coordinate system { w } is known, the processing path in the application can be understood to be formed by a series of discrete path points on the path, and the planning processing path is a series of discrete path point poses of the tail end of the robot based on the pose of the known discrete path points in the coordinate system { w }, so that the pose path of the workpiece to be processed at the tail end of the robot stably moves through the ECP point, and the path point pose of the workpiece to be processed is consistent with the ECP point pose when the path point passes through the ECP point. Further, as shown in FIG. 1, the tool coordinate system { t } coincides with the ECP point coordinate system { o } in the present application.
In the application, the robot end pose, the discrete path point pose of the workpiece to be processed and the external control point pose are described in a robot base coordinate system, a coordinate system of the workpiece to be processed and a robot base coordinate system respectively.
In the application, the homogeneous transformation matrix of the ECP point pose under the robot base coordinate system can be obtained according to the homogeneous transformation relation:
wherein,the system comprises a homogeneous transformation matrix from a robot terminal coordinate system to a robot base coordinate system; />Is a homogeneous transformation matrix from the tool coordinate system to the robot end coordinate system. Wherein (1)>Rotation matrix>The RPY attitude angles (a, b, c) of the tail end of the robot are converted into:
the processing path to be planned in the application is the discrete path point pose of the robot tail end, and based on the formula (1), the homogeneous transformation matrix from the robot tail end coordinate system to the robot base coordinate system is obtained by solvingThe discrete path point pose of the tail end of the robot can be obtained, and therefore the purpose of planning the path of the tail end of the robot is achieved.
And step S102, calibrating the external control point pose by utilizing the relation between the tail end pose of the robot and the pose of the tool coordinate system and the external control point pose.
In the method, the external control point is fixed, so that the external control point pose can be calibrated according to the relation between the pose of the tail end of the robot, the pose of the tool coordinate system and the external control point pose. Specifically, the calibration of the position and the posture of the ECP point is performed by aligning a calibration needle arranged at the tail end of the robot to the ECP point. Specifically, a calibration needle is arranged at the tail end of the robot, the tail end of the robot is controlled to move so as to enable the needle point of the calibration needle to be aligned with an ECP point, and the pose of the tail end of the robot during the first alignment is recorded; and (3) adjusting the gesture of the tail end of the robot, moving the tail end of the robot again to enable the needle tip of the calibration needle to be aligned with the ECP point, recording the gesture of the tail end of the robot during the second alignment, and constructing a matrix equation based on the gesture of the tail end of the robot during the first alignment, the gesture of the tail end of the robot during the second alignment and the formula (1) because the ECP point is fixed. Let the robot end pose at the first alignment be (x) 1 ,y 1 ,z 1 ,a 1 ,b 1 ,c 1 ) The robot end pose at the second alignment is (x) 2 ,y 2 ,z 2 ,a 2 ,b 2 ,c 2 ) Thus, the following matrix equation can be established:
AX＝B (3)
wherein,r in matrix A ij (k) (i=1, 2,3, j=1, 2,3, k=1, 2) represents the value of the ith row and j column of the rotation matrix converted from the RPY attitude angle of the robot tip when the needle tip of the calibration needle is aligned with the ECP point for the kth time.
Solving the matrix equation (3) to obtain the tool coordinate t of the needle point of the calibration needle x 、t y 、t z 。
Thus, the calibration of the ECP points can be completed, and a homogeneous transformation matrix from the ECP point coordinate system to the robot coordinate system can be obtainedBecause ECP points are fixed, the homogeneous transformation matrix +.>Is kept unchanged all the time.
In another embodiment, in the process of calibrating the ECP point, the gesture of the tail end of the robot can be adjusted for multiple times, the tail end of the robot is moved after the gesture of the tail end of the robot is adjusted to enable the needle point of the calibration needle to be aligned with the ECP point, the gesture of the tail end of the robot when the needle point of the calibration needle is aligned with the ECP point after each gesture adjustment is recorded, the matrix equation (3) is constructed for line expansion, and then the matrix equation is solved by adopting a least square method to obtain the position of the ECP point.
And step 103, calculating the discrete path point pose of the workpiece to be processed.
Further, the robot is controlled to return to the joint zero point, a workpiece to be processed is installed at the tail end of the robot, the coordinate system of the workpiece to be processed is adjusted to enable the coordinate system of the workpiece to be processed to be aligned with the coordinate system of the tail end of the robot, the discrete path point pose of the workpiece to be processed can be obtained through calculation of software such as CAD, and the discrete path point pose is calculated by unit tangential vector T x And a unit normal vector N z The composition can obtain a rotation matrix of the gesture of the discrete path point:
further according toThe rotation matrix of the discrete path point gesture and the discrete path point position can obtain the homogeneous transformation matrix of the discrete path point gesture(i.e. homogeneous transformation matrix of tool coordinate system to robot end coordinate system +.>)。
And step S104, solving a matrix equation by using the external control point pose obtained by calibration and the discrete path point pose of the workpiece to be processed to obtain the tail end pose of the robot.
Based on the above formula (1), it is possible to obtain:
based on the step S102, the homogeneous transformation matrix of the external control point coordinate system in the robot base coordinate system can be obtainedAnd a homogeneous transformation matrix of the tool coordinate system to the robot end coordinate system +.>Therefore, solving the formula (5) to obtain the homogeneous transformation matrix from the robot end coordinate system to the robot base coordinate system>And further obtaining the position and the posture of the discrete path point at the tail end of the robot.
Step 105, the pose of the tail end of the robot is sent to a robot controller, so that the robot controller controls the tail end of the robot to move according to the pose of the tail end of the robot, and a workpiece to be processed, which is arranged at the tail end of the robot, is driven to move along an external control point.
And (3) sequentially sending the robot tail end discrete path point positions and postures obtained in the step (S104) to a robot controller according to the processing sequence, wherein the robot controller can sequentially control the tail end of the robot to move according to the received robot tail end discrete path point positions and postures, so that a workpiece to be processed, which is arranged at the tail end of the robot, is driven to move stably along the ECP point.
According to the robot tail end path planning method based on the external control points, by utilizing the characteristic of fixed positions of the external control points, a matrix equation between the tail end pose of the robot, the discrete path point pose of a workpiece to be processed and the external control point pose is constructed, and then the tail end pose of the robot can be obtained by simply and effectively solving the matrix equation, so that the planning of the tail end path of the robot is realized, the whole algorithm process is effective and simple, the whole calculation amount is small, and the method can be applied to specific industrial field applications such as curved surface cutting, curved surface marking and the like.
With further reference to fig. 1, the present application proposes an external control point based robot tip path planning system 100, the external control point based robot tip path planning system 100 comprising a robot body 1 and external controls 2. Wherein the robot body 1 comprises a robot base body 11 and a robot processing moving part 12, the robot base body 11 and the robot processing moving part 12 are electrically connected, the robot base body 11 is provided with a robot controller, and the robot processing moving part 12 comprises a robot end 13 for mounting the workpiece 3 to be processed. The external control member 2 is independently arranged on the robot body 1, the top end of the external control member 2 is used for calibrating the workpiece 3 to be processed, and the external control member is provided with an external control point and is used for planning the robot tail end path based on the external control point by adopting the robot tail end path planning method based on the external control point.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The method and system for planning the robot end path based on the external control point provided by the application are described in detail, and specific examples are applied to illustrate the principles and embodiments of the application, and the description of the embodiments is only used for helping to understand the method and core ideas of the application; meanwhile, as those skilled in the art will have modifications in specific embodiments and application scope in accordance with the ideas of the present application, the present disclosure should not be construed as limiting the present application in view of the above description.
Claims (8)
1. The robot tail end path planning method based on the external control point is characterized by comprising the following steps of:
according to the tail end pose of the robot, the discrete path point pose of the workpiece to be processed and the external control point pose, a matrix equation is established according to the acquired relation among the poses;
calibrating the external control point pose by utilizing the relation between the tail end pose of the robot, the pose of a tool coordinate system and the external control point pose;
calculating the discrete path point pose of the workpiece to be processed;
solving the matrix equation by using the external control point pose obtained by calibration and the discrete path point pose of the workpiece to be processed to obtain the tail end pose of the robot;
and sending the pose of the tail end of the robot to a robot controller, so that the robot controller controls the tail end of the robot to move according to the pose of the tail end of the robot, and driving a workpiece to be processed, which is arranged at the tail end of the robot, to move along an external control point.
2. The method for planning a path of a robot end based on external control points according to claim 1, wherein the establishing a matrix equation according to a relation among the robot end pose, the discrete path point pose of the workpiece to be processed, and the external control point pose comprises:
according to the homogeneous transformation matrix of the external control point coordinate system in the robot base coordinate system, establishing the matrix equation:
wherein,for the homogeneous transformation matrix from the robot end coordinate system to the robot base coordinate system, +.>For the homogeneous transformation matrix from the external control point coordinate system to the robot base coordinate system, +.>Homogeneous transformation moment for coordinate system of workpiece to be processed to terminal coordinate system of robotAn array.
3. The robot distal path planning method according to claim 2, wherein the homogeneous transformation matrix of the external control point coordinate system in the robot base coordinate system is:
wherein,the system comprises a homogeneous transformation matrix from a robot terminal coordinate system to a robot base coordinate system;the method comprises the steps of (1) uniformly transforming a tool coordinate system into a robot tail end coordinate system;
wherein the saidIs>The RPY attitude angles (a, b, c) of the tail end of the robot are converted into:
4. the method for planning a robot end path based on an external control point according to claim 1, wherein calibrating the external control point pose using a relation between a robot end pose, a tool coordinate system pose and the external control point pose comprises:
acquiring the pose of the tail end of the robot under different poses;
and calibrating the external control point pose by utilizing the corresponding tail end pose of the robot under different poses.
5. The method for planning a path of a robot tip based on an external control point according to claim 4, wherein the step of acquiring the robot tip pose of the robot tip in different poses comprises:
installing a calibration needle at the tail end of the robot;
and adjusting the gesture of the tail end of the robot, and recording the gesture of the tail end of the robot when a calibration needle arranged at the tail end of the robot is aligned with an external control point of the robot under different gestures.
6. The method for planning a path of a robot end based on an external control point according to claim 5, wherein the adjusting the posture of the robot end records the posture of the robot end when a calibration needle installed at the robot end is aligned with the external control point of the robot under different postures; calibrating the external control point pose by utilizing the corresponding tail end pose of the robot under different poses, comprising:
adjusting the pose of the robot tip, the robot tip pose being (x) when the calibration needle at the robot tip is aligned with an external control point of the robot in the first pose of the robot tip 1 ，y 1 ，z 1 ，a 1 ，b 1 ，c 1 )；
Readjusting the pose of the robot tip, wherein the robot tip pose is (x) when the calibration needle at the robot tip is aligned with the external control point of the robot in the second pose of the robot tip 2 ，y 2 ，z 2 ，a 2 ，b 2 ，c 2 )；
Since the external control points are fixed, the following matrix equation can be established according to the above formula (1):
AX＝B (3)
wherein,
r in matrix A ij (k) (i=1, 2,3, j=1, 2,3, k=1, 2) represents the value of the ith row and jth column of the rotation matrix obtained by converting the attitude angle of the robot tip when the calibration needle is kth aligned with the external control point of the robot;
solving the matrix equation (3) to obtain a tool coordinate value t of the needle tip of the calibration needle x 、t y 、t z And (3) further calculating to obtain the position of an external control point according to the formula (1), and calibrating the pose of the external control point.
7. The method for planning a robot end path based on external control points according to claim 1, wherein said calculating the discrete path point pose of the workpiece to be processed comprises:
controlling the robot to return to the joint zero point;
adjusting a workpiece to be processed, which is arranged at the tail end of the robot, so that a coordinate system of the workpiece to be processed is aligned with the coordinate system of the tail end of the robot, and obtaining a rotation matrix of the gesture of a discrete path point of the workpiece to be processed:
wherein T is x As unit tangent vector, N z Is a unit normal vector;
and further calculating to obtain the discrete path point pose of the workpiece to be processed.
8. A robot tip path planning system based on external control points, comprising:
the robot comprises a robot body, wherein the robot body comprises a robot base body and a robot machining moving part, the robot base body is electrically connected with the robot machining moving part, the robot base body is provided with a robot controller, and the robot machining moving part comprises a robot tail end for installing a workpiece to be machined;
the external control piece is independently arranged on the robot body, an external control point is arranged at the top end of the external control piece, and the external control piece is used for planning the path of the tail end of the robot by adopting the method for planning the path of the tail end of the robot based on the external control point according to any one of claims 1-7.
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