CN101823260A - The actuation path generating method of robot - Google Patents
The actuation path generating method of robot Download PDFInfo
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- CN101823260A CN101823260A CN 201010130162 CN201010130162A CN101823260A CN 101823260 A CN101823260 A CN 101823260A CN 201010130162 CN201010130162 CN 201010130162 CN 201010130162 A CN201010130162 A CN 201010130162A CN 101823260 A CN101823260 A CN 101823260A
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Abstract
The invention provides a kind of actuation path generating method of robot, it generates the no abnormal action of robot and can successfully take special attitude or the path of motion by near the practicality of special attitude when the path of motion that makes between operation.The actuation path generating method of articulated robot of the present invention comprises: when calculating path of motion, judge whether articulated robot takes the determining step of special attitude; Be judged as in determining step when taking special attitude, the axle of the joint shaft of selecting to make articulated robot become special attitude is selected step; For the joint shaft that axle selects step to select, specify its value from the outside, so that articulated robot is comprising the given step that can move smoothly on the path of motion of special attitude; Use the axle value of described given step appointment, calculate the path of the path of motion of articulated robot and calculate step.
Description
Technical field
The present invention relates to generate the method for the path of motion of articulated robot, relate in particular to and be suitable for following operation and be created on the actuation path generating method of robot of the situation in path that might be by special attitude in moving.
Background technology
As everyone knows, when generating the path of motion of robot, be mostly to consider configuration space (C space), and in this C space, consider the situation of the path of motion of robot.That is, the robot in the use working space and the geometric shape of barrier and position relation thereof are recorded and narrated the barrier in the C space, obtain the free space (non-interference space) in the C space.
Specifically, there is following method, that is, discreteness ground performance C space, projection (mapping) interference position and non-interference position are explored the path of obtaining the non-interference position of tracking by chart.Like this composite entity of each is explored, explored the path that does not have interference.
In addition, between them, do not have the route method of interfering as providing to make, the method for using potential method (potential) to obtain the avoiding interference attitude is arranged as the mobile starting position of the first operation terminal point with as the moving target position of the initial point of second operation of first operation that continues.
In the method, with immediate barrier to plane projection, generate in the mode of the barrier of avoiding projection and to avoid the direction indication point, utilize thus the decision of potential method with the robot front end to the path of motion of avoiding the direction guiding, avoid the path of interfering thereby generate.Specifically, on the basis that robot is moved along target direction, use computing avoidance position/attitudes such as potential calculating, and carry out above-mentioned processing repeatedly, genesis sequence is avoided position and attitude thus, and makes the path that arrives target location/attitude.
When the path of motion that carries out robot generates,, exist robot to obtain special attitude or near the situation by special attitude at this path of motion midway.Robot, need increase joint shaft and move in the time of perhaps near by special attitude if take special attitude then can't move when action.
For example, under the situation of six articulated robots of structure shown in Figure 1, as shown in Figure 2, have (a) and take on special attitude (state of wrist position directly over shoulder), (b) the special attitude of elbow (state that elbow extends along a straight line), (c) these three kinds of special attitudes of the special attitude of wrist (state that wrist extends along a straight line), in each attitude, existence can't carry out the angle of linearly operating or certain joint shaft unstable and when making action joint shaft change the situation that waits the robot abnormal operation greatly.
Under this robot abnormal operation situation, when the activity duration is restricted, must improve the rotary speed of articulated driving equipment, thereby might surpass the upper limit of the rotary speed of articulated driving equipment.Perhaps, if rotary speed is descended, then can make the activity duration corresponding elongated in the mode that is no more than the upper limit.Promptly allow to move, also can twist and damaged, perhaps articulated driving equipment is produced burden, thereby have the problem of articulated driving equipment breakage etc. owing to the rotation of the high speed of axle make cable on the manipulator that is installed in robot etc.
But in patent documentation 1 or patent documentation 2, the unexposed technology of avoiding the special attitude of above-mentioned robot even therefore adopt the technology of above-mentioned patent documentation, also is difficult to avoid the abnormal operation situation of robot.
For fear of above-mentioned unsuitable situation, in the path of motion of robot generates, consider to avoid special attitude to generate path of motion in the mode that does not adopt special attitude.
But, in this case, undeniablely might generate the unnecessary path of motion of going the long way round or in path of motion generates, need very many computing times.
Summary of the invention
The present invention In view of the foregoing makes, its purpose is to provide a kind of following method, promptly, making as the mobile starting position of the first operation terminal point and during, generating the no abnormal action of robot and can successfully take special attitude or the path of motion by near the practicality of special attitude as the path of motion between the moving target position of the initial point of second operation of first operation that continues.
To achieve these goals, take following technological means in the present invention.
The actuation path generating method of articulated robot of the present invention is following path of motion calculation method, promptly, when the articulated robot of axle that possesses many link rods and link this link rod is mobile between the moving target position of the initial point that is connected on second operation of carrying out after described first operation as the mobile starting position of the first operation terminal point and conduct, whether judgement exists interference in described articulated robot, and calculate the path of motion of this articulated robot, the actuation path generating method of described articulated robot is characterised in that, comprise:, judge whether described articulated robot takes the determining step of special attitude in the attitude of having calculated the articulated robot that is in mobile starting position and when being in path of motion between the attitude of articulated robot of moving target position; Be judged as in described determining step when taking special attitude, the axle that selection makes articulated robot become the joint shaft of special attitude is selected step; For the joint shaft that described axle selects step to select, specify its value from the outside, so that articulated robot is comprising the given step that can move smoothly on the path of motion of described special attitude; Use the axle value of described given step appointment, calculate the path of the path of motion of articulated robot and calculate step.
When robot was mobile on the path of motion that is made by this actuation path generating method, robot can take to no abnormal action special attitude or by near the special attitude.And, owing to, therefore can not generate the path of unnecessarily going the long way round, can generate the computing time that is spent in path under reach specially so that robot takes the mode of special attitude to generate this path.
Preferably, in described given step, when described articulated robot is positioned near special attitude, can give the axle value of the joint shaft that makes described articulated robot become special attitude with fixed value or the value that is no more than the border of special attitude, and, exist under the situation of other joint shaft that becomes underrange following giving of value of described axle, provide the interpolate value that the attitude according to the articulated robot of the front and back position of special attitude obtains as a value of this other joint shaft.
When robot is mobile on the path of motion that is made by actuation path generating method of the present invention, robot can be no abnormal action ground take special attitude smoothly or by near the special attitude.And, owing to, therefore can not generate the path of motion of unnecessarily going the long way round specially so that robot takes the mode of special attitude to generate this path, thus can generate the computing time that is spent in path under reach.
Description of drawings
Fig. 1 is the skeleton drawing of the robot of embodiments of the present invention.
Fig. 2 is the figure of special attitude that the robot of Fig. 1 is shown.
Fig. 3 is the figure of attitude (the 4th, the 5th and the 6th) that robot is shown, (a) robot that is in mobile starting position and moving target position is shown, the attitude of the robot that calculates starting position, special posture position, avoiding interference position (b) is shown.
Fig. 4 is the figure that is illustrated in the method for the axle value that determines the 4th～the 6th in the actuation path generating method of the present invention.
Fig. 5 is the figure that the embodiment that has used actuation path generating method of the present invention is shown.
Fig. 6 is the figure with flowcharting actuation path generating method of the present invention.
Label declaration:
1 robot
212 first
210 second
208 the 3rd
206 the 4th
204 the 5th
202 the 6th
211 first link rods
209 second link rods
207 the 3rd link rods
205 four-bar linkage
203 5-linked bars
201 the 6th link rods
The specific embodiment
Below, based on the description of drawings embodiments of the present invention.
In the following description, be marked with identical label for identical parts.Its title and function are also identical.Therefore, do not repeat detailed description about described parts.
Below, six welding robot of vertical multi-joint type is described, but the present invention is not limited to be suitable for the robot of this pattern, the number of axle and purposes.
With reference to the skeleton drawing of articulated robot 1 shown in Figure 1 (below, the situation that abbreviates robot as is also arranged), the overall structure of the robot system of embodiments of the present invention is described.
As shown in Figure 1, robot 1 is six the welding robot of possessing of vertical multi-joint type, near first 212 of installation chassis, possesses second 210 successively, the 3rd 208, the 4th 206, the 5th 204 and the 6th 202 these rotating shafts.To be called the robot initial point near first 212 of installation chassis.
In addition, robot 1 possesses second link rod 209, the 3rd link rod 207, four-bar linkage 205,5-linked bar 203, the 6th link rod 201 successively from first link rod 211 near installation chassis.Each link rod is made of rigid element.
This robot system is connected with the control part of control robot 1, and possesses the control device of the off-line teaching data that make robot 1.Under the situation of present embodiment, in this control device, generate the path of motion of robot 1.
When robot 1 is mobile between as " the mobile starting position " of the first operation terminal point and " moving target position " as the initial point of second operation of first operation that continues, this control device judges whether there is interference in robot 1, and calculates the path of motion of robot 1.In other words, not to calculate such as welding such operation path of motion, but calculate the path of motion of the free degree than higher " robot between the operation moves or the attitude change ".The present invention is in such " robot during non-operation moves or the attitude change ", specially so that robot takes the mode of special attitude to generate this path.
Below, illustrate that the path of motion of the robot that is carried out by control device generates processing.
Fig. 6 is the flow chart by the path of motion generator of the robot of this control device execution.
At S100, control device will be set at as the mobile starting position of the first operation terminal point and calculate the starting position.
At S110, control device judges from the robot pose of calculating the starting position whether can move uninterruptedly to the robot pose as the moving target position of the initial point of second operation of first operation that continues.
Can not have the ground of interference arrival calculated target positions (S110 is for being) if be judged as, then handle and move to S120 from calculating the starting position.If not like this (S110 for not), then can have the ground of interference and do not reach moving target position from calculating the starting position, so this processing end.
At S120, when control device carries out interpolation to calculating between starting position and the moving target position (when making mobile route), judge whether robot 1 takes special attitude as determining step.If be judged as and take special attitude (S120 is for being), then handle and move to S130.If not like this (S120 for not), this processing is moved to S150.
At a S130 who selects step as axle, control device selects to make robot 1 to become the joint shaft of special attitude, promptly become the joint shaft of the main cause that forms special attitude.If will show " joint shaft that becomes the main cause that forms special attitude " more accurately, then become " under the situation of the attitude of inverse transformation robot 1; make the joint shaft of separating degeneration " or " Jacobian during for the attitude of inverse transformation robot 1 generates the joint shaft of contraction ".Specifically, for example reference " robot control basic theory, the permanent husband in lucky river, 1988, the distribution of コ ロ Na society, pp 58～" etc.
Next, at the S140 as given step, control device generates the position/attitude of the axle value being carried out interpolation, so that robot 1 specially takes special attitude for the joint shaft of selected robot.In other words,, specify its value (angle value of joint shaft) from the outside, so that robot 1 can move smoothly comprising on the path of motion of special attitude for the joint shaft that axle selects step (S130) to select.
Robot pose after the axle value calculating starting position in calculating as the next one will be specified.Afterwards, processing is moved to S160.
In addition, deny among the S150 of judged result at S120, control device generates the position/attitude of having carried out the robot 1 of interpolation between starting position and the calculated target positions to calculating, and calculates the starting position as the next one.
At the S160 as second determining step, control device judges whether calculate starting position/attitude is positioned near the special attitude.Be positioned near special attitude (S160 is for being) if calculate starting position/attitude, then handle and move to S170.If not like this (S160 for not), then this processing is moved to S210.
At the S170 that selects step as second, control device is chosen in the joint shaft that makes the robot that separates degeneration in the special attitude.
At S180 as second given step, the axle value of the value on fixed value that control device obtains the joint shaft of the robot selected at the S170 experience according to the actual value in past or operator of giving or the border that is no more than special attitude.And, be accompanied by to giving designated value in special attitude or exist near it under situation of the joint shaft that becomes underrange at the selected joint shaft of S170, as the axle value of associated joint axle, give the interpolate value that the attitude according to the robot 1 of the front and back position of special attitude obtains.Afterwards, processing is moved to S190.
At the S190 that calculates step as the path, control device is from calculating starting position computing avoiding interference position.This avoiding interference position (and this position robot pose) is to avoid interfering and from calculating that special attitude is taked in the starting position and the position (and robot pose of this position) that arrives.S210 also carries out identical processing with this processing.
At S200, control device with the avoiding interference position (calculated target positions) obtained as new calculating starting position.After the processing of this S200, handle and return S110.
Afterwards, continue before the initial point of second operation of first operation is moving target position, carry out S120～S200 repeatedly, generate the path of motion of robot 1 in arrival.
Below, describe the action of control device of the robot system of the present embodiment possess above flow process in detail.
At first, the promptly mobile starting position of the terminal point of first operation is set at calculating starting position (S100), when between to calculating starting position/attitude and moving target position/attitude, carrying out interpolation, judges whether to take special attitude (S120).
In the present embodiment, shown in Fig. 2 (c), consideration machine wrist is obtained special attitude, is calculating between starting position and the moving target position, makes the situation (S120 is for being) of mobile route in the different mode of symbol of the 5th 204 axle value.Under this special attitude state, the selected joint shaft that makes the robot that separates degeneration (making it become the joint shaft of special attitude), i.e. the 5th 204 (S130).
In addition, under the situation of special attitude, selected second 210, the 3rd 208 conducts make robot become the joint shaft of special attitude, are under the situation of special attitude at elbow, select the 3rd 208 as making robot become the joint shaft of special attitude at shoulder.
For the joint shaft (the 5th 204) of selected robot 1, generate the calculated target positions/attitude of axle value (θ 5) having been carried out interpolation, make and specially take this special attitude.After this, the calculating starting position (S140) that this position is calculated as the next one.
Next, judge to calculate starting position/attitude whether near special attitude (S160), in the present embodiment, the situation of absolute value below 5.0 degree with θ 5 in each value of calculating starting position/attitude is judged as near special attitude as " the special attitude of wrist ".
Under near the situation the special attitude, be chosen in make the robot that separates degeneration in the special attitude joint shaft (the 5th 204) (S170).
For selected the 5th 204, give fixed value or be no more than special attitude the border the axle value.Under the situation of present embodiment, for example, the axle value θ 5 that makes the 5th 204 makes it change also assignment in the mode of 5 ° → 2 ° → 0 ° (special attitude) →-2 ° →-5 ° from the outside as fixed value.Based on this, to obtain avoiding interference position/attitude with the hands-off mode of other object.
In addition, when giving designated value to θ 5, under a joint shaft that becomes underrange under avoiding interference position or the special attitude or a situation that the joint shaft that the value change is big exists, can produce joint shaft and make distortion breakages such as cable on the manipulator that is installed in robot 1 etc. owing to bigger rotation, perhaps the drive motor to joint shaft applies unsuitable situations such as big burden.
Under the situation of present embodiment, axle value and the 6th 202 joint shaft that is equivalent to be taken as underrange of the 4th 206.Therefore, as shown in Figure 4, computing avoiding interference position/attitude, be identical value so that calculate starting position/attitude with the 4th 206 axle value θ 4 of position/attitude of obtaining, make under any attitude the 4th 206 axle value θ 4 and the 6th 202 axle value θ 6 with always constant, and determine each a value successively.In other words, the symbol of the 5th 204 axle value nonreversible (+→+,-→-) situation under, based on Fig. 4 (a) calculate the 6th 202 the axle value, the sign-inverted of the 5th 204 axle value (+→-,-→+) situation under, calculate the 6th 202 axle value based on Fig. 4 (b).
Thus, when calculating starting position/attitude and near special attitude and according to this position/attitude, obtain avoiding interference position/attitude, even changing, θ 4 greatly also make its value consistent, therefore eliminate and change, and the θ 6 that can prevent avoiding interference position/attitude of obtaining compares and changes big situation with calculating starting position/attitude, and can obtain avoiding interference position/attitude.
In above-described method, if obtain avoiding interference position/attitude, then obtain the position/attitude different with the avoiding interference position/attitude of actual needs, but inventors of the present invention predict position/attitude that the avoiding interference position/attitude that can obtain and obtain does not originally significantly change, thereby can obtain interfering enough position/attitudes for avoiding.
The example of using actuation path generating method of the present invention shown in Figure 5.Position XYZ among the figure is the robot coordinate system, attitude angle by wave, pitching, deflection angle represent.
In the figure, calculate starting position/attitude near the wrist particular point,, then can confirm in short-range θ 4 and big situation of θ 6 variations down of moving if carry out avoiding interference (avoiding interference position/attitude 1, avoiding interference position/attitude 2) based on method in the past.
Relative with it, under the situation of using method of the present invention, select the θ 5 of avoiding interference position/attitude according to the symbol of the θ 5 that calculates starting position/attitude, will be from the θ 4 of avoiding interference position/attitude with θ's 6 with deduct the value of calculating starting position/attitude and be used as θ 6.Can confirm that the attitude value of avoiding interference position/attitude of computing like this and the attitude value of avoiding interference position/attitude significantly change.
As mentioned above, owing between initial position and target location, prevent to obtain avoiding interference position/attitude successively in the bigger rotation of joint shaft, therefore can generate practical path of motion.
It is not the special attitude of wrist (based on the 5th 204 special attitude), and during near the attitude obtaining shoulder special attitude, the special attitude of elbow, surpass by suitable setting special attitude the border joint shaft axle value and under special attitude, become the axle value of the joint shaft of underrange, can generate the path of practicality.
Should think that whole aspects of this disclosed embodiment are not limited to illustration.Scope of the present invention is not by above-mentioned explanation but represented by the scope of patent request, comprises the meaning that is equal to mutually with the scope of patent request and the whole change in the scope yet.
Claims (2)
1. the actuation path generating method of an articulated robot, it is following path of motion calculation method, promptly, when the articulated robot of axle that possesses many link rods and link this link rod is mobile between the moving target position of the initial point that is connected on second operation of carrying out after described first operation as the mobile starting position of the first operation terminal point and conduct, whether judgement exists Gan Wataru in described articulated robot, and calculate the path of motion of this articulated robot, the actuation path generating method of described articulated robot is characterised in that, comprising:
In the attitude of having calculated the articulated robot that is in mobile starting position and when being in path of motion between the attitude of articulated robot of moving target position, judge whether described articulated robot takes the determining step of special attitude;
Be judged as in described determining step when taking special attitude, the axle that selection makes articulated robot become the joint shaft of special attitude is selected step;
For the joint shaft that described axle selects step to select, specify its value from the outside, so that articulated robot is comprising the given step that can move smoothly on the path of motion of described special attitude;
Use the axle value of described given step appointment, calculate the path of the path of motion of articulated robot and calculate step.
2. the actuation path generating method of articulated robot according to claim 1 is characterized in that,
In described given step, when described articulated robot is positioned near special attitude, with fixed value or be no more than the axle value that the value on the border of special attitude is given the joint shaft that makes described articulated robot become special attitude,
Exist under the situation of other joint shaft that becomes underrange following giving of value of described axle, provide the interpolate value that the attitude according to the articulated robot of the front and back position of special attitude obtains as a value of this other joint shaft.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009052147A JP5283541B2 (en) | 2009-03-05 | 2009-03-05 | Robot motion path generation method |
| JP2009-052147 | 2009-03-05 |
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| CN101823260A true CN101823260A (en) | 2010-09-08 |
| CN101823260B CN101823260B (en) | 2013-02-13 |
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| CN (1) | CN101823260B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103419190A (en) * | 2012-05-15 | 2013-12-04 | 库卡实验仪器有限公司 | Method for determining possible positions of a robot arm |
| WO2017206504A1 (en) * | 2016-06-03 | 2017-12-07 | 广州视源电子科技股份有限公司 | Method and system for configuring motion path of robotic arm |
| CN108527375A (en) * | 2017-03-03 | 2018-09-14 | 欧姆龙株式会社 | Control system, controller, control method and record media |
| CN110248775A (en) * | 2017-06-12 | 2019-09-17 | 西门子工业软件有限公司 | For instructing robot to reach to the method and system to set the goal in robot building |
| CN112292238A (en) * | 2018-06-19 | 2021-01-29 | 库卡德国有限公司 | Method and system for transferring an end effector of a robot between an end effector pose and another end effector pose |
| CN112703090A (en) * | 2019-01-15 | 2021-04-23 | 欧姆龙株式会社 | Robot control device, robot control method, and robot control program |
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| JP6238628B2 (en) * | 2013-08-06 | 2017-11-29 | キヤノン株式会社 | Robot device, robot control method, robot control program, and part manufacturing method using robot device |
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| CN105415372B (en) * | 2015-12-09 | 2017-04-12 | 常州汉迪机器人科技有限公司 | Multi-joint robot track planning method under constraint of safety space |
| JP6429977B2 (en) * | 2017-10-31 | 2018-11-28 | キヤノン株式会社 | Robot apparatus and robot control method |
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| EP4135940A4 (en) * | 2020-04-14 | 2023-10-04 | Realtime Robotics, Inc. | Configuration of robot operational environment including layout of sensors |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419190A (en) * | 2012-05-15 | 2013-12-04 | 库卡实验仪器有限公司 | Method for determining possible positions of a robot arm |
| CN103419190B (en) * | 2012-05-15 | 2017-03-01 | 库卡实验仪器有限公司 | Method for determining the possible position of robots arm |
| WO2017206504A1 (en) * | 2016-06-03 | 2017-12-07 | 广州视源电子科技股份有限公司 | Method and system for configuring motion path of robotic arm |
| CN108527375A (en) * | 2017-03-03 | 2018-09-14 | 欧姆龙株式会社 | Control system, controller, control method and record media |
| CN110248775A (en) * | 2017-06-12 | 2019-09-17 | 西门子工业软件有限公司 | For instructing robot to reach to the method and system to set the goal in robot building |
| US11370120B2 (en) | 2017-06-12 | 2022-06-28 | Siemens Industry Software Ltd. | Method and system for teaching a robot in reaching a given target in robot manufacturing |
| CN112292238A (en) * | 2018-06-19 | 2021-01-29 | 库卡德国有限公司 | Method and system for transferring an end effector of a robot between an end effector pose and another end effector pose |
| CN112292238B (en) * | 2018-06-19 | 2023-12-19 | 库卡德国有限公司 | Method and system for transferring end effector of robot between one end effector pose and another end effector pose |
| CN112703090A (en) * | 2019-01-15 | 2021-04-23 | 欧姆龙株式会社 | Robot control device, robot control method, and robot control program |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5283541B2 (en) | 2013-09-04 |
| JP2010201592A (en) | 2010-09-16 |
| CN101823260B (en) | 2013-02-13 |
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