CN103552070A - Method for controlling robot to move firstly clockwise and then anticlockwise - Google Patents

Method for controlling robot to move firstly clockwise and then anticlockwise Download PDF

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CN103552070A
CN103552070A CN201310595427.6A CN201310595427A CN103552070A CN 103552070 A CN103552070 A CN 103552070A CN 201310595427 A CN201310595427 A CN 201310595427A CN 103552070 A CN103552070 A CN 103552070A
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CN103552070B (en
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王硕
王宇
周超
魏清平
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CHANGZHOU SCIENCE AND ART FUSION TECHNOLOGY RESEARCH INSTITUTE
Institute of Automation of Chinese Academy of Science
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CHANGZHOU SCIENCE AND ART FUSION TECHNOLOGY RESEARCH INSTITUTE
Institute of Automation of Chinese Academy of Science
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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
    • B25J9/1666—Avoiding collision or forbidden zones

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Abstract

The invention discloses a method for controlling a robot to move firstly clockwise and then anticlockwise. The method comprises steps as follows: multiple robot motion parameters are set and input; coordinates of a first center of a circle of robot motion are calculated; coordinates of a second center of a circle of robot motion are calculated; a first unit vector from the first center of the circle to the second center of the circle is calculated; an included angle between the first unit vector and the second unit vector is calculated; coordinates of a first conversion point of robot motion are calculated; coordinates of a second conversion point of robot motion are calculated; a second unit vector from the first conversion point to the second conversion point is calculated; a first turning angle of robot motion is calculated; a second turning angle of robot motion is calculated; and the robot is controlled to move firstly clockwise and then anticlockwise on the basis of parameters of a motion path. In combination of knowledge of robotology, the robot is controlled to move firstly clockwise and then anticlockwise with a coordinate rotation conversion method; and the method is simple and effective.

Description

The first clockwise another mistake hour hands motion control method of a kind of robot
Technical field
The present invention relates to Robotics field, specifically the first clockwise another mistake hour hands motion control method of a kind of robot.
Background technology
In recent years, prospecting, Target Acquisition, search for rescue, the aspect such as supervision, environmental monitoring widely application demand mobile robot technology is developed fast.Wherein, airmanship is one of core technology of studying of mobile robot, and path planning is one of basic link of navigation.Robot path planning's basic thought is to find a collisionless optimum from starting point to impact point or the path of near-optimization according to certain standard (as minimum in shortest time, energy, shortest path etc.).Path planning can be divided into global path planning and local paths planning, and the main algorithm of global path planning has Visual Graph method, grid decoupling method, probability graph method, topological approach and neural network; The main algorithm of local paths planning has Artificial Potential Field Method, random search is set (RRT) and fuzzy logic algorithm etc. fast.
Summary of the invention
The object of the invention is to propose the first clockwise another mistake hour hands motion control method of a kind of robot, to carry out robot C SC path planning, needle movement while making robot carry out the clockwise another mistake of elder generation according to the route of planning.
The first clockwise another mistake hour hands motion control method of a kind of robot that the present invention proposes comprises the following steps:
Step S1: set and input a plurality of robot motion's parameters, described kinematic parameter at least comprises: robot motion's initial point S coordinate (x s, y s), robot is at the inceptive direction unit vector Ps(p at initial point S place xs, p ys), robot motion's impact point G coordinate (x g, y g), robot is at the target direction unit vector Pg(p at impact point G place xg, p yg), and the radius of turn R that allows of robot;
Step S2: calculate robot based on initial point S, inceptive direction unit vector Ps and radius of turn R and be the coordinate (x of the first center of circle Os moving around the first center of circle Os clockwise from initial point S along inceptive direction unit vector Ps with radius of turn R os, y os);
Step S3: based target point G, target direction unit vector Pg and radius of turn R calculate robot with radius of turn R along counterclockwise move to arrive the coordinate (x of the second center of circle Og of impact point G and target direction unit vector Pg around the second center of circle Og og, y og);
Step S4: the coordinate based on the first center of circle Os and the second center of circle Og calculates the first unit vector Q (q that is pointed to the second center of circle Og by the first center of circle Os x, q y);
Step S5: calculate the angle γ between the first unit vector Q and the second unit vector W based on the first center of circle Os, the second center of circle Og and radius of turn R;
Step S6: calculate robot from moving and transfer to along the coordinate (x of the first transfer point Ws of the second unit vector W direction moving linearly clockwise around the first center of circle Os based on described the first center of circle Os, radius of turn R and the first unit vector Q ws, y ws);
Step S7: calculate robot from transfer the coordinate (x of the second transfer point Wg moving counterclockwise around the second center of circle Og to along the second unit vector W direction rectilinear motion based on described the second center of circle Og, radius of turn R and the first unit vector Q wg, y wg);
Step S8: calculate the second unit vector W (w that is pointed to the second transfer point Wg by the first transfer point Ws x, w y);
Step S9: calculate robot based on the first center of circle Os, initial point S, the first transfer point Ws and move to around the first center of circle Os the first corner α that the first transfer point Ws turns over clockwise from initial point S s;
Step S10: calculate robot from the second transfer point Wg along moving to around the second center of circle Og the second corner β that impact point G turns over counterclockwise based on the second center of circle Og, impact point G, the second transfer point Wg g;
Step S11: the motion path parameter calculating based on described step S2-S10, the clockwise rear motion counterclockwise of elder generation for robot is controlled, wherein, the first clockwise rear counterclockwise motion path of described robot is: by initial point S, with radius R, around the first center of circle Os, moved and turn over the first corner α clockwise sarrive the first transfer point Ws, by the first transfer point Ws, along the second unit vector W direction, be linearly moved to the second transfer point Wg, by the second transfer point Wg, with radius of turn R, around the second center of circle Og, move and turn over the second corner β counterclockwise garrive impact point G.
The present invention, in conjunction with robotics, has proposed a kind of elder generation clockwise another mistake hour hands motion control method, and it is specifically realized by the method for Rotating Transition of Coordinate, simple and effective.
Accompanying drawing explanation
The schematic diagram of the first clockwise another mistake hour hands motion control method of Tu1Shi robot of the present invention.
The specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
The schematic diagram of the first clockwise another mistake hour hands motion control method of Tu1Shi robot of the present invention, as shown in Figure 1, the first clockwise another mistake hour hands motion control method of a kind of robot that the present invention proposes comprises following step:
Step S1: set and input a plurality of robot motion's parameters, described kinematic parameter at least comprises: robot motion's initial point S coordinate (x s, y s), robot is at the inceptive direction unit vector Ps(p at initial point S place xs, p ys), robot motion's impact point G coordinate (x g, y g), robot is at the target direction unit vector Pg(p at impact point G place xg, p yg), and the radius of turn R that allows of robot;
Step S2: calculate robot based on initial point S, inceptive direction unit vector Ps and radius of turn R and be the coordinate (x of the first center of circle Os moving around the first center of circle Os clockwise from initial point S along inceptive direction unit vector Ps with radius of turn R os, y os);
This step is specially: first inceptive direction unit vector Ps dextrorotation is turn 90 degrees, then multiply each other with radius of turn R, then multiplied result and initial point S coordinate are added and are obtained the coordinate of the first center of circle Os.
Step S3: based target point G, target direction unit vector Pg and radius of turn R calculate robot with radius of turn R along counterclockwise move to arrive the coordinate (x of the second center of circle Og of impact point G and target direction unit vector Pg around the second center of circle Og og, y og);
This step is specially: first target direction unit vector Pg is rotated counterclockwise to 90 degree, then multiplies each other with radius of turn R, then the coordinate of multiplied result and impact point G is added and is obtained the coordinate of the second center of circle Og.
Step S4: the coordinate based on the first center of circle Os and the second center of circle Og calculates the first unit vector Q (q that is pointed to the second center of circle Og by the first center of circle Os x, q y);
This step is specially: with the coordinate of the second center of circle Og, deduct the coordinate of the first center of circle Os, more obtain the first unit vector Q by subtracting each other the length value of result divided by the first center of circle Os and the second center of circle Og point-to-point transmission.
Step S5: calculate the angle γ between the first unit vector Q and the second unit vector W based on the first center of circle Os, the second center of circle Og and radius of turn R;
This step is specially: be multiplied by R divided by the length value of the first center of circle Os and the second center of circle Og point-to-point transmission with 2, then result of calculation is carried out to arcsine obtain angle γ.
Step S6: calculate robot from moving and transfer to along the coordinate (x of the first transfer point Ws of the second unit vector W direction moving linearly clockwise around the first center of circle Os based on described the first center of circle Os, radius of turn R and the first unit vector Q ws, y ws);
This step is specially: first the first unit vector Q is rotated counterclockwise to (90-γ) degree, then multiplies each other with radius of turn R, then the coordinate of multiplied result and the first center of circle Os is added and is obtained the Ws coordinate of the first transfer point.
Step S7: calculate robot from transfer the coordinate (x of the second transfer point Wg moving counterclockwise around the second center of circle Og to along the second unit vector W direction rectilinear motion based on described the second center of circle Og, radius of turn R and the first unit vector Q wg, y wg);
This step is specially: (90+ γ) degree that first the first unit vector Q turned clockwise, then multiplies each other with radius of turn R, then the coordinate of multiplied result and the second center of circle Og is added and is obtained the coordinate of the second transfer point Wg.
Step S8: calculate the second unit vector W (w that is pointed to the second transfer point Wg by the first transfer point Ws x, w y);
This step is specially: with the coordinate of the second transfer point Wg, deduct the coordinate of the first transfer point Ws, more obtain the second unit vector W by subtracting each other the length value of result divided by the first transfer point Ws and the second transfer point Wg point-to-point transmission.
Step S9: calculate robot based on the first center of circle Os, initial point S, the first transfer point Ws and move to around the first center of circle Os the first corner α that the first transfer point Ws turns over clockwise from initial point S s;
Described step S9 is further comprising the steps:
Step S91: calculate the primary vector MS that the first center of circle Os points to initial point S: the coordinate that is subtracted the first center of circle Os by the coordinate of initial point S gets final product to obtain primary vector MS;
Step S92: calculate the secondary vector NS that the first center of circle Os points to the first transfer point Ws: the coordinate that is subtracted the first center of circle Os by the coordinate of the first transfer point Ws gets final product to obtain secondary vector NS;
Step S93: ask for the angle α between primary vector MS and secondary vector NS by anticosine;
Step S94: judgement arrives around the first center of circle Os the first corner α that the first transfer point Ws turns over clockwise from initial point S swhether be greater than 180 degree, if α sbe less than or equal to 180 degree, make α sequal α, otherwise make α sequal 2 π-α;
Described step S94 is specially:
Work as p ys< 0 and
Figure BDA0000420442940000051
time, α s=2 π-α; Work as p ys< 0 and y ws < y s - p xs p ys ( x ws - x s ) , α s＝α；
Work as p ys> 0 and
Figure BDA0000420442940000053
time, α s=2 π-α; Work as p ys> 0 and y ws > y s - p xs p ys ( x ws - x s ) , α s＝α；
Work as p ys=0 and x ws≤ 0 o'clock, α s=2 π-α; Work as p ys=0 and x ws> 0, α s=α.
Step S10: calculate robot from the second transfer point Wg along moving to around the second center of circle Og the second corner β that impact point G turns over counterclockwise based on the second center of circle Og, impact point G, the second transfer point Wg g;
Described step S10 is further comprising the steps:
Step S101: calculate the 3rd vectorial MG that the second center of circle Og points to impact point G: the coordinate that is subtracted the second center of circle Og by the coordinate of impact point G gets final product to obtain the 3rd vectorial MG;
Step S102: calculate the four-way amount NG that the second center of circle Og points to the second transfer point Wg: the coordinate that is subtracted the second center of circle Og by the coordinate of the second transfer point Wg can obtain four-way amount NG;
Step S103: ask for the angle β between the 3rd vectorial MG and four-way amount NG by anticosine;
Step S104: judgement moves to around the second center of circle Og the second corner β that impact point G turns over counterclockwise from the second transfer point Wg gwhether be greater than 180 degree, if β gbe less than or equal to 180 degree, make β gequal β, otherwise make β gequal 2 π-β;
Described step S104 is specially:
Work as p yg< 0 and
Figure BDA0000420442940000064
time, β g=β; Work as p yg< 0 and y wg < y g - p xg p yg ( x wg - x g ) Time, β g=2 π-β;
Work as p yg> 0 and time, β g=β; Work as p yg> 0 and y wg > y g - p xg p yg ( x wg - x g ) Time, β g=2 π-β;
Work as p yg=0 and x wg≤ 0 o'clock, β g=β; Work as p yg=0 and x wgduring > 0, β g=2 π-β.
Step S11: the motion path parameter calculating based on described step S2-S10, for the clockwise rear motion counterclockwise of elder generation of robot, control, wherein, described elder generation clockwise rear counterclockwise motion path parameter comprises: the first center of circle Os coordinate (x os, y os), the first transfer point Ws coordinate (x ws, y ws), from initial point S, around the first center of circle Os, move to the first corner α that the first transfer point Ws turns over clockwise s, the second unit vector W (w x, w y), the second center of circle Og coordinate (x og, y og), the second transfer point Wg coordinate (x wg, y wg), from the second transfer point Wg along moving to around the second center of circle Og the second corner β that impact point G turns over counterclockwise g.Described robot first clockwise rear counterclockwise motion path is specially: by initial point S, with radius R, around the first center of circle Os, moved and turn over the first corner α clockwise sarrive the first transfer point Ws, by the first transfer point Ws, along the second unit vector W direction, be linearly moved to the second transfer point Wg, by the second transfer point Wg, with radius of turn R, around the second center of circle Og, move and turn over the second corner β counterclockwise garrive impact point G.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.

Claims (10)

  1. The first clockwise another mistake hour hands motion control method of 1.Yi Zhong robot, is characterized in that, the method comprises the following steps:
    Step S1: set and input a plurality of robot motion's parameters, described kinematic parameter at least comprises: robot motion's initial point S coordinate (x s, y s), robot is at the inceptive direction unit vector Ps(p at initial point S place xs, p ys), robot motion's impact point G coordinate (x g, y g), robot is at the target direction unit vector Pg(p at impact point G place xg, p yg), and the radius of turn R that allows of robot;
    Step S2: calculate robot based on initial point S, inceptive direction unit vector Ps and radius of turn R and be the coordinate (x of the first center of circle Os moving around the first center of circle Os clockwise from initial point S along inceptive direction unit vector Ps with radius of turn R os, y os);
    Step S3: based target point G, target direction unit vector Pg and radius of turn R calculate robot with radius of turn R along counterclockwise move to arrive the coordinate (x of the second center of circle Og of impact point G and target direction unit vector Pg around the second center of circle Og og, y og);
    Step S4: the coordinate based on the first center of circle Os and the second center of circle Og calculates the first unit vector Q (q that is pointed to the second center of circle Og by the first center of circle Os x, q y);
    Step S5: calculate the angle γ between the first unit vector Q and the second unit vector W based on the first center of circle Os, the second center of circle Og and radius of turn R;
    Step S6: calculate robot from moving and transfer to along the coordinate (x of the first transfer point Ws of the second unit vector W direction moving linearly clockwise around the first center of circle Os based on described the first center of circle Os, radius of turn R and the first unit vector Q ws, y ws);
    Step S7: calculate robot from transfer the coordinate (x of the second transfer point Wg moving counterclockwise around the second center of circle Og to along the second unit vector W direction rectilinear motion based on described the second center of circle Og, radius of turn R and the first unit vector Q wg, y wg);
    Step S8: calculate the second unit vector W (w that is pointed to the second transfer point Wg by the first transfer point Ws x, w y);
    Step S9: calculate robot based on the first center of circle Os, initial point S, the first transfer point Ws and move to around the first center of circle Os the first corner α that the first transfer point Ws turns over clockwise from initial point S s;
    Step S10: calculate robot from the second transfer point Wg along moving to around the second center of circle Og the second corner β that impact point G turns over counterclockwise based on the second center of circle Og, impact point G, the second transfer point Wg g;
    Step S11: the motion path parameter calculating based on described step S2-S10, the clockwise rear motion counterclockwise of elder generation for robot is controlled, wherein, the first clockwise rear counterclockwise motion path of described robot is: by initial point S, with radius R, around the first center of circle Os, moved and turn over the first corner α clockwise sarrive the first transfer point Ws, by the first transfer point Ws, along the second unit vector W direction, be linearly moved to the second transfer point Wg, by the second transfer point Wg, with radius of turn R, around the second center of circle Og, move and turn over the second corner β counterclockwise garrive impact point G.
  2. 2. method according to claim 1, it is characterized in that, described step S2 is specially: first inceptive direction unit vector Ps dextrorotation is turn 90 degrees, then multiply each other with radius of turn R, then multiplied result and initial point S coordinate are added and are obtained the coordinate of the first center of circle Os.
  3. 3. method according to claim 1, it is characterized in that, described step S3 is specially: first target direction unit vector Pg is rotated counterclockwise to 90 degree, then multiplies each other with radius of turn R, then the coordinate of multiplied result and impact point G is added and is obtained the coordinate of the second center of circle Og.
  4. 4. method according to claim 1, it is characterized in that, described step S4 is specially: with the coordinate of the second center of circle Og, deduct the coordinate of the first center of circle Os, more obtain the first unit vector Q by subtracting each other the length value of result divided by the first center of circle Os and the second center of circle Og point-to-point transmission.
  5. 5. method according to claim 1, is characterized in that, described step S5 is specially: be multiplied by R divided by the length value of the first center of circle Os and the second center of circle Og point-to-point transmission with 2, then result of calculation is carried out to arcsine obtain angle γ.
  6. 6. method according to claim 1, it is characterized in that, described step S6 is specially: first the first unit vector Q is rotated counterclockwise to (90-γ) degree, then multiplies each other with radius of turn R, then the coordinate of multiplied result and the first center of circle Os is added and is obtained the Ws coordinate of the first transfer point.
  7. 7. method according to claim 1, it is characterized in that, described step S7 is specially: (90+ γ) degree that first the first unit vector Q turned clockwise, then multiplies each other with radius of turn R, then the coordinate of multiplied result and the second center of circle Og is added and is obtained the coordinate of the second transfer point Wg.
  8. 8. method according to claim 1, it is characterized in that, described step S8 is specially: with the coordinate of the second transfer point Wg, deduct the coordinate of the first transfer point Ws, more obtain the second unit vector W by subtracting each other the length value of result divided by the first transfer point Ws and the second transfer point Wg point-to-point transmission.
  9. 9. method according to claim 1, is characterized in that, described step S9 is further comprising the steps:
    Step S91: calculate the primary vector MS that the first center of circle Os points to initial point S;
    Step S92: calculate the secondary vector NS that the first center of circle Os points to the first transfer point Ws;
    Step S93: ask for the angle α between primary vector MS and secondary vector NS by anticosine;
    Step S94: judgement arrives around the first center of circle Os the first corner α that the first transfer point Ws turns over clockwise from initial point S swhether be greater than 180 degree, if α sbe less than or equal to 180 degree, make α sequal α, otherwise make α sequal 2 π-α.
  10. 10. method according to claim 1, is characterized in that, described step S10 is further comprising the steps:
    Step S101: calculate the 3rd vectorial MG that the second center of circle Og points to impact point G;
    Step S102: calculate the four-way amount NG that the second center of circle Og points to the second transfer point Wg;
    Step S103: ask for the angle β between the 3rd vectorial MG and four-way amount NG by anticosine;
    Step S104: judgement moves to around the second center of circle Og the second corner β that impact point G turns over counterclockwise from the second transfer point Wg gwhether be greater than 180 degree, if β gbe less than or equal to 180 degree, make β gequal β, otherwise make β gequal 2 π-β.
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CN110614633A (en) * 2019-08-06 2019-12-27 同济大学 Large prefabricated part assembling operation planning method

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