CN105415363B - Robot singular point processing method - Google Patents
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- CN105415363B CN105415363B CN201510992864.0A CN201510992864A CN105415363B CN 105415363 B CN105415363 B CN 105415363B CN 201510992864 A CN201510992864 A CN 201510992864A CN 105415363 B CN105415363 B CN 105415363B
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- 238000003672 processing method Methods 0.000 title claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims abstract description 170
- 238000004422 calculation algorithm Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 13
- 230000007704 transition Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 description 7
- 238000012897 Levenberg–Marquardt algorithm Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a displacement device, a robot and a robot singular point processing method, wherein the displacement device comprises the following steps: a first displacement rod (8) for connecting an end flange (9) of the robot and linearly moving the end flange (9) therealong; a second displacement rod (7) which moves linearly along the first displacement rod (8); a third displacement rod (6) which moves linearly along the second displacement rod (7) and is used for connecting the driving end of the robot main body; the direction of linear movement of the end flange (9) relative to the first displacement rod (8), the direction of linear movement of the first displacement rod (8) relative to the second displacement rod (7) and the direction of linear movement of the second displacement rod (7) relative to the third displacement rod (6) are perpendicular to one another. The displacement device provided by the invention improves the working accuracy of the robot and avoids the problem that the robot has too high speed at a singular point.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a singular point processing method of a robot.
Background
Industrial robots are one of the important components in industrial automation systems. The method for processing singular points of an industrial robot is one of the most important technologies in robot application technology. The singular point problem is a technical point which is inevitably met by the industrial robot, once the robot meets the state of the singular point, the robot has the phenomenon that the joint movement speed is suddenly increased, so that the robot is stopped and even the production safety problem is caused, and the control technology of the robot needs to avoid or process the singular point.
The singular point state is not only at the singular point position, but also in the area around the singular point, the problem of excessive joint movement speed is caused. The closer the position is to the singular point, the greater the joint movement speed. In the running process of the robot, when the joint movement speed is too high, the robot needs to perform deceleration action and even needs to be stopped, so that the influence is large.
At present, a commonly used singular point transition method is a DLS (Damped least-square) method, and during the singular point transition process, an accumulated error is inevitably brought, so that the working precision of the robot is reduced. Patent document CN103802114A discloses a singular point processing method and device for an industrial robot. However, when the robot moves to the area around the singular point without moving to the singular point threshold, there is still a problem that the speed is too fast to cause a halt error.
Therefore, how to improve the accuracy and avoid the problem of too fast speed occurring at the singular point is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of this, the present invention provides a displacement device, which improves the accuracy and avoids the problem of too fast speed occurring at the singular point. The invention also discloses a robot with the displacement device and a robot singular point processing method.
In order to achieve the purpose, the invention provides the following technical scheme:
a displacement device, comprising: a first displacement rod for connecting an end flange of a robot and linearly moving the end flange therealong; a second displacement rod linearly moving along the first displacement rod; a third displacement rod linearly moving along the second displacement rod for connecting the driving end of the robot main body;
the direction of linear movement of the end flange relative to the first displacement rod, the direction of linear movement of the first displacement rod relative to the second displacement rod, and the direction of linear movement of the second displacement rod relative to the third displacement rod are mutually perpendicular.
Preferably, in the above-mentioned displacement device, two of the third displacement rod, the second displacement rod and the first displacement rod are slide rails, and the remaining one is a linear expansion device.
Preferably, in the above-described displacement device, the third displacement rod and the second displacement rod are slide rails; the second displacement rod is arranged on the third displacement rod in a sliding mode;
the first displacement rod is a linear telescopic device and is arranged on the second displacement rod in a sliding mode, and the driving end of the first displacement rod is connected with the end flange.
Preferably, in the above displacement device, the linear expansion device is a linear motor or an air cylinder.
The invention also provides a robot, which comprises a robot main body, a tail end flange and the displacement device, wherein the displacement device comprises a displacement device body and a tail end flange;
the tail end flange is connected with the first displacement rod, and the driving tail end of the robot main body is connected with the third displacement rod.
Preferably, in the robot, the robot main body includes a base, a first link, a second link, a third link, a fourth link, and a fifth link, which are sequentially connected by a joint;
and one end of the fifth connecting rod, which is far away from the fourth connecting rod, is a driving tail end of the robot main body.
Preferably, in the robot, the end flange is provided with a plurality of mounting holes for mounting a tool.
The invention also provides a robot singular point processing method, which is applied to the displacement device of any one of the above and comprises the following steps:
1) rotating the joint of the robot to an initial angle position, and starting to operate a linear motion program instruction of the robot;
2) judging whether the robot enters a singular point area or not, and if so, entering the next step; if not, the robot continues to move normally;
3) on the premise of not considering the displacement device, calculating the required motion angle of the next interpolation cycle of the robot rotary joint by using a singular point transition algorithm:
solving to obtain the current motion position p of the tail end of the robot1To a predetermined position p2Motion vector between
4) Calculating the end of the robot from an initial position p1To a moving target position p3Motion vector requiring linear motionThe motion vector of the compensated motion is
Will be provided withDecomposed into three mutually perpendicular directions of movement distance
Controlling the first displacement rod, the second displacement rod and the third displacement rod of the displacement device to respectively perform linear motion with the motion distances d7、d8And d9；
Planning a track according to an interpolation period and an interpolation algorithm, and sending an interpolation signal to an actuator for movement;
5) judging whether the robot leaves a singular point area: if the singular point area is not left, entering the step 3); if the user leaves the singular point area, the next step is carried out;
6) the singular point processing is ended.
Preferably, in the above singular point processing method for a robot, a step 56) is further included between the step 5) and the step 6):
and after the robot leaves the singular point area to normally move, setting the moving distance on the displacement device to return to zero.
Preferably, in the singular point processing method for a robot, the moving distance on the displacement device is set to zero by:
561) according to the movement distance of the linear guide rails on the first displacement rod, the second displacement rod and the third displacement rodAndcomputing
562) From the current movement position p5To a moving target position p6Motion vector ofEnd movement position p of robot without considering displacement device4To position p6Has a motion vector of
563) And planning a track according to the interpolation period and the interpolation algorithm, and sending an interpolation signal to the actuator for movement.
According to the technical scheme, the displacement device provided by the invention has the advantages that the first displacement rod, the second displacement rod and the third displacement rod are arranged, so that the three linear motion directions which are perpendicular to each other are realized, a space displacement mode is realized, the robot can conveniently perform compensation motion in a singular point transition process, the working accuracy of the robot is improved, and the problem that the robot is too fast at the singular point is solved.
The invention also provides a robot and a robot singular point processing method thereof, which have the same technical effects as the displacement device and are not described in detail herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a singular point processing method of a robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a structure for compensating motion according to an embodiment of the present invention;
FIG. 4 is an exploded view of a motion vector for motion compensation according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a zeroing motion of the displacement device according to the embodiment of the present invention.
Detailed Description
The invention discloses a displacement device, which improves the accuracy and avoids the problem of over-high speed at a singular point. The invention also discloses a robot with the displacement device and a robot singular point processing method.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention.
An embodiment of the present invention provides a displacement device, including: a first displacement rod 8 for connecting an end flange 9 of the robot and linearly moving the end flange 9 therealong; a second displacement rod 7 linearly moving along the first displacement rod 8; a third displacement rod 6 linearly moving along the second displacement rod 7 for connecting the driving end of the robot main body; the direction of linear movement of the end flange 9 relative to the first displacement rod 8, the direction of linear movement of the first displacement rod 8 relative to the second displacement rod 7 and the direction of linear movement of the second displacement rod 7 relative to the third displacement rod 6 are perpendicular to each other.
According to the displacement device provided by the embodiment of the invention, the first displacement rod 8, the second displacement rod 7 and the third displacement rod 6 are arranged, so that the displacement device has three mutually perpendicular linear motion directions, a spatial displacement mode is achieved, the robot can conveniently perform compensation motion in a singular point transition process, the working accuracy of the robot is improved, and the problem that the robot is too fast at a singular point is solved.
In this embodiment, two of the third displacement rod 6, the second displacement rod 7 and the first displacement rod 8 are slide rails, and the remaining one is a linear expansion device. Through the arrangement, the movement directions of the two slide rails are perpendicular to the telescopic movement direction of the other linear telescopic device, and the linear movement mutual interference of the three directions is avoided. Of course, the third displacement rod 6, the second displacement rod 7 and the first displacement rod 8 may be provided as slide rails; or, all are arranged as linear telescopic devices; or two of the two are arranged into linear telescopic devices, and the rest is a slide rail.
The third displacement rod 6 and the second displacement rod 7 are slide rails; the second displacement rod 7 is arranged on the third displacement rod 6 in a sliding manner; the first displacement rod 8 is a linear telescopic device, is slidably disposed on the second displacement rod 7, and has a driving end connected to the end flange 9. That is, the second displacement rod 7 is slidably disposed on the third displacement rod 6, the first displacement rod 8 is slidably disposed on the second displacement rod 7, and the end flange 9 is driven by the first displacement rod 8 to move telescopically along the extending direction of the first displacement rod 8. With the above arrangement, the third displacement rod 6, the second displacement rod 7, and the first displacement rod 8 are further prevented from interfering with each other. The second displacement rod 7 and the first displacement rod 8 can be set as sliding rails, and the third displacement rod 6 can be set as a linear telescopic device; alternatively, the third displacement rod 6 and the first displacement rod 8 are provided as slide rails, and the second displacement rod 7 is provided as a linear expansion device. Will not be described in detail herein and are within the scope of protection.
Preferably, the linear expansion device is a linear motor or a cylinder. Through the arrangement, the automatic adjustment linear telescopic device can automatically adjust the telescopic motion, and the automation degree and the convenience degree are effectively improved. The telescopic rod can be arranged as a telescopic rod, the telescopic rod can stretch out and draw back through an external driver, and the effect of moving along the extending direction of the telescopic rod is achieved.
The embodiment of the invention also provides a robot, which comprises a robot main body, a tail end flange 9 and any one of the displacement devices; the end flange 9 is connected to the first displacement rod 8 and the driving end of the robot body is connected to the third displacement rod 6. Since the displacement device has the technical effects, the robot with the displacement device also has the same technical effects, and the description is not repeated herein.
The robot main body comprises a base 10, a first connecting rod 1, a second connecting rod 2, a third connecting rod 3, a fourth connecting rod 4 and a fifth connecting rod 5 which are sequentially connected through joints; the end of the fifth connecting rod 5 far away from the fourth connecting rod 4 is the driving end of the robot main body. That is, the robot in the embodiment of the present invention is preferably a six-axis robot.
In order to improve the versatility, the end flange 9 is provided with a plurality of mounting holes for mounting tools.
As shown in fig. 2, fig. 3 and fig. 4, an embodiment of the present invention further provides a singular point processing method for a robot, which applies any one of the displacement devices, including the steps of:
s1: rotating the joint of the robot to an initial angle position, and starting to operate a linear motion program instruction of the robot; through the arrangement, the robot moves linearly after being in the initial state. Prior to step S1, the displacement device is preferably zeroed.
S2: judging whether the robot enters a singular point area or not, and if so, entering the next step; if not, the robot continues to move normally; taking a six-axis robot as an example, the joint 5 is rotated by an angle θ5As a parameter for singular point threshold determination. When theta is5When the current value is less than the threshold value, judging that the robot enters a singular point area, and entering the next step to perform a singular point transition process; when theta is5And when the distance is larger than or equal to the threshold value, judging that the robot does not enter the singular point area, and continuing normal movement of the robot.
Before step S2, singular points are calculated.
S3: on the premise of not considering a displacement device, calculating the required motion angle of the next interpolation period of the rotary joint of the robot by using a singular point transition algorithm:
solving to obtain the current motion position p of the tail end of the robot1To a predetermined position p2Motion vector betweenThe singular point transition algorithm may be a DLS (Damped least-squares) algorithm. Of course, other singular point transition algorithms may be used, and are not described in detail herein.
S4: calculating the end of the robot from an initial position p1To a moving target position p3Motion vector requiring linear motionCalculating a motion vector for compensating the motion, the motion vector for compensating the motion beingWherein,motion vector under the action of rotation angle of robot rotation joint calculated by using singular point transition algorithmMotion vector corresponding to actual needThe difference value of (a) to (b),the movement is completed through the displacement device, thereby avoidingAndthe precision is improved due to the error.
Will be provided withDecomposed into three mutually perpendicular directions of movement distanceIt will be appreciated that the three mutually perpendicular directions correspond one-to-one to the direction of linear movement of the end flange 9 relative to the first displacement rod 8, the direction of linear movement of the first displacement rod 8 relative to the second displacement rod 7 and the direction of linear movement of the second displacement rod 7 relative to the third displacement rod 6.
The first displacement rod 8, the second displacement rod 7 and the third displacement rod 6 of the displacement control device respectively do linear motion with the motion distance d7、d8、d9(ii) a As shown in FIG. 3, d7The vector direction of (a) is the Y axis, d8The vector direction of (a) is the X axis, d9The vector direction of (a) is the Z-axis. Wherein the linear movement direction of the end flange 9 relative to the first displacement rod 8, the first displacement rod 8 relative to the second displacement rod 8The linear movement directions of the two displacement rods 7 and the linear movement direction of the second displacement rod 7 relative to the third displacement rod 6 are the X-axis, the Y-axis and the Z-axis, respectively. The linear movement distance of the end flange 9 with respect to the first displacement rod 8, the linear movement distance of the first displacement rod 8 with respect to the second displacement rod 7 and the linear movement distance of the second displacement rod 7 with respect to the third displacement rod 6 are d7、d8And d9。
Planning a track according to an interpolation period and an interpolation algorithm, and sending an interpolation signal to an actuator for movement; and the robot is enabled to complete a specified task through trajectory planning.
S5: judging whether the robot leaves a singular point area: if the singular point region is not left, the flow proceeds to step S3; if the user leaves the singular point area, the next step is carried out;
s6: the singular point processing is ended.
The robot singular point processing method provided by the embodiment of the invention combines the displacement device to achieve a spatial displacement mode so as to achieve the purpose of compensating the robot in the singular point transition process, improve the working accuracy of the robot and avoid the problem that the robot has too high speed at the singular point.
In order to facilitate the compensation motion after the displacement device, step S56 is further included between step S5 and step S6: and after the robot leaves the singular point area to normally move, setting the moving distance on the displacement device to return to zero.
As shown in fig. 5, in step S56, the moving distance on the displacement device is further reset to zero by:
s561: according to the movement distance of the linear guide rails on the first displacement rod 8, the second displacement rod 7 and the third displacement rod 6AndcomputingWherein,
s562: from the current movement position p5To a moving target position p6Motion vector ofEnd movement position p of robot without considering displacement device4To the target position p6Has a motion vector ofWherein,is the motion vector of the end of the robot.
S563: planning a track according to the interpolation period and the interpolation algorithm, sending an interpolation signal to an actuator to move, and enabling the tail end of the robot to pass through the track planningPost-arrival target position p6The displacement device is zeroed.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. A robot singularity processing method characterized in that the displacement means of the robot comprises a first displacement rod (8) for connecting the end flange (9) of the robot and moving the end flange (9) linearly along it; a second displacement rod (7) which moves linearly along the first displacement rod (8); a third displacement rod (6) which moves linearly along the second displacement rod (7) and is used for connecting the driving end of the robot main body; the direction of linear movement of the end flange (9) relative to the first displacement rod (8), the direction of linear movement of the first displacement rod (8) relative to the second displacement rod (7) and the direction of linear movement of the second displacement rod (7) relative to the third displacement rod (6) are mutually perpendicular;
the method comprises the following steps:
1) rotating the joint of the robot to an initial angle position, and starting to operate a normal movement program instruction of the robot;
2) judging whether the robot enters a singular point area or not, and if so, entering the next step; if not, the robot continues to move normally;
3) on the premise of not considering the displacement device, calculating the required motion angle of the next interpolation cycle of the robot rotary joint by using a singular point transition algorithm:
solving to obtain the current motion position p of the tail end of the robot1To a predetermined position p2Motion vector between
4) Calculating the end of the robot from an initial position p1To a moving target position p3Motion vector requiring linear motionThe motion vector of the compensated motion is
Will be provided withDecomposed into three mutually perpendicular directions of movement distance
Controlling a first displacement rod (8), a second displacement rod (7) and a third displacement rod (6) of the displacement device to respectively do linear motion with the motion distances d7、d8And d9；
Planning a track according to an interpolation period and an interpolation algorithm, and sending an interpolation signal to an actuator for movement;
5) judging whether the robot leaves a singular point area: if the singular point area is not left, entering the step 3); if the user leaves the singular point area, the next step is carried out;
6) the singular point processing is ended.
2. The method for processing singular points in a robot according to claim 1, further comprising, between the step 5) and the step 6), a step 56) of:
and after the robot leaves the singular point area to normally move, setting the moving distance on the displacement device to return to zero.
3. The robot singular point processing method of claim 2, wherein the moving distance zeroing method on the displacement device is as follows:
561) according to the movement distance of the linear guide rails on the first displacement rod (8), the second displacement rod (7) and the third displacement rod (6)Andcomputing
562) From the current movement position p5To a moving target position p6Motion vector ofEnd movement position p of robot without considering displacement device4To position p6Has a motion vector of
563) And planning a track according to the interpolation period and the interpolation algorithm, and sending an interpolation signal to the actuator for movement.
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| CN108608427B (en) * | 2018-06-05 | 2021-02-09 | 中科新松有限公司 | Singularity avoiding method and device in robot manual control traction process |
| CN113183148A (en) * | 2021-03-31 | 2021-07-30 | 成都飞机工业（集团）有限责任公司 | Industrial robot singularity-avoiding end effector connecting device and singularity-avoiding method |
| CN113305881B (en) * | 2021-05-14 | 2022-07-12 | 北京配天技术有限公司 | Singular area detection method in robot motion planning stage |
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