CN105883116A - Optimization method for placement position of robot in automatic labeling system - Google Patents
Optimization method for placement position of robot in automatic labeling system Download PDFInfo
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- CN105883116A CN105883116A CN201610193684.0A CN201610193684A CN105883116A CN 105883116 A CN105883116 A CN 105883116A CN 201610193684 A CN201610193684 A CN 201610193684A CN 105883116 A CN105883116 A CN 105883116A
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- reinforcing bar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C3/00—Labelling other than flat surfaces
- B65C3/02—Affixing labels to elongated objects, e.g. wires, cables, bars, tubes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/26—Devices for applying labels
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Abstract
The invention provides an optimization method for the placement position of a robot in an automatic labeling system. Automatic labeling is conducted through a bundled reinforcing steel bar automatic labeling system based on vision. The optimization method is characterized in that the following method is adopted; firstly, by means of the theoretical knowledge of the robot kinematics, an industrial robot kinematics coordinate system is established and a fixed coordinate system is established on the end face of a reinforcing steel bar bundle, and a kinematical equation of the industrial robot is established; then, an inverse analytical solution is obtained through the kinematical equation of the industrial robot, mathematical expressions of all joint rotation angles of the tail end of the industrial robot during label taking and labeling are obtained, the mathematical expressions of the sum of the rotation angles of all joints of the industrial robot are obtained in the labeling process of each reinforcing steel bar, and summation is conducted on the expressions so that the total rotation angle of the joints of the industrial robot can be obtained when the whole bundle of reinforcing steel bars are subjected to labeling; and finally, the total rotation angle is used as an optimized target function, the placement position of the robot is optimized through an optimization algorithm within the safe range, and the optimal placement position of the industrial robot is obtained.
Description
Technical field
The present invention relates to a kind of locus optimization method, in particular for utilizing robot, bundled reinforcing bar end face is carried out
The optimization method of the robot putting position of automatic labeling.
Background technology
The work completing bundled reinforcing bar end face labeling in present steel factory mainly relies on artificial, in part iron enterprise
The most progressively use automatic labeling system, it is achieved that utilize robot that bundled reinforcing bar end face is carried out automatic labeling.Based on regarding
In the bundled reinforcing bar end face automatic labeling system felt, the installation site of robot not only affects the labeling performance of entirety, the most straight
Connecing the efficiency constraining labeling, therefore, it is highly important for being optimized the locus of robot.
Summary of the invention
For solving the problems referred to above, the present invention proposes the optimization side of robot putting position in a kind of automatic labeling system
Method, use view-based access control model bundled reinforcing bar automatic labeling system carry out automatic labeling, the locus of industrial robot is entered
Row optimizes, and to improve overall labeling efficiency, concrete method is as follows:
First, utilize the theoretical knowledge of robot kinematics, set up industrial robot kinematics coordinate system and tie end at reinforcing bar
Set up fixed coordinate system on face, utilize each link parameters of industrial robot to ask for the change between each link rod coordinate system of industrial robot
Change matrix, and utilize transformation matrix to set up the kinematical equation of industrial robot.
Then, utilize the kinematical equation of industrial robot to ask for resolving inverse solution, obtain the end pose of industrial robot
And the mathematic(al) representation between each joint rotation angle, and these expression formulas are utilized to obtain industrial machine robot end when label taking and labeling
The mathematic(al) representation of each joint rotation angle.This mathematic(al) representation is utilized to ask for industrial robot each joint during labeling and label taking
The changing value of corner, and this changing value is sued for peace, draw each joint of every reinforcing bar industrial robot in poster process
The mathematic(al) representation of corner sum, and then these expression formulas are carried out summation again draw entire bundle reinforcing bar industrial robot when labeling
The total angle of rotation in joint.
Finally, using the total angle of rotation as the object function optimized, utilize optimized algorithm that the putting position of industrial robot is existed
It is optimized in the scope of safety, obtains the optimal location that industrial robot is put so that industrial robot respectively closes when labeling
The value of the total angle of rotation of joint is minimum.
The present invention is directed to the putting position problem of industrial robot in view-based access control model bundled reinforcing bar end face automatic labeling system
Propose a kind of optimization method, solve the best spatial location of industrial robot, shorten the time of industrial robot labeling,
Improve the efficiency of labeling, provide reason for the placement of industrial robot in view-based access control model bundled reinforcing bar end face automatic labeling system
The guidance of opinion property.
Accompanying drawing explanation
Fig. 1 is the structure diagram of the automatic labeling system that the inventive method uses；
Fig. 2 is the coordinate system of the automatic labeling system that the inventive method uses；
Fig. 3 is the fitness curve chart that the inventive method population calculates.
Specific embodiment
The present invention is applicable to the bundled reinforcing bar automatic labeling system of the view-based access control model shown in Fig. 1, and package unit includes positive and negative
Pressure supplies pressure device 1, machine vision device 2, supplies device for mark 3, automatic labeling device 4.
Its main poster process is: the first industrial robot in automatic labeling device 4 moves and makes its end of installation
Vacuum cup moves to the surface of adhesive label the most printed on label machine, then industrial robot vertically to
Lower movement, makes vacuum cup contact with label and utilizes positive/negative-pressure to suck label for the negative pressure of pressure device 1 generation.After sucking label
The vacuum cup of industrial machine robot end is quickly moving toward bundled reinforcing bar with label vertical away from after label machine one segment distance
The dead ahead of end face, and make label center and overlap with the reinforcing steel bar center treating labeling.The end of industrial robot is the most close
Reinforcing bar end face, makes label make label paste on the reinforcing bar end face specified with reinforcing bar end contact compression.Afterwards for pressure device 1
Thering is provided a kind of positive air pressure, positive air pressure acts on label by vacuum cup, makes label cement.Last industrial robot is again along straight
Line away from reinforcing bar end face, away from returning to the surface of label machine after a segment distance with prestissimo, takes off a label.
In whole labeling system, the end face of reinforcing bar bundle is through arranging the arrangement of station, and the end face of each reinforcing bar can be basic
Upper holding is concordant, and after arrangement, reinforcing bar bundle relies on carrier chain to carry out horizontal feeding, and in an ideal case, the end face of reinforcing bar bundle is flat
Neat.For ease of solving, reinforcing bar in the ideal situation can be tied and be analyzed, and solve robot on this basis
Best placement.
Order reinforcing bar end face ideally is as Xu-YuPlane, with the reinforcing bar bundle center of circle ideally as initial point, steel
Muscle bracing frame horizontal positioned, horizontal direction is XuAxially the right side is just, vertical direction is YuUpper is just, and sets up user with this
Coordinate system.With the robot base center of circle as initial point, the X of robot0The direction that axle is perpendicular to reinforcing bar bundle is horizontally disposed to the left for just,
The Z of robot0Axle is just straight up, and sets up robot coordinate system as shown in Figure 2 with this.
The modal diameter of reinforcing bar that steel mill produces is 30-50mm, selects the steel of a diameter of 50mm that yield is bigger here
Muscle and the as shown in Figure 2 preferable basis put as robot putting position optimization design.Ideally can try to achieve each reinforcing bar
Central point coordinate under base coordinate system, concrete coordinate figure is as shown in table 1.
Table 1 reinforcing bar end face centre coordinate
| Reinforcing bar label | X | Y | Z | Reinforcing bar label | X | Y | Z |
| 1 | -50 | 86 | 0 | 11 | 50 | 0 | 0 |
| 2 | 0 | 86 | 0 | 12 | 100 | 0 | 0 |
| 3 | 50 | 86 | 0 | 13 | -75 | -43 | 0 |
| 4 | -75 | 43 | 0 | 14 | -25 | -43 | 0 |
| 5 | -25 | 43 | 0 | 15 | 25 | -43 | 0 |
| 6 | 25 | 43 | 0 | 16 | 75 | -43 | 0 |
| 7 | 75 | 43 | 0 | 17 | -50 | -86 | 0 |
| 8 | -100 | 0 | 0 | 18 | 0 | -86 | 0 |
| 9 | -50 | 0 | 0 | 19 | 50 | -86 | 0 |
| 10 | 0 | 0 | 0 |
Labelling machines people at least needs 5 degree of freedom, and the 6 of selection universal robots company are freely as the presently preferred embodiments
Degree industrial robot UR5, the end in UR5 robot is provided with slidably vacuum cup, if reinforcing bar end face is uneven, can slide
Dynamic vacuum cup can carry out a length of 270mm of position compensation, vacuum cup and support thereof, its maximum compression to reinforcing bar end face
Stroke is 80mm.Can set UR5 robot when labeling the maximum sliding distance of vacuum cup as 60mm, say, that resonable
Think that under state, UR5 robot vacuum cup when labeling will have the compression travel of 60mm.In view of overall safety, UR5 machine
The vacuum cup of device robot end contact reinforcing bar end face before 40mm place UR5 robot start with move along a straight line to carry out labeling, this
Sample, the UR5 robot linear motion distance when labeling is 100mm.Owing to whole system is to be positioned by machine vision,
And the video camera in Vision Builder for Automated Inspection is in the dead ahead of entire bundle reinforcing bar, in order to prevent robot from sheltering from machine vision,
Therefore UR5 robot is placed in the side of reinforcing bar bundle, its forms of motion of left side and right side that UR5 robot is placed on reinforcing bar is similar,
Native system places it in the right side of reinforcing bar.In poster process, the too high robot that easily causes of UR5 robot location is sent out with support
Raw collision, can be equal to its height value or slightly above reinforcing bar entirety peak.In order to prevent reinforcing bar in course of conveying with
Robot collides, and can arrange a safe distance, to improve the safety of whole system.Owing to UR5 needs when labeling
With linear motion, and cause safe shutdown when some specific position owing to it is in singular point, and should in industry spot
Doing one's utmost to avoid the generation of this situation, therefore the placement of UR5 should avoid singular position.The external structure of comprehensive UR5 robot with
And working method, the UR5 robot base central point z-axis distance at least 500mm away from reinforcing bar end face can be drawn.So in ideal
The position range that can primarily determine that UR5 robot under state is: 225 < x < 750 ,-400 < y < 200,500 < z < 815.
The D-H parameter list of each connecting rod of UR5 robot is as shown in table 2.
The D-H parameter list of table 2 UR5 robot
The expression formula utilizing the transformation matrix A that each connecting rod D-H parameter list can try to achieve UR5 robot is:
Then the transformation matrix of each connecting rod of robot is:
,,,,
,,,
In formula, si=sinθi, ci=cosθi, the most in like manner.A0It it is the conversion square between robot coordinate system and base coordinate system
Battle array, utilizes A0Can determine that the optimal location that robot is installed in whole system.
Utilize above-mentioned transformation matrix can obtain Method of Calculation of Robotic Movements:
(1)
Wherein:
nx=s6s234c1-c6s1s5-c1c234c5c6；
ox=s6s1s5+c1c5s6c234+c1c6s234 ；
ax=s5c1c234-s1c5；
px=x-d4s1-a2c1c2-d6c5s1-d5c1s234+d6s5c1c234-a3c1c23；
ny=s6c234+c5c6s234；
oy=c6c234-c5s6s234；
ay=-s5s234；
py=y+a2s2+a3s23-d6s5s234-d5c234+d1；
nz=-c1c6s5+c5c6s1c234-s1s6s234；
oz=c1s5s6-c5s1s6c234-c6s1s234；
az=-s1s5c234-c1c5；
pz=z-d4c1-d6c1c5+a2c2s1+d5s1s234-d6s1s5c234+a3s1c23。
In formula, s234=sin(θ2+θ3+θ4)、c234=cos(θ2+θ3+θ4)、c23=cos(θ2+θ3)、s23=sin(θ2+θ3), x, y, z
For robot at the coordinate figure of base coordinate system, the most in like manner.
Robot inverse kinematics is the anti-corner solving each joint in the case of known machine robot end pose obtains.Here profit
The analytic solutions of the inverse kinematics of UR5 robot are asked for by the separation of variable in analytic method.
First, the end pose in base coordinate Xi Zhong robot is as shown in formula (1), utilizesPremultiplication (1):
(2)
Arranged equal from the third line the 3rd of (2):
c5=-azc1-axs1 (3)
(3) are brought into the third line the 4th row equation of (2), and its abbreviation can be obtained:
(82.5ax-px+x)s1+(82.5az-pz+z)c1=109.3 (4)
Can make, r is brought into (4) abbreviation and then solves θ1Expression formula be:
By θ1Expression formula bring (3) into and can obtain:
By (2) the third line first row and secondary series is equal and abbreviation can obtain:
Arranged equal abbreviation by the second row secondary series and the 3rd of (2) can obtain:.Thus can obtain:
Arranged by the first row the 4th of (2) and the second row the 4th row be equal and abbreviation can obtain:
(5)
(6)
Order；。
A, b are brought into (5), (6) abbreviation to two formula summed square get Ke get:
By θ3Value bring into (2) second row the 4th row can obtain:
(7)
Order, by r1Bring in (7) and abbreviation can obtain:
And then θ can be tried to achieve4Value be:
In the present system, the anti-object pose solved of UR5 robot includes the UR5 robot anti-solution when labeling and UR5 machine
The people's anti-solution when label taking.For the ease of distinguishing, use θ hereinijRepresent the angle in each joint of UR5 robot.Wherein: i represents UR5
The duty of robot, wherein: i=1 represents state when UR5 robot is in labeling；I=2 represents that UR5 robot is in and takes
The state of timestamp.Which joint j represents, the value of j is 1-6, and it represents first to the 6th pass of UR5 robot respectively
Joint, the most in like manner.
UR5 robot is when labeling, and the position of its end is the center of every reinforcing bar, and attitude is the end of vertical reinforcing bar
Face, such UR5 robot its pose when labeling determines that.Owing to ideally reinforcing bar end face is generally flush with, and its
On base coordinate X-Y plane, thus can draw UR5 robot pose of label when labeling.Length due to vacuum cup
For 270mm, its maximum sliding stroke is 80mm, and can make compression travel during vacuum cup labeling in the ideal situation is 60mm,
Thus can draw UR5 robot pose of its end when labeling:
Wherein, px、pyFor each reinforcing steel bar center coordinate in user coordinate system, its occurrence is as listed in Table 1.Utilize above
The anti-expression formula that solves can try to achieve the UR5 robot expression formula when labeling:
；
；
；
；
；
；
Wherein,；；；。
Label is to be printed by label machine, and UR5 robot first UR5 end when label taking is just being parked in label
Top, moves the most straight down, until vacuum cup contacts with label, by negative pressure absorbing label.Label machine is placed
Tying RC lower section in reinforcing bar, its space coordinates is (0 ,-300,600).During label taking, vacuum cup is without compression, it is contemplated that
The length of vacuum cup, therefore during UR5 robot label taking, the pose of its end is:
This pose is brought into above-mentioned expression formula can solve the anti-expression formula that solves in each joint of robot and be:
；
；
；
；
；
。
Wherein,；；；。
Particle swarm optimization algorithm (Particle Swarm Optimization, PSO) is a kind of based on biological phenomenon proposition
A kind of optimized algorithm, its principle is simple, it is easy to accomplish, cause the extensive concern of scholars, and achieve substantial amounts of research
Achievement.The mathematical notation method of population is as follows:
If PSO initializes n particle, in optimizing iteration, the position of i-th particle is Xi, i-th particle iteration up to now
The i.e. individual extreme value of optimal location be Pi, the speed of i-th particle is Vi, whole population to optimal velocity up to now is i.e.
Global extremum is Gi.In particle swarm optimization algorithm, each particle has an adaptive value having optimised function to determine, and
And each particle both knows about individual extreme value P of oneselfi, global extremum Gi, and the current location X of particlei, the most each particle is pressed
Formula below converts:
(8)
(9)
Wherein, w is inertia weight, is a constant, and under Different Strategies, w has different changes, the change of usual inertia weight
Strategy linear decreasing strategy, immobilize strategy and concave function decreasing strategy；c1、c2For Studying factors, be also one often
Number, c under normal circumstances1=c2=2, in most of the cases 0 < c1=c2<4；Rand () is a random number between (0,1).?
In iterative process, the position span of particle is [xmin,xmax], particle is constantly updated in span, iteration, finally asks
Take optimum.
Original position and the initial rate of particle randomly generate, then according to above-mentioned iterative formula (8), (9) carry out speed
Degree and position iteration, and calculate the fitness of each particle, find out optimum position and the global optimum position of each particle, directly
Complete to seek to optimal solution to iteration.
Use particle swarm optimization algorithm that the basic thought that UR5 robot locus is optimized is follow each joint to turn
Angle sum minimum optimal searching principle.Owing to UR5 is in actual work process, the corner in each joint may be on the occasion of, it is also possible to for
Negative value, if directly sued for peace the corner in each joint, the value finally tried to achieve is not inconsistent with the value of actual rotational angle, the most in the calculation
The corner in each joint is taken its absolute value, i.e. utilizes the optimizing ability of particle swarm optimization algorithm to solve x, y and z tri-of robot
The optimal value of coordinate, so that the corner sum in each joint of UR5 robotMinimum.
The number of Population Size is set to 150；Iterations is 50 times；Optimizing function is:, its
Middle n is the radical of a bundle reinforcing bar；And the position range of UR5: 225 < x < 750；-400<y<200；500<z<815.Carry it into
In PSO optimizing program, can show that fitness is with iterations relation curve as shown in Figure 3.
Can be found out by Fig. 3, particle fitness after successive ignition achieves stable minima, is computed understanding machine
The coordinate of people is (225,102.25,767.11), and each joint minimum corner sum is 11516 °.
Claims (2)
1. the optimization method of robot putting position in automatic labeling system, uses the bundled reinforcing bar automatic labeling system of view-based access control model
That unites carries out automatic labeling, it is characterised in that adopts with the following method: first, utilizes the theoretical knowledge of robot kinematics, sets up
Industrial robot kinematics coordinate system and reinforcing bar bundle end face on set up fixed coordinate system, utilize each connecting rod of industrial robot to join
Number asks for the transformation matrix between each link rod coordinate system of industrial robot, and utilizes transformation matrix to set up the motion of industrial robot
Learn equation；Then, utilize the kinematical equation of industrial robot to ask for resolving inverse solution, obtain the end pose of robot and each pass
Mathematic(al) representation between joint corner, and utilize these expression formulas to obtain industrial machine robot end each joint when label taking and labeling
The mathematic(al) representation of corner, utilizes this mathematic(al) representation to ask for industrial robot each joint rotation angle during labeling and label taking
Changing value, and this changing value is sued for peace, draw each joint of every reinforcing bar industrial robot in poster process corner it
The mathematic(al) representation of sum, and then these expression formulas are sued for peace draw entire bundle reinforcing bar industrial robot joint when labeling again
The total angle of rotation；Finally, using the total angle of rotation as the object function optimized, utilize optimized algorithm to the putting position of robot in safety
In the range of be optimized, obtain the optimal location that industrial robot is put so that industrial robot each joint total when labeling
The value of corner is minimum.
The optimization method of robot putting position in automatic labeling system the most according to claim 1, it is characterised in that: excellent
Change algorithm and use particle cluster algorithm.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113807488A (en) * | 2021-10-05 | 2021-12-17 | 河北科技大学 | Method for optimizing spatial position of labeling robot system component |
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Effective date of registration: 20210618 Address after: No.289 Minjiang Road, hi tech Development Zone, Shijiazhuang, Hebei Province 050020 Patentee after: HEBEI FORWARD MACHINERY PLANT Address before: 050018 No. 70 East Yuhua Road, Hebei, Shijiazhuang Patentee before: HEBEI University OF SCIENCE AND TECHNOLOGY |