CN106444739A - Multi-industrial-robot virtual offline co-simulation system and method - Google Patents
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Abstract
The invention discloses a multi-industrial-robot virtual offline co-simulation system and method. The system comprises a multi-robot path planning module, a multi-robot co-movement solving module, a robot code generating module, a movement simulation interference checking module and a file saving functional module. The method comprises the steps of: 1, constructing a multi-robot virtual workstation; 2, extracting an actual machining path of robots by using workpiece numerical simulation; 3, performing robot kinematics analysis; 4, performing discrete processing on the whole path, and simulating the movement in three-dimensional software by virtual assembly; 5, outputting movement control programs of the robots in the whole movement process according to code formats of different robots; 6, repeating step 4, performing interference checking, and if interference and collision occur, performing safety prompt; and 7, saving necessary information required in the whole co-movement process. The system and the method improve the development efficiency, reduce the technical threshold, and improve the production efficiency of enterprises.
Description
Technical field
The present invention relates to industrial robot collaborative simulation technical field, more particularly, to a kind of how industry Robot Virtuals are offline
Collaborative simulation system and method.
Background technology
Develop rapidly with industrial, industrial robot is increasingly being promotion and application.Common robot is compiled
Journey has two methods, manual teaching and off-line programing, and manual teaching has low precision, the low shortcomings of efficiency, based on workpiece
These shortcomings then can be overcome with the pseudo off-line programming simulation of robot three-dimensional digital-to-analogue, realize the quick of robot complicated technology
Automated programming.Robot off-line programming emulation is one of developing direction of roboticses, and it passes through to import robot and workpiece
Digital-to-analogue is it is achieved that the Trajectory Design of robot, robot motion's emulation, interference checking and code output, it is to avoid complicated handss
Dynamic teaching process.It may appear that the situation of two or multiple stage robot synergy movement in real work station, therefore, in emulation
In, need the coordination linkage motion of multiple stage robot is solved and simulation analysis.
Both at home and abroad some researchs are carried out to industrial robot off-line simulation, many documents and patent have related introduction.
But mostly all relate only to kinematics solution and the emulation of individual machine people, the system motion being not directed to multiple robots is imitated
Very.The research also having only is studied with positioner Collaborative Control road or robot path off-line programing to robot, but
Disclose achievement at present and be all not directed to the offline synergy emulation method of multiple Robot Virtuals and systematic realizing program.
Content of the invention
For solving the above problems, the invention provides the how industrial offline collaborative simulation system of Robot Virtual, its system bag
Include：Multirobot path planning module, multirobot synergy movement solve module, robot code generation module, motion simulation
Interference checking module and file preserve functional module.
Its method includes following job step：
(1) utilize 3 d modeling software kernel, import multiple robots, positioner and workpiece three-dimensional digital-to-analogue, build multimachine
Device people's virtual workstation；
(2) utilize workpiece digital-to-analogue extraction machine people's reality processing path, using machining path coordinate and orientation, determine one
The path of the relative absolute coordinate system of main robot, obtains other robot with this path and practical work piece machining path relative exhausted
Path to coordinate system；
(3), Analysis of Kinematics for Robot, so that impact point is in the module and carriage transformation matrix of different coordinates as a example to each robot
Kinesiology solved；
(4), sliding-model control is carried out to whole path, each joint angles of robot being drawn according to kinematics solution,
In three-dimensional software, the mode using Virtual assemble carries out motion simulation；
(5), according to the code format of different machines people, the fortune of output device people each robot in whole motor process
Dynamic control program；
(6), re-execute step (4), realize the interference checking in robot kinematics, if there is interfere and touch
Hit, carry out safety instruction；
(7), required necessary information during the whole synergy movement of preservation, by system multirobot synergy movement process
In each robot path, solving result preserved, stored generating each robot and generate code simultaneously.
Further, the specific works method of described step (2) is as follows：Coordination fortune with robot (1) and robot (2)
As a example dynamic, with robot (1) coordinate system Wobj1For coordinate system, extract track A first1B1, robot (1) is in welding A1B1During
Actual path beThe actual path of robot (2) isThe relation then thoroughly doing away with motion synthesis has
Further, the specific works method of described step (3) is as follows：The transformation matrix relation of six-shaft industrial robot is such as
Shown in following formula,
WhereinRepresent the transformation matrix that connecting rod n end is with respect to connecting rod n-1 end, n represents connecting rod number, θnRepresent
Joint rotation angle,Be ring flange with respect to the 6th transformation of axis matrix,It is the conversion square that instrument TCP is relative to ring flange
Battle array,It is the transformation matrix that robot (1) axle initial point is with respect to robot base.
The kinesiology of robot can be solved by the equation, draw the angle in each joint of robot.For machine
Device people (1),
Wherein,It is the transformation matrix that workpiece coordinate system 1 is with respect to robot clamp,It is impact point in workpiece coordinate
It is 1Wobj1In position auto-control.For robot (2),
For robot (1) frame of reference and robot (2) frame of reference transformation matrix.According to above-mentioned equation, can
Obtain robot (1) and robot (2) respectively in A1The angle in each joint of point, realizes kinematics solution.
Further, the specific works method of described step (4) is as follows：According to robot links DH link parameters model and
Each joint angles, determine each joint shaft position auto-control according to the method that robot normal solution solves, that is, obtain position and direction, profit
With the mode of virtual movement, each joint of robot is rotated and translation, is realized the action emulation of robot.
Many industry offline collaborative simulation systems of Robot Virtual described in this patent and method, according to real in virtual workstation
Border machining locus, according to synergy movement and multi-shaft interlocked method, determine rail under respective work coordinate system for each robot
It is proposed that a set of multirobot pseudo off-line programming simulation method and system, it is based on robot kinematics' principle, profit for mark planning
It is modeled analyzing with verification robot workstation in three-dimensional CAD, using the robot method for solving optimizing it is achieved that industry is empty
Intend off-line simulation programming platform and emulation, robot streamline can be carried out with collision detection, the design of multimachine beat and plan, realize
The coordinated signals of multirobot；According to the absolute path of each robot, using robot kinematics' method for solving, must there emerged a
The angle in each joint of robot；Sliding-model control is carried out to whole path, makes motion simulation process more continuously smooth；Using
The method of the entity movement in 3D sculpting software, to multi-robot coordination motion carry out discretization emulation, final output each
Robot control routine.
The pseudo off-line emulation by multiple stage robot for this patent, can greatly improve multirobot linkage coroutine
Development efficiency, reduces the technical threshold of multirobot linkage, improves enterprises production efficiency.
Brief description
Fig. 1 is how industrial Robot Virtual offline collaborative simulation system schematic diagram.
Fig. 2 is the working state schematic representation of the work station of many industrial robots and workpiece composition.
Specific embodiment
As shown in figure 1, many industry offline collaborative simulation systems of Robot Virtual, its system includes：Multirobot path is advised
Draw module, multirobot synergy movement solves module, robot code generation module, motion simulation interference checking module and file
Preserve functional module.
As shown in Fig. 2 its method includes following job step：
(1) utilize 3 d modeling software kernel, import multiple robots, positioner and workpiece three-dimensional digital-to-analogue, build multimachine
Device people's virtual workstation；
(2) utilize workpiece digital-to-analogue extraction machine people's reality processing path, using machining path coordinate and orientation, determine one
The path of the relative absolute coordinate system of main robot, obtains other robot with this path and practical work piece machining path relative exhausted
Path to coordinate system；
(3), Analysis of Kinematics for Robot, so that impact point is in the module and carriage transformation matrix of different coordinates as a example to each robot
Kinesiology solved；
(4), sliding-model control is carried out to whole path, each joint angles of robot being drawn according to kinematics solution,
In three-dimensional software, the mode using Virtual assemble carries out motion simulation；
(5), according to the code format of different machines people, the fortune of output device people each robot in whole motor process
Dynamic control program；
(6), re-execute step (4), realize the interference checking in robot kinematics, if there is interfere and touch
Hit, carry out safety instruction；
(7), required necessary information during the whole synergy movement of preservation, by system multirobot synergy movement process
In each robot path, solving result preserved, stored generating each robot and generate code simultaneously.
Further, the specific works method of described step (2) is as follows：Coordination fortune with robot (1) and robot (2)
As a example dynamic, with robot (1) coordinate system Wobj1For coordinate system, extract track A first1B1, robot (1) is in welding A1B1During
Actual path beThe actual path of robot (2) isThe relation then thoroughly doing away with motion synthesis has
Further, the specific works method of described step (3) is as follows：The transformation matrix relation of six-shaft industrial robot is such as
Shown in following formula,
WhereinRepresent the transformation matrix that connecting rod n end is with respect to connecting rod n-1 end, n represents connecting rod number, θnRepresent
Joint rotation angle,Be ring flange with respect to the 6th transformation of axis matrix,It is the conversion square that instrument TCP is relative to ring flange
Battle array,It is the transformation matrix that robot (1) axle initial point is with respect to robot base.
The kinesiology of robot can be solved by the equation, draw the angle in each joint of robot.For machine
Device people (1),
Wherein,It is the transformation matrix that workpiece coordinate system 1 is with respect to robot clamp,It is impact point in workpiece coordinate
It is 1Wobj1In position auto-control.For robot (2),
For robot (1) frame of reference and robot (2) frame of reference transformation matrix.According to above-mentioned equation, can
Obtain robot (1) and robot (2) respectively in A1The angle in each joint of point, realizes kinematics solution.
Further, the specific works method of described step (4) is as follows：According to robot links DH link parameters model and
Each joint angles, determine each joint shaft position auto-control according to the method that robot normal solution solves, that is, obtain position and direction, profit
With the mode of virtual movement, each joint of robot is rotated and translation, is realized the action emulation of robot.
Embodiment described above is only that the preferred embodiment of the present invention is described, the not model to the present invention
Enclose and be defined, under the premise of without departing from design spirit of the present invention, this area ordinary skill technical staff is to the technology of the present invention side
Various modifications and improvement that case is made, all should fall in the protection domain of claims of the present invention determination.
Claims (5)
1. many industry offline collaborative simulation systems of Robot Virtual are it is characterised in that its system includes multirobot path planning
Module, multirobot synergy movement solve module, robot code generation module, motion simulation interference checking module and file and protect
Deposit functional module.
2. many industry offline synergy emulation methods of Robot Virtual are it is characterised in that its job step is as follows：
(1) utilize 3 d modeling software kernel, import multiple robots, positioner and workpiece three-dimensional digital-to-analogue, build multirobot
Virtual workstation；
(2) utilize workpiece digital-to-analogue extraction machine people's reality processing path, using machining path coordinate and orientation, determine a main frame
The path of the relative absolute coordinate system of device people, obtains with this path and practical work piece machining path that other robot is relative definitely to sit
The path of mark system；
(3), Analysis of Kinematics for Robot, so that impact point is in the module and carriage transformation matrix of the different coordinates as a example fortune to each robot
Dynamic is solved；
(4), sliding-model control is carried out to whole path, each joint angles of robot drawing according to kinematics solution, three
Carry out motion simulation using the mode of Virtual assemble in dimension software；
(5), according to the code format of different machines people, the motion control of output device people each robot in whole motor process
Processing procedure sequence；
(6), re-execute step (4), realize the interference checking in robot kinematics, if there is interfering and colliding, enter
Row safety instruction；
(7), required necessary information during the whole synergy movement of preservation, will be each during system multirobot synergy movement
Individual robot path, solving result are preserved, and are stored generating each robot generation code simultaneously.
3. many industry offline synergy emulation methods of Robot Virtual according to claim 2 are it is characterised in that described step
(2) specific works method is as follows：Taking the coordination exercise of robot (1) and robot (2) as a example, with robot (1) coordinate system
Wobj1For coordinate system, extract track A first1B1, robot (1) is in welding A1B1During actual path beMachine
The actual path of people (2) isThe relation then thoroughly doing away with motion synthesis has
4. many industry offline synergy emulation methods of Robot Virtual according to claim 2 are it is characterised in that described step
(3) specific works method is as follows：The transformation matrix relation of six-shaft industrial robot is shown below,
WhereinRepresent the transformation matrix that connecting rod n end is with respect to connecting rod n-1 end, n represents connecting rod number, θnRepresent joint
The anglec of rotation,Be ring flange with respect to the 6th transformation of axis matrix,It is the transformation matrix that instrument TCP is relative to ring flange,
It is the transformation matrix that robot (1) axle initial point is with respect to robot base, the kinesiology of robot can be entered by the equation
Row solves, and draws the angle in each joint of robot；
For robot (1),
Wherein,It is the transformation matrix that workpiece coordinate system 1 is with respect to robot clamp,It is impact point in workpiece coordinate system
1Wobj1In position auto-control；
For robot (2),
For robot (1) frame of reference and robot (2) frame of reference transformation matrix, according to above-mentioned equation, can distinguish
Obtain robot (1) and robot (2) in A1The angle in each joint of point, realizes kinematics solution.
5. many industry offline synergy emulation methods of Robot Virtual according to claim 2 are it is characterised in that described step
(4) specific works method is as follows：According to robot links DH link parameters model and each joint angles, according to robot normal solution
The method solving determines each joint shaft position auto-control, that is, obtain position and direction, using the mode of virtual movement, to robot
Each joint is rotated and translation, realizes the action emulation of robot.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107486858A (en) * | 2017-08-08 | 2017-12-19 | 浙江工业大学 | Multi-mechanical-arm collaborative offline programming method based on RoboDK |
| CN107552923A (en) * | 2017-08-30 | 2018-01-09 | 合肥工业大学 | A kind of continuous welding method of the axle of puppet seven based on six axle arc welding robots |
| CN107844630A (en) * | 2017-09-28 | 2018-03-27 | 柯马(上海)工程有限公司 | A kind of method for building up of white body welding dummy emulation system |
| CN108582068A (en) * | 2018-03-27 | 2018-09-28 | 温州大学 | A method of to breaker put together machines people carry out virtual emulation |
| CN108890184A (en) * | 2018-08-22 | 2018-11-27 | 合肥工业大学 | Coordination welding control method based on discrete six-joint robot and two axis positioners |
| CN110058875A (en) * | 2019-03-12 | 2019-07-26 | 广州明珞汽车装备有限公司 | It is a kind of for the deriving method of robot off-line program, system and storage medium |
| CN110225100A (en) * | 2019-05-22 | 2019-09-10 | 清华大学 | A kind of actual situation mapped system towards Intelligent assembly production line |
| CN110308667A (en) * | 2019-05-16 | 2019-10-08 | 广州明珞汽车装备有限公司 | A kind of method, system, device and the storage medium of automatic setting interference checking |
| CN110398967A (en) * | 2019-07-24 | 2019-11-01 | 西安电子科技大学 | A kind of multirobot collaboration trace information processing method using discretization method |
| CN111168683A (en) * | 2020-01-20 | 2020-05-19 | 吉利汽车研究院（宁波）有限公司 | Robot path interference detection method, device, medium and equipment |
| CN112405541A (en) * | 2020-11-16 | 2021-02-26 | 柳州宏德激光科技有限公司 | Laser 3D precision cutting double-robot cooperative operation method |
| CN113276112A (en) * | 2021-04-30 | 2021-08-20 | 北京卫星制造厂有限公司 | Mobile double-robot-based weak rigid member machining process planning method |
| CN113866189A (en) * | 2021-08-24 | 2021-12-31 | 上海航天精密机械研究所 | Ray digital imaging detection device based on multi-manipulator cooperation and detection method thereof |
| CN114131597A (en) * | 2021-11-24 | 2022-03-04 | 山东哈博特机器人有限公司 | Industrial robot simulation linkage method and system based on digital twinning technology |
| CN114174009A (en) * | 2019-09-30 | 2022-03-11 | 西门子（中国）有限公司 | Method, device and system for controlling robot, storage medium and terminal |
| WO2022134732A1 (en) * | 2020-12-25 | 2022-06-30 | 达闼机器人股份有限公司 | Multi-robot control method, apparatus and system, and storage medium, electronic device and program product |
| CN116652968A (en) * | 2023-07-24 | 2023-08-29 | 贵州翰凯斯智能技术有限公司 | Multi-mechanical arm collaborative online simulation method and device, electronic equipment and storage medium |
| CN117601137A (en) * | 2024-01-24 | 2024-02-27 | 海克斯康软件技术(青岛)有限公司 | Multi-robot joint control method |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107486858A (en) * | 2017-08-08 | 2017-12-19 | 浙江工业大学 | Multi-mechanical-arm collaborative offline programming method based on RoboDK |
| CN107552923A (en) * | 2017-08-30 | 2018-01-09 | 合肥工业大学 | A kind of continuous welding method of the axle of puppet seven based on six axle arc welding robots |
| CN107844630A (en) * | 2017-09-28 | 2018-03-27 | 柯马(上海)工程有限公司 | A kind of method for building up of white body welding dummy emulation system |
| CN108582068B (en) * | 2018-03-27 | 2021-07-06 | 温州大学 | Method for performing virtual simulation on circuit breaker assembly robot |
| CN108582068A (en) * | 2018-03-27 | 2018-09-28 | 温州大学 | A method of to breaker put together machines people carry out virtual emulation |
| CN108890184A (en) * | 2018-08-22 | 2018-11-27 | 合肥工业大学 | Coordination welding control method based on discrete six-joint robot and two axis positioners |
| CN108890184B (en) * | 2018-08-22 | 2020-03-17 | 合肥工业大学 | Coordination welding control method based on discrete six-axis robot and two-axis positioner |
| CN110058875A (en) * | 2019-03-12 | 2019-07-26 | 广州明珞汽车装备有限公司 | It is a kind of for the deriving method of robot off-line program, system and storage medium |
| CN110058875B (en) * | 2019-03-12 | 2023-12-12 | 广州明珞汽车装备有限公司 | Export method, system and storage medium for robot offline program |
| CN110308667A (en) * | 2019-05-16 | 2019-10-08 | 广州明珞汽车装备有限公司 | A kind of method, system, device and the storage medium of automatic setting interference checking |
| CN110225100A (en) * | 2019-05-22 | 2019-09-10 | 清华大学 | A kind of actual situation mapped system towards Intelligent assembly production line |
| CN110398967A (en) * | 2019-07-24 | 2019-11-01 | 西安电子科技大学 | A kind of multirobot collaboration trace information processing method using discretization method |
| CN114174009B (en) * | 2019-09-30 | 2023-07-21 | 西门子（中国）有限公司 | Method, device, system, storage medium and terminal for controlling robot |
| CN114174009A (en) * | 2019-09-30 | 2022-03-11 | 西门子（中国）有限公司 | Method, device and system for controlling robot, storage medium and terminal |
| CN111168683A (en) * | 2020-01-20 | 2020-05-19 | 吉利汽车研究院（宁波）有限公司 | Robot path interference detection method, device, medium and equipment |
| CN112405541B (en) * | 2020-11-16 | 2021-07-16 | 柳州宏德激光科技有限公司 | Laser 3D precision cutting double-robot cooperative operation method |
| CN112405541A (en) * | 2020-11-16 | 2021-02-26 | 柳州宏德激光科技有限公司 | Laser 3D precision cutting double-robot cooperative operation method |
| WO2022134732A1 (en) * | 2020-12-25 | 2022-06-30 | 达闼机器人股份有限公司 | Multi-robot control method, apparatus and system, and storage medium, electronic device and program product |
| CN113276112A (en) * | 2021-04-30 | 2021-08-20 | 北京卫星制造厂有限公司 | Mobile double-robot-based weak rigid member machining process planning method |
| CN113866189A (en) * | 2021-08-24 | 2021-12-31 | 上海航天精密机械研究所 | Ray digital imaging detection device based on multi-manipulator cooperation and detection method thereof |
| CN114131597A (en) * | 2021-11-24 | 2022-03-04 | 山东哈博特机器人有限公司 | Industrial robot simulation linkage method and system based on digital twinning technology |
| CN116652968A (en) * | 2023-07-24 | 2023-08-29 | 贵州翰凯斯智能技术有限公司 | Multi-mechanical arm collaborative online simulation method and device, electronic equipment and storage medium |
| CN117601137A (en) * | 2024-01-24 | 2024-02-27 | 海克斯康软件技术(青岛)有限公司 | Multi-robot joint control method |
| CN117601137B (en) * | 2024-01-24 | 2024-03-29 | 海克斯康软件技术(青岛)有限公司 | Multi-robot joint control method |
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