CN106695800B - Mechanical arm motion path generation method and system - Google Patents
Mechanical arm motion path generation method and system Download PDFInfo
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- CN106695800B CN106695800B CN201710121022.7A CN201710121022A CN106695800B CN 106695800 B CN106695800 B CN 106695800B CN 201710121022 A CN201710121022 A CN 201710121022A CN 106695800 B CN106695800 B CN 106695800B
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- 230000004888 barrier function Effects 0.000 claims description 36
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- 210000000078 claw Anatomy 0.000 abstract 4
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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
- B25J9/16—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 relates to a method and a system for generating a motion path of a mechanical arm, wherein the method comprises the following steps: acquiring the distribution positions of obstacles around the mechanical arm, calculating the safe radius of the mechanical arm according to the distribution positions, and calculating the actual working radius of the mechanical arm according to the safe radius and the size of a tool claw of the mechanical arm; calculating a first intermediate point position of the movement of the mechanical arm according to the initial position of the tool claw and the actual working radius, and calculating a second intermediate point position of the movement of the mechanical arm according to the target position of the tool claw and the actual working radius; and if the target position of the tool claw is in the motion range of the current posture of the mechanical arm, generating a motion path of the mechanical arm according to the initial position, the first intermediate point position, the second intermediate point position and the target position.
Description
Technical field
The present invention relates to technical field of automatic control, more particularly to a kind of manipulator motion path generating method and are
System.
Background technique
As shown in Figure 1, working as control there are the barriers such as peripheral equipment and mechanical arm itself base in manipulator motion space
When mechanical arm processed moves to B point from A point, needs to plan the motion path of mechanical arm, make mechanical arm will be in motion process
In do not collide with barrier.
Traditional robotic arm path planning mode mainly uses artificial teaching intermediate point method, is illustrated in fig. 2 shown below, i.e., in machine
The intermediate point that the mechanical arms such as manual taught point T1, T2, T3 are run respectively in people's motion profile, to reach home B's from starting point A
Avoiding obstacles in the process.Such mode needs each track intermediate point of manual teaching, replace after mechanical arm will again teaching it is every
A intermediate point, coordinates measurement low efficiency.
Summary of the invention
Based on this, it is necessary to aiming at the problem that coordinates measurement low efficiency, provide a kind of manipulator motion path generating method
And system.
A kind of manipulator motion path generating method, comprising the following steps:
The distributing position for obtaining the barrier around mechanical arm, the safety moved according to the distributing position calculating machine arm
Radius, according to the real work radius of the radius of safety and the size computer tool arm of the tool pawl of mechanical arm；
The first intermediate point of manipulator motion is calculated according to the initial position of the tool pawl and the real work radius
Position calculates the second point midway of manipulator motion according to the target position of the tool pawl and the real work radius
It sets；
If the target position of the tool pawl is in the motion range of the mechanical arm current pose, according to the start bit
It sets, the motion path of the first mid-point position, the second mid-point position and target position generation mechanical arm.
A kind of manipulator motion path generating system, comprising:
First computing module, for obtaining the distributing position of the barrier around mechanical arm, according to the distributing position meter
The radius of safety for calculating manipulator motion, according to the reality of the radius of safety and the size computer tool arm of the tool pawl of mechanical arm
Working radius；
Second computing module, for calculating mechanical arm according to the initial position of the tool pawl and the real work radius
First mid-point position of movement calculates manipulator motion according to the target position of the tool pawl and the real work radius
The second mid-point position；
First generation module, if for the tool pawl target position the mechanical arm current pose motion range
It is interior, the movement road of mechanical arm is generated according to the initial position, the first mid-point position, the second mid-point position and target position
Diameter.
Above-mentioned manipulator motion path generating method and system, according to the movement of the distributing position calculating machine arm of barrier
Radius of safety, according to the real work radius of the radius of safety and the size computer tool arm of the tool pawl of mechanical arm, according to
The initial position of the tool pawl and the real work radius calculate the first mid-point position of manipulator motion, according to described
The target position of tool pawl and the real work radius calculate the second mid-point position of manipulator motion, and automatically generate machine
The motion path of tool arm, when distribution of obstacles changes, the distributing position of the barrier after need to only inputting change can give birth to automatically
The manipulator motion path of Cheng Xin, is not necessarily to each track intermediate point of artificial teaching, and planning efficiency is high.
Detailed description of the invention
Fig. 1 is the mechanical arm and distribution of obstacles schematic diagram of one embodiment；
Fig. 2 is the schematic diagram of the artificial teaching motion path intermediate point of one embodiment；
Fig. 3 is the manipulator motion path generating method flow chart of one embodiment；
Fig. 4 is the radius of safety and real work radius schematic diagram of one embodiment；
Intermediate point and hand-off area schematic of the Fig. 5 for one embodiment；
Fig. 6 is the manipulator motion path schematic diagram of first embodiment；
Fig. 7 is the manipulator motion path schematic diagram of second embodiment；
Fig. 8 is the structural schematic diagram of the manipulator motion path generating system of one embodiment.
Specific embodiment
Technical solution of the present invention is illustrated with reference to the accompanying drawing.
As shown in Figure 1, the present invention provides a kind of manipulator motion path generating method, it may include following steps:
S1 obtains the distributing position of the barrier around mechanical arm, according to distributing position calculating machine arm movement
Radius of safety, according to the real work radius of the radius of safety and the size computer tool arm of the tool pawl of mechanical arm；
In one embodiment, it can establish the coordinate system of mechanical arm and distribution of obstacles, it is preferable that the coordinate system is
Three-dimensional system of coordinate.The central point of mechanical arm pedestal can be set as origin by the three-dimensional system of coordinate, mutually by two on horizontal plane
Vertical direction is set as x-axis and y-axis, and vertical direction is set as z-axis.It, can be more easily to machinery by establishing coordinate system
Arm position and distribution of obstacles are described.Under the three-dimensional system of coordinate, the distributing position of the barrier can use coordinate
Form show, may include multiple coordinate values in the coordinate set, each for example, can establish a coordinate set
Coordinate value represents the position distribution of a barrier, which is represented by the form of (x, y, z).It is each for the ease of distinguishing
Each barrier can also be numbered for barrier, and the coordinate value of barrier is bound with reference numeral.
The radius of safety and real work radius are as shown in Figure 4.In figure, RmaxAnd RminRespectively indicate radius of safety most
Big value and minimum value, WRmaxAnd WRminThe maximum value and minimum value of real work radius are respectively indicated, A and B respectively indicate starting
Position and target position.The maximum value of the radius of safety can be calculated according to distribution of obstacles, can be according to point of barrier
The distance between the central point of barrier and mechanical arm pedestal around cloth position acquisition mechanical arm, according to the minimum of the distance
It is worth the radius of safety of calculating machine arm movement.It in one embodiment, can be by the minimum value r of the distanceminIt is set as the peace
The maximum value of full radius can also be less than r for one in another embodimentminNumerical value be set as the radius of safety most
Big value.The minimum value of the radius of safety can be calculated according to the size of mechanical arm pedestal.In one embodiment, it can incite somebody to action
Maximum value r of the mechanical arm pedestal each point at a distance from mechanical arm base center pointmaxIt is set as the minimum of the radius of safety
Value can also be greater than r for one in another embodimentmaxNumerical value be set as the minimum value of the radius of safety.Due to machine
The tool pawl of tool arm has certain size, and therefore, the real work radius of mechanical arm can be calculated according to following manner:
WRmax=Rmax-d；
WRmin=Rmin+d；
Wherein, d is the size of the tool pawl of the mechanical arm.
S2 is calculated among the first of manipulator motion according to the initial position of the tool pawl and the real work radius
Point position calculates the second point midway of manipulator motion according to the target position of the tool pawl and the real work radius
It sets；
In one embodiment, when the first mid-point position of calculating machine arm movement, available first straight line and institute
State the first intersection point of the corresponding border circular areas of real work radius；Wherein, the first straight line be the initial position with it is described
The straight line that the central point of the pedestal of mechanical arm is linked to be；Position where one of them first intersection point is set as the point midway
It sets.Preferably, first intersection point can be the intersection point of first straight line circle corresponding with the real work radius, such as scheme
Shown in 5.In Fig. 5, A ' is the intersection point namely the intermediate point.It, can when the second mid-point position of calculating machine arm movement
To obtain the second intersection point of second straight line border circular areas corresponding with the real work radius；Wherein, the second straight line is
The straight line that the central point of the pedestal of the target position and the mechanical arm is linked to be；By the position where one of them second intersection point
It installs as the mid-point position.Preferably, second intersection point can be the second straight line and the real work radius
The intersection point of corresponding circle, as shown in Figure 5.In Fig. 5, B ' is the intersection point namely the intermediate point.If establishing three-dimensional seat
Mark system, the coordinate of available first intermediate point and the second intermediate point in the three-dimensional system of coordinate, and save.
In one embodiment, the limitation due to the mechanical parameter of mechanical arm itself to mechanical arm, if mechanical arm is kept
Current pose possibly can not move to target position, at this point, during mechanical arm moves to target position from initial position
Need replacing right-hand man's posture.When mechanical arm replaces right-hand man's posture, need completely to stretch entire mechanical arm, the space needed
Maximum, hand-off point processing is bad to collide.Therefore, other than first mid-point position and the second mid-point position,
It may also need that hand-off position is arranged in the motion path of mechanical arm.The hand-off position can be set in hand-off region
Interior, the distance between central point of hand-off region, that is, barrier and mechanical arm pedestal is greater than the area of the maximum length of the mechanical arm
Domain.That is, if the target position of the tool pawl not in the motion range of the mechanical arm current pose, can be in hand-off region
It chooses to a little less and is used as hand-off point, obtain hand-off position；Wherein, the hand-off region is barrier and mechanical arm pedestal
The distance between central point is greater than the region of the maximum length of the mechanical arm.When maximum length, that is, the mechanical arm stretches completely
Length.Hand-off region is as shown in figure 5, C1 and C2 in figure are hand-off point, and in practical situations, the quantity of hand-off point can also be with
It is 1 or other quantity.Wherein, when judging that mechanical arm keeps current pose whether can reach target position, machine can be read
The mechanical parameter of tool arm, and the region that can be reached according to the mechanical parameter calculating machine arm current pose, if target position
Not in the area, then determine to need switching right and left hand posture.
S3, if the target position of the tool pawl in the motion range of the mechanical arm current pose, according to described
Beginning position, the first mid-point position, the second mid-point position and target position generate the motion path of mechanical arm.
Assuming that the target position of the tool pawl does not need to switch in the motion range of the mechanical arm current pose
Right-hand man's posture can be generated directly according to the initial position, the first mid-point position, the second mid-point position and target position
The motion path of mechanical arm.Assuming that the target position of the tool pawl is in the motion range of the mechanical arm current pose,
Switching right and left hand posture is needed, it can be according to calculated hand-off in the initial position, the first mid-point position and step S2
Point position generates the motion path of mechanical arm current pose, and according to the hand-off position, the second mid-point position and target
Position generates the motion path after mechanical arm switching posture.
In practical situations, due to mechanical arm special construction, need first to be promoted to Z axis the position of safe Z axis in starting point
It sets, terminal Z axis position is down to by safe Z axis again in terminal, all intermediate points are all run on safe Z axis, that is, walk one
" door " font trajectory.The position of safe Z axis can be stored in advance, and under normal circumstances, the position of safe Z axis is without often becoming
It is dynamic.When needing to change the hoisting depth of mechanical arm, the position of the safe Z axis prestored need to be only changed, without manually adjusting
Mechanical arm height.In this case it is necessary to be inserted into the centre right above an initial position in the motion path of mechanical arm
Point.Specifically, the initial position corresponding first safe altitude position can be calculated；Wherein, first safe altitude position
Set be right above the initial position, and with the vertical height of the initial position be greater than or equal to preset height value position
It sets；According to the initial position, the first safe altitude position, the first mid-point position, the second mid-point position and target position
Generate the motion path of mechanical arm.In this case it is also possible to according to first safe altitude position and the barrier
The radius of safety of distributed computer tool arm movement.At this point, the maximum value R of the radius of safetymaxIt can be calculated according to following manner:
Wherein, h is the height of safe Z axis, and l is the maximum distance of barrier and mechanical arm base center point.
Assuming that being increased at initial position to mechanical arm, as described above, then also needing in target position will be mechanical
Arm drops to former height, at this point it is possible to which an intermediate point is inserted into the surface in the target position of manipulator motion.Specifically,
The target position corresponding second safe altitude position can be calculated；Wherein, second safe altitude position is described
Right above target position, and the position with the vertical height of the target position more than or equal to the preset height value；Root
According to the initial position, the first safe altitude position, the first mid-point position, the second safe altitude position, the second point midway
Set the motion path that mechanical arm is generated with target position.
After the motion path for generating mechanical arm, manipulator motion can be controlled according to the motion path, make machinery
Arm moves to the aiming spot from the initial point position along the motion path automatically.When distribution of obstacles changes
When, distribution of obstacles only need to be reacquired, the motion path of mechanical arm can be cooked up again automatically.When mechanical arm replacement,
The mechanical parameter (such as size of tool pawl) that mechanical arm need to only be re-entered in systems, can cook up mechanical arm again automatically
Motion path.It is easy to operate without artificial teaching, it is high-efficient.
The actual motion path of mechanical arm is as shown in Figure 6 and Figure 7.Fig. 6 is not being added on vertical direction for one embodiment
Intermediate point when path schematic diagram, Fig. 7 be one embodiment be added vertical direction on intermediate point when path schematic diagram.
Dotted line indicates the motion path of mechanical arm in figure.
The invention has the following advantages that
(1) easy to operate quick, do not need manual teaching.
(2) intermediate point that intelligence insertion needs, operational efficiency are higher.
(3) planning of management Z axis, caller only need to input starting point and endpoint information automatically.
(4) whether intelligent decision needs replacing right-hand man's posture, and operational efficiency is higher.
(5) various disorders object layout is adapted to, only need to update environmental information after environmental change to use immediately.
As shown in figure 8, the present invention provides a kind of manipulator motion path generating system, it may include:
First computing module 10, for obtaining the distributing position of the barrier around mechanical arm, according to the distributing position
The radius of safety of calculating machine arm movement, according to the reality of the radius of safety and the size computer tool arm of the tool pawl of mechanical arm
Border working radius；
In one embodiment, it can establish the coordinate system of mechanical arm and distribution of obstacles, it is preferable that the coordinate system is
Three-dimensional system of coordinate.The central point of mechanical arm pedestal can be set as origin by the three-dimensional system of coordinate, mutually by two on horizontal plane
Vertical direction is set as x-axis and y-axis, and vertical direction is set as z-axis.It, can be more easily to machinery by establishing coordinate system
Arm position and distribution of obstacles are described.Under the three-dimensional system of coordinate, the distributing position of the barrier can use coordinate
Form show, may include multiple coordinate values in the coordinate set, each for example, can establish a coordinate set
Coordinate value represents the position distribution of a barrier, which is represented by the form of (x, y, z).It is each for the ease of distinguishing
Each barrier can also be numbered for barrier, and the coordinate value of barrier is bound with reference numeral.
The radius of safety and real work radius are as shown in Figure 4.In figure, RmaxAnd RminRespectively indicate radius of safety most
Big value and minimum value, WRmaxAnd WRminRespectively indicate the maximum value and minimum value of real work radius.The radius of safety is most
Big value can be calculated according to distribution of obstacles, and barrier and machine around mechanical arm can be obtained according to the distributing position of barrier
The distance between the central point of tool arm pedestal, the radius of safety moved according to the minimum value calculating machine arm of the distance.One
It, can be by the minimum value r of the distance in a embodimentminIt is set as the maximum value of the radius of safety, in another embodiment
In, r can also be less than by oneminNumerical value be set as the maximum value of the radius of safety.The minimum value of the radius of safety can be with
It is calculated according to the size of mechanical arm pedestal.It in one embodiment, can be by the mechanical arm pedestal each point and mechanical arm bottom
The maximum value r of the distance of seat central pointmaxIt is set as the minimum value of the radius of safety, it in another embodiment, can also be by one
It is a to be greater than rmaxNumerical value be set as the minimum value of the radius of safety.Since the tool pawl of mechanical arm has certain size, machine
The real work radius of tool arm can be calculated according to following manner:
WRmax=Rmax-d；
WRmin=Rmin+d；
Wherein, d is the size of the tool pawl of the mechanical arm.
Second computing module 20, for according to the tool pawl initial position and the real work radius calculating machine
First mid-point position of arm movement calculates mechanical arm fortune according to the target position of the tool pawl and the real work radius
The second dynamic mid-point position；
In one embodiment, when the first mid-point position of calculating machine arm movement, available first straight line and institute
State the first intersection point of the corresponding border circular areas of real work radius；Wherein, the first straight line be the initial position with it is described
The straight line that the central point of the pedestal of mechanical arm is linked to be；Position where one of them first intersection point is set as the point midway
It sets.Preferably, first intersection point can be the intersection point of first straight line circle corresponding with the real work radius, such as scheme
Shown in 5.In Fig. 5, A ' is the intersection point namely the intermediate point.It, can when the second mid-point position of calculating machine arm movement
To obtain the second intersection point of second straight line border circular areas corresponding with the real work radius；Wherein, the second straight line is
The straight line that the central point of the pedestal of the target position and the mechanical arm is linked to be；By the position where one of them second intersection point
It installs as the mid-point position.Preferably, second intersection point can be the second straight line and the real work radius
The intersection point of corresponding circle, as shown in Figure 5.In Fig. 5, B ' is the intersection point namely the intermediate point.If establishing three-dimensional seat
Mark system, the coordinate of available first intermediate point and the second intermediate point in the three-dimensional system of coordinate, and save.
In one embodiment, the limitation due to the mechanical parameter of mechanical arm itself to mechanical arm, if mechanical arm is kept
Current pose possibly can not move to target position, at this point, during mechanical arm moves to target position from initial position
Need replacing right-hand man's posture.When mechanical arm replaces right-hand man's posture, need completely to stretch entire mechanical arm, the space needed
Maximum, hand-off point processing is bad to collide.Therefore, other than first mid-point position and the second mid-point position,
It may also need that hand-off position is arranged in the motion path of mechanical arm.The hand-off position can be set in hand-off region
Interior, the distance between central point of hand-off region, that is, barrier and mechanical arm pedestal is greater than the area of the maximum length of the mechanical arm
Domain.That is, settable one obtains module, if the target position of the tool pawl is not in the motion range of the mechanical arm current pose
Interior, which can choose to a little less in hand-off region and be used as hand-off point, obtain hand-off position；Wherein, described to change
Hand region is the region for the maximum length that the distance between central point of barrier and mechanical arm pedestal is greater than the mechanical arm.Institute
Length when stating maximum length i.e. mechanical arm stretching completely.Hand-off region is as shown in Figure 5.Wherein, judge mechanical arm holding work as
When whether preceding posture can reach target position, the mechanical parameter of mechanical arm can be read, and according to the mechanical parameter computer
The region that tool arm current pose can reach, if target position is not in the area, judgement needs switching right and left hand posture.
First generation module 30, if for the tool pawl target position the mechanical arm current pose movement model
In enclosing, the movement of mechanical arm is generated according to the initial position, the first mid-point position, the second mid-point position and target position
Path.
Assuming that the target position of the tool pawl does not need to switch in the motion range of the mechanical arm current pose
Right-hand man's posture can be generated directly according to the initial position, the first mid-point position, the second mid-point position and target position
The motion path of mechanical arm.Assuming that the target position of the tool pawl is in the motion range of the mechanical arm current pose,
Need switching right and left hand posture, settable second generation module, for according to the initial position, the first mid-point position and
The calculated hand-off position of second computing module 20 generates the motion path of mechanical arm current pose, and according to the hand-off point
Position, the second mid-point position and target position generate the motion path after mechanical arm switching posture.
In practical situations, due to mechanical arm special construction, need first to be promoted to Z axis the position of safe Z axis in starting point
It sets, terminal Z axis position is down to by safe Z axis again in terminal, all intermediate points are all run on safe Z axis, that is, walk one
" door " font trajectory.The position of safe Z axis can be stored in advance, and under normal circumstances, the position of safe Z axis is without often becoming
It is dynamic.When needing to change the hoisting depth of mechanical arm, the position of the safe Z axis prestored need to be only changed, without manually adjusting
Mechanical arm height.In this case it is necessary to be inserted into the centre right above an initial position in the motion path of mechanical arm
Point.Specifically, the initial position corresponding first safe altitude position can be calculated；Wherein, first safe altitude position
Set be right above the initial position, and with the vertical height of the initial position be greater than or equal to preset height value position
It sets；According to the initial position, the first safe altitude position, the first mid-point position, the second mid-point position and target position
Generate the motion path of mechanical arm.In this case it is also possible to according to first safe altitude position and the barrier
The radius of safety of distributed computer tool arm movement.At this point, the maximum value R of the radius of safetymaxIt can be calculated according to following manner:
Wherein, h is the height of safe Z axis, and l is the maximum distance of barrier and mechanical arm base center point.
Assuming that being increased at initial position to mechanical arm, as described above, then also needing in target position will be mechanical
Arm drops to former height, at this point it is possible to which an intermediate point is inserted into the surface in the target position of manipulator motion.Specifically,
The target position corresponding second safe altitude position can be calculated；Wherein, second safe altitude position is described
Right above target position, and the position with the vertical height of the target position more than or equal to the preset height value；Root
According to the initial position, the first safe altitude position, the first mid-point position, the second safe altitude position, the second point midway
Set the motion path that mechanical arm is generated with target position.
After the motion path for generating mechanical arm, manipulator motion can be controlled according to the motion path, make machinery
Arm moves to the aiming spot from the initial point position along the motion path automatically.When distribution of obstacles changes
When, distribution of obstacles only need to be reacquired, the motion path of mechanical arm can be cooked up again automatically.When mechanical arm replacement,
The mechanical parameter (such as size of tool pawl) that mechanical arm need to only be re-entered in systems, can cook up mechanical arm again automatically
Motion path.It is easy to operate without artificial teaching, it is high-efficient.
The actual motion path of mechanical arm is as shown in Figure 6 and Figure 7.Fig. 6 is not being added on vertical direction for one embodiment
Intermediate point when path schematic diagram, Fig. 7 be one embodiment be added vertical direction on intermediate point when path schematic diagram.
Dotted line indicates the motion path of mechanical arm in figure.
The invention has the following advantages that
(1) easy to operate quick, do not need manual teaching.
(2) intermediate point that intelligence insertion needs, operational efficiency are higher.
(3) planning of management Z axis, caller only need to input starting point and endpoint information automatically.
(4) whether intelligent decision needs replacing right-hand man's posture, and operational efficiency is higher.
(5) various disorders object layout is adapted to, only need to update environmental information after environmental change to use immediately.
Manipulator motion path generating system of the invention and manipulator motion path generating method one of the invention are a pair of
It answers, is suitable for machinery in the technical characteristic and its advantages of the embodiment elaboration of above-mentioned manipulator motion path generating method
Arm motion path generates in the embodiment of system, hereby give notice that.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Those of ordinary skill in the art will appreciate that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program.The program can be stored in a computer readable storage medium.
The program when being executed, includes the steps that described in the above method.The storage medium, comprising: ROM/RAM, magnetic disk, CD
Deng.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of manipulator motion path generating method, which comprises the following steps:
The distributing position for obtaining the barrier around mechanical arm, according to the safety half of distributing position calculating machine arm movement
Diameter, according to the real work radius of the radius of safety and the size computer tool arm of the tool pawl of mechanical arm；
The first mid-point position of manipulator motion is calculated according to the initial position of the tool pawl and the real work radius,
The second mid-point position of manipulator motion is calculated according to the target position of the tool pawl and the real work radius；
If the target position of the tool pawl in the motion range of the mechanical arm current pose, according to the initial position,
First mid-point position, the second mid-point position and target position generate the motion path of mechanical arm；
It is further comprising the steps of:
If the target position of the tool pawl in the motion range of the mechanical arm current pose, is not chosen in hand-off region
It is used as hand-off point to a little less, obtains hand-off position；Wherein, the hand-off region is the center of barrier Yu mechanical arm pedestal
The distance between point is greater than the region of the maximum length of the mechanical arm；
The motion path of mechanical arm current pose is generated according to the initial position, the first mid-point position and hand-off position.
2. manipulator motion path generating method according to claim 1, which is characterized in that further comprising the steps of:
Movement road after generating mechanical arm switching posture according to the hand-off position, the second mid-point position and target position
Diameter.
3. manipulator motion path generating method according to claim 1, which is characterized in that according to the initial position,
The step of first mid-point position, the second mid-point position and target position generate the motion path of mechanical arm include:
Calculate the initial position corresponding first safe altitude position；Wherein, first safe altitude position is described
Right above initial position, and the position with the vertical height of the initial position more than or equal to preset height value；
According to the initial position, the first safe altitude position, the first mid-point position, the second mid-point position and target position
Generate the motion path of mechanical arm.
4. manipulator motion path generating method according to claim 3, which is characterized in that according to the distributing position meter
Calculate manipulator motion radius of safety the step of include:
The radius of safety moved according to the distributing position calculating machine arm of first safe altitude position and the barrier.
5. manipulator motion path generating method according to claim 3, which is characterized in that according to the initial position,
First safe altitude position, the first mid-point position, the second mid-point position and target position generate the motion path of mechanical arm
The step of further include:
Calculate the target position corresponding second safe altitude position；Wherein, second safe altitude position is described
Right above target position, and the position with the vertical height of the target position more than or equal to the preset height value；
According in the initial position, the first safe altitude position, the first mid-point position, the second safe altitude position, second
Between put the motion path that position and target position generate mechanical arm.
6. manipulator motion path generating method according to claim 1, which is characterized in that according to the distributing position meter
Calculate manipulator motion radius of safety the step of include:
Obtain the distance between the central point of the barrier and mechanical arm pedestal around mechanical arm；
The radius of safety moved according to the minimum value calculating machine arm of the distance.
7. according to claim 1 to manipulator motion path generating method described in 6 any one, which is characterized in that in basis
After the initial position, the first mid-point position, the second mid-point position and target position generate the motion path of mechanical arm,
It is further comprising the steps of:
Manipulator motion is controlled according to the motion path, moves mechanical arm from the initial position along the motion path
To the target position.
8. according to claim 1 to manipulator motion path generating method described in 6 any one, which is characterized in that according to institute
State tool pawl initial position and the real work radius calculate manipulator motion the first mid-point position the step of include:
Obtain the first intersection point of first straight line border circular areas corresponding with the real work radius；Wherein, the first straight line
It is the straight line that the central point of the pedestal of the initial position and the mechanical arm is linked to be；
Position where one of them first intersection point is set as first mid-point position；
The second mid-point position of manipulator motion is calculated according to the target position of the tool pawl and the real work radius
The step of include:
Obtain the second intersection point of second straight line border circular areas corresponding with the real work radius；Wherein, the second straight line
It is the straight line that the central point of the pedestal of the target position and the mechanical arm is linked to be；
Position where one of them second intersection point is set as second mid-point position.
9. a kind of manipulator motion path generating system characterized by comprising
First computing module, for obtaining the distributing position of the barrier around mechanical arm, according to the distributing position computer
The radius of safety of tool arm movement, according to the real work of the radius of safety and the size computer tool arm of the tool pawl of mechanical arm
Radius；
Second computing module, for calculating manipulator motion according to the initial position of the tool pawl and the real work radius
The first mid-point position, calculate the of manipulator motion according to the target position of the tool pawl and the real work radius
Two mid-point positions；
First generation module, if the target position for the tool pawl in the motion range of the mechanical arm current pose,
The motion path of mechanical arm is generated according to the initial position, the first mid-point position, the second mid-point position and target position；
Further include:
Obtain module, if the target position for the tool pawl not in the motion range of the mechanical arm current pose,
It is chosen in hand-off region to a little less and is used as hand-off point, obtain hand-off position；Wherein, the hand-off region is barrier and machine
The distance between central point of tool arm pedestal is greater than the region of the maximum length of the mechanical arm；
Second generation module is worked as generating mechanical arm according to the initial position, the first mid-point position and hand-off position
The motion path of preceding posture.
10. manipulator motion path generating system according to claim 9, which is characterized in that the second generation module is also used
Motion path after generating mechanical arm switching posture according to the hand-off position, the second mid-point position and target position.
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| CN201710121022.7A CN106695800B (en) | 2017-03-02 | 2017-03-02 | Mechanical arm motion path generation method and system |
| PCT/CN2017/103590 WO2018157592A1 (en) | 2017-03-02 | 2017-09-27 | Method and system for generating motion path of mechanical arm |
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| CN106695800B (en) * | 2017-03-02 | 2019-06-11 | 广州视源电子科技股份有限公司 | Mechanical arm motion path generation method and system |
| CN107457781A (en) * | 2017-07-12 | 2017-12-12 | 国机智能技术研究院有限公司 | A kind of method and system of control machine people motion |
| CN110794849B (en) * | 2019-11-28 | 2023-07-25 | 广州视源电子科技股份有限公司 | Path processing method, path processing device, robot, computer device and storage medium |
| CN111331600B (en) * | 2020-03-10 | 2021-04-30 | 库卡机器人制造（上海）有限公司 | Track adjusting method and related equipment |
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