CN107263469B - Mechanical arm attitude compensation method and device, storage medium and mechanical arm - Google Patents
Mechanical arm attitude compensation method and device, storage medium and mechanical arm Download PDFInfo
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- CN107263469B CN107263469B CN201710380574.XA CN201710380574A CN107263469B CN 107263469 B CN107263469 B CN 107263469B CN 201710380574 A CN201710380574 A CN 201710380574A CN 107263469 B CN107263469 B CN 107263469B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The embodiment of the invention discloses a method for compensating the posture of a mechanical arm, which is used for solving the problem that the coordinate system of a control component and the coordinate system of the mechanical arm deviate when the joint of the existing mechanical arm moves. The method provided by the embodiment of the invention comprises the following steps: detecting the motion angle of the joint in real time in the process of controlling the mechanical arm to move by drawing the control component, wherein the motion angle is the angle rotated relative to the position at the previous moment when the joint moves; and correcting the corresponding relation between the coordinate system of the mechanical arm and the coordinate system of the operating component according to the motion angle. The embodiment of the invention also provides a mechanical arm posture compensation device, a storage medium and a mechanical arm.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for compensating postures of a mechanical arm, a storage medium and the mechanical arm.
Background
With the rapid industrial upgrading and the rapid technical progress of enterprises, the mechanical arm becomes an automated mechanical device widely applied in the technical field of robots, and the mechanical arm has multiple degrees of freedom, allows movement in two-dimensional or three-dimensional space, and receives control instructions to complete various operations.
Currently, the handling parts of a robot arm are mounted on joints of the robot arm. As shown in fig. 1a and 1b, the robot arm is provided with a first joint a1 and a second joint a2, the first joint a1 is attached to the robot arm base via a rotation shaft 01, the second joint a2 is attached to the first joint a1 via a rotation shaft 02, and an operation member b is attached to the tip of the second joint a 2. The user can realize the purpose of dragging the mechanical arm to move through the dragging control part b, and the use of the mechanical arm is more convenient.
However, since the corresponding relationship between the coordinate system of the manipulating part b and the coordinate system of the robot arm is pre-established when the manipulating part b is mounted on the robot arm joint, the coordinate system of the manipulating part b and the coordinate system of the robot arm may be shifted along with the movement of the robot arm joint during the use of the robot arm, and the pre-established corresponding relationship may be destroyed, so that the control of the robot arm using the manipulating part b may be inaccurate.
Disclosure of Invention
The embodiment of the invention provides a method and a device for compensating the posture of a mechanical arm, a storage medium and the mechanical arm, wherein even if the joint of the mechanical arm moves, the corresponding relation between a control component arranged on the joint and a coordinate system of the mechanical arm can be corrected in real time, the condition that the two coordinate systems deviate due to the movement of the control component can be avoided, and the accuracy of the control component for the mechanical arm is improved to a certain extent.
The gesture compensation method of the mechanical arm is applied to the mechanical arm, the mechanical arm is provided with at least one joint and a control component, and the control component is installed on the joint;
the mechanical arm posture compensation method comprises the following steps:
detecting the motion angle of the joint in real time in the process of controlling the mechanical arm to move by drawing the control component, wherein the motion angle is the angle rotated relative to the position at the previous moment when the joint moves;
and correcting the corresponding relation between the coordinate system of the mechanical arm and the coordinate system of the operating component according to the motion angle.
Optionally, the mechanical arm is provided with more than two joints, after the more than two joints are sequentially connected through a rotating shaft, one end of the joint is installed on the base of the mechanical arm through the rotating shaft, and the other end of the joint is provided with the control component;
the real-time detection of the motion angle of the joint is specifically as follows:
and detecting the motion angle of the joint where the control component is located in real time.
Optionally, the detecting, in real time, a motion angle of a joint where the manipulation component is located specifically includes:
acquiring a rotated angle of a rotating shaft of each joint in the more than two joints in real time, wherein the rotated angle is a rotated angle of the current position of the rotating shaft relative to the initial position;
and calculating the motion angle of the joint where the control component is located according to each rotated angle corresponding to each joint.
Optionally, before acquiring the rotated angle of the rotation axis of each of the two or more joints in real time, the method further includes:
and if the rotating shaft of each joint rotates, recording the rotated angle of the rotating shaft which rotates.
Optionally, comprising:
when the movement angle is an angle based on a coordinate system of the robot arm, the correcting the correspondence between the coordinate system of the robot arm and the coordinate system of the manipulation member according to the movement angle includes:
adjusting the coordinate system of the mechanical arm along the direction of the motion angle by the angle value of the motion angle; or, adjusting the coordinate system of the manipulating part by the angle value of the movement angle along the opposite direction of the movement angle;
when the movement angle is an angle based on a coordinate system of the manipulation part, the correcting the correspondence between the coordinate system of the robot arm and the coordinate system of the manipulation part according to the movement angle includes:
adjusting the coordinate system of the mechanical arm along the opposite direction of the motion angle by the angle value of the motion angle; or, adjusting the coordinate system of the manipulating part by the angle value of the movement angle along the direction of the movement angle.
According to the attitude compensation device for the mechanical arm, provided by the embodiment of the invention, the attitude compensation device for the mechanical arm is applied to the mechanical arm, the mechanical arm is provided with at least one joint and a control component, and the control component is installed on the joint;
the robot arm attitude compensation device includes:
the motion angle detection module is used for detecting the motion angle of the joint in real time in the process of controlling the mechanical arm to move by drawing the control component, wherein the motion angle is the angle rotated relative to the position at the previous moment when the joint moves;
and the coordinate system correction module is used for correcting the corresponding relation between the coordinate system of the mechanical arm and the coordinate system of the control component according to the motion angle.
Optionally, the mechanical arm is provided with more than two joints, after the more than two joints are sequentially connected through a rotating shaft, one end of the joint is installed on the base of the mechanical arm through the rotating shaft, and the other end of the joint is provided with the control component;
the motion angle detection module includes:
and the joint angle detection unit is used for detecting the motion angle of the joint where the control component is located in real time.
Optionally, the joint angle detection unit specifically includes:
a rotated angle acquiring subunit, configured to acquire, in real time, a rotated angle of a rotating shaft of each of the two or more joints, where the rotated angle is a rotated angle of a current position of the rotating shaft with respect to an initial position;
and the motion angle calculation subunit is used for calculating the motion angle of the joint where the control component is located according to each rotated angle corresponding to each joint.
Optionally, comprising:
when the motion angle is an angle based on a coordinate system of the robot arm, the coordinate system correction module includes:
the first mechanical arm coordinate system adjusting unit is used for adjusting the coordinate system of the mechanical arm to the angle value of the movement angle along the direction of the movement angle; or, a first manipulating part coordinate system adjusting unit, configured to adjust the coordinate system of the manipulating part by an angle value of the movement angle along a direction opposite to the movement angle;
when the movement angle is an angle based on a coordinate system of the manipulating part, the coordinate system correction module includes:
the second mechanical arm coordinate system adjusting unit is used for adjusting the coordinate system of the mechanical arm to the angle value of the movement angle along the opposite direction of the movement angle; or, a second manipulating part coordinate system adjusting unit for adjusting the coordinate system of the manipulating part by an angle value of the movement angle along the direction of the movement angle.
According to the mechanical arm provided by the embodiment of the invention, the mechanical arm is provided with at least one joint and a control component, and the control component is arranged on the joint;
the mechanical arm further comprises the mechanical arm posture compensation device.
According to the technical scheme, the embodiment of the invention has the following advantages:
in an embodiment of the present invention, the robot arm posture compensation method is applied to a robot arm, the robot arm is provided with at least one joint and a manipulation component, and the manipulation component is mounted on the joint; detecting the motion angle of the joint in real time in the process of controlling the mechanical arm to move by drawing the control component, wherein the motion angle is the angle rotated relative to the position at the previous moment when the joint moves; and correcting the corresponding relation between the coordinate system of the mechanical arm and the coordinate system of the operating component according to the motion angle. Therefore, even if the mechanical arm joint moves, the corresponding relation between the control component arranged on the joint and the coordinate system of the mechanical arm can be corrected in real time, the condition that the two coordinate systems deviate due to the movement of the control component is avoided, and the accuracy of the control component for the mechanical arm is improved to a certain extent.
Drawings
FIG. 1a is a schematic diagram of a front view of a robot arm;
FIG. 1b is a schematic top view of the robotic arm of FIG. 1 a;
FIG. 2a is a schematic diagram of the positions of a first joint a1 and a second joint a2 of a robot arm in attitude A with a coordinate system;
FIG. 2B is a schematic diagram of the positions of the first joint a1 and the second joint a2 of the robot arm in the attitude B with a coordinate system;
FIG. 2c is a schematic view of the angle calculation of the robot arm shown in FIG. 2B in the attitude B;
FIG. 3 is a flowchart illustrating a method for compensating a robot arm attitude according to an embodiment of the present invention;
FIG. 4a is a schematic position diagram of a first joint A with a coordinate system of another robot arm in a previous posture;
FIG. 4b is a schematic diagram of another robot arm with a coordinate system for the first joint A in the latter position;
FIG. 5 is a schematic diagram of a detailed process of detecting a motion angle in real time by a robot attitude compensation method according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating an exemplary embodiment of a robot arm attitude compensation apparatus according to the present invention;
FIG. 7 is a schematic view of a robotic arm according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a method and a device for compensating the posture of a mechanical arm, a storage medium and the mechanical arm, which are used for solving the problem that the coordinate system of a control component and the coordinate system of the mechanical arm deviate when the joint of the conventional mechanical arm moves.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below 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.
With the current robot arm, such as the robot arm shown in fig. 1a and 1b, when it moves from one posture to another posture, a shift occurs between the coordinate system of the manipulating part b and the coordinate system of the robot arm due to the mounting of the manipulating part b on the first joint a 1. For convenience of description, fig. 2a and 2B illustrate the positions of the first joint a1 and the second joint a2 of the robot arm in pose a and pose B, respectively.
As shown in fig. 2a, assuming that the first joint a1 is parallel to the second joint a2 in the attitude a, a correspondence relationship between a coordinate system (X1, Y1) of the robot arm on the horizontal plane and a coordinate system (X2, Y2) of the manipulating part b on the horizontal plane is established in advance. At this time, the coordinate systems (X1, Y1) are parallel to the coordinate systems (X2, Y2), and when the point P on the manipulator b is pulled to move in the X2 direction, the robot arm moves in the X1 direction, thereby realizing accurate control of the robot arm by the manipulator b. After the mechanical arm moves from the posture A to the posture B, the first joint a1 and the second joint a2 form a certain included angle, due to the fact that the operating component B is installed at the tail end of the second joint a2, the operating component B moves along with the second joint a2, the coordinate systems (X2 and Y2) move, but the coordinate systems (X1 and Y1) of the mechanical arm are fixed, and therefore the coordinate systems (X1 and Y1) and the coordinate systems (X2 and Y2) form a certain included angle and are not parallel. At this time, when the point P on the manipulating part b is moved to the direction X2 by pulling, the robot arm is moved to the direction X1 shown in fig. 2b due to the pre-established correspondence relationship between the coordinate systems (X1, Y1) and the coordinate systems (X2, Y2).
In order to overcome the above problems, embodiments of the present invention provide a method for compensating a posture of a robot arm to correct a correspondence between a coordinate system of the robot arm and a coordinate system of a control unit during a motion of the robot arm. Referring to fig. 3, in one embodiment, the robot arm attitude compensation method includes:
and 302, correcting the corresponding relation between the coordinate system of the mechanical arm and the coordinate system of the control component according to the motion angle.
The robot arm posture compensation method in the present embodiment is applied to a robot arm provided with at least one joint and a manipulation member, and the manipulation member is mounted on the joint.
For step 301 above, since the manipulating component is mounted on the joint, the offset of the coordinate system of the manipulating component is closely related to the offset of the motion angle of the joint where the manipulating component is located. The motion angle is an angle rotated relative to a position at a previous moment when the joint moves, the moment of detecting the motion angle of the joint is a current moment, and the moment of detecting the motion angle of the joint at the previous time is the previous moment. Therefore, the position of the joint at the previous moment is the position at the previous moment. In this embodiment, the time interval between the current time and the previous time is determined by the time interval of "real-time detection". It is to be understood that the movement angle may be based on the coordinate system of the robot arm or the coordinate system of the manipulating member, and the coordinate system corresponding to the movement angle may be corrected during the correction.
In order to ensure real-time correction, step 301 needs to detect the motion angle of the joint in real time, and each time the motion angle of the joint at the current time is detected, the motion angle at the current time is passed to step 302 for correction. The "real time" described in the present embodiment means that an operation is performed at predetermined time intervals, for example, the movement angle of the joint is detected every 0.1 second.
For the above step 302, each time the motion angle of the joint at the current time is obtained, the corresponding relationship between the two coordinate systems is corrected according to the motion angle, so that the corresponding relationship between the coordinate system of the mechanical arm and the coordinate system of the manipulating part is always kept consistent.
Further, the step 302 may be modified in two specific ways:
the first mode is as follows: when the movement angle is an angle based on a coordinate system of the robot arm, the coordinate system of the robot arm may be adjusted by an angle value of the movement angle along a direction of the movement angle; or adjusting the coordinate system of the manipulating part by the angle value of the movement angle along the opposite direction of the movement angle.
The second mode is as follows: when the movement angle is an angle based on a coordinate system of the manipulating part, the coordinate system of the robot arm may be adjusted by an angle value of the movement angle in a reverse direction of the movement angle; or, adjusting the coordinate system of the manipulating part by the angle value of the movement angle along the direction of the movement angle.
As for the first mode and the second mode, because the principles are basically similar, when the correction calculation process of the coordinate system is described in detail in the following, only the case that the angle value of the motion angle is adjusted along the direction of the motion angle by the coordinate system of the robot arm when the motion angle is based on the coordinate system of the robot arm is described in detail, and the corrections in other cases are similar and will not be described again.
For ease of understanding, in a first application scenario, as shown in fig. 4a and 4B, the robot arm is configured with a first joint a and a manipulating part B, which is mounted on the first joint a. The coordinate system of the robot arm is (X1, Y1), and the coordinate system of the manipulating part B is (X2, Y2). In fig. 4a, fig. 4b, the former posture of the robot arm and fig. 4b, the latter posture of the robot arm indicate that when moving from the former posture to the latter posture, the coordinate systems (X1, Y1) and (X2, Y2) are shifted by an angle M1. As shown in fig. 4b, when the first joint a moves from the previous posture to the next posture, the movement angle of the first joint a is M2, and in this case, M2 is M1, that is, the movement angle of the first joint a is exactly equal to the offset angle of the two coordinate systems. Therefore, when the correction is performed, after the coordinate system (X1, Y1) is adjusted by the angle value of M2 in the direction of the movement angle of M2, the coordinate system (X1, Y1) and the coordinate system (X2, Y2) are overlapped again, that is, the correspondence between the two coordinate systems is restored to be the same, and the attitude compensation is completed.
The first application scenario mainly describes a specific correction process of the coordinate system when the mechanical arm has only one joint. When the robot arm is provided with more than two joints, the joints are connected in sequence through the rotating shaft, one end of the joint is installed on the base of the robot arm through the rotating shaft, and the other end of the joint is installed with the control component. In this case, the correction of the correspondence between the coordinate system of the robot arm and the coordinate system of the manipulating member will be more complicated than the case of only one joint.
In this embodiment, in order to solve the problem of coordinate system modification or robot arm posture compensation under the condition of two or more joints, further, the step 301 may specifically be: and detecting the motion angle of the joint where the control component is positioned in real time in the process of controlling the mechanical arm to move by drawing the control component. It will be appreciated that since the steering member is mounted on the joint in which it is located, the movement of the coordinate system of the steering member is only related to the angle of movement of the joint in which it is located.
However, since the robot arm is provided with two or more joints, when other joints are also moving during the control of the movement of the robot arm by pulling the manipulating member, the reference point of the joint where the manipulating member is located is changed, and therefore, the movement angle of the joint where the manipulating member is located also needs to be calculated from the rotated angle of the other joints. As shown in fig. 5, specifically, detecting the motion angle of the joint in which the manipulation member is located in real time may include:
501. acquiring a rotated angle of a rotating shaft of each joint in the more than two joints in real time, wherein the rotated angle is a rotated angle of the current position of the rotating shaft relative to the initial position;
502. and calculating the motion angle of the joint where the control component is located according to each rotated angle corresponding to each joint.
Further, in order to improve the efficiency of obtaining the rotated angle of each rotating shaft and thus improve the efficiency of calculating the motion angle in real time, the rotated angle of the rotating shaft that rotates may be recorded when the rotating shaft of each joint rotates. Therefore, when the movement angle of the joint where the control component is located needs to be calculated, the rotated angle of each joint can be acquired in real time from the record, and the movement angle of the joint where the control component is located can be calculated.
For ease of understanding, the following detailed description will be made of a case where the robot arm is configured with two or more joints. In a second application scenario, please refer to fig. 2a, fig. 2B and fig. 2c, and fig. 2c is a schematic view illustrating the principle of angle calculation when the robot arm shown in fig. 2B is in the posture B. The robot arm is provided with two joints, a first joint a1 and a second joint a2, the relationship between which has been explained above and will not be described in detail here.
Assuming that the attitude a is set to the initial state of the robot arm, the rotation axis 01 and the rotation axis 02 are at the initial positions. It is possible to set the rotated angle of the rotary shaft 01 and the rotary shaft 02 to 0 in the initial position. The attitude B is the attitude of the robot at the next time, and as is clear from fig. 2c, when the robot moves from the attitude a to the attitude B, the turned angle of the rotation shaft 01 is N1, and the turned angle of the rotation shaft 02 is N2. The offset angle of the coordinate system of the manipulating part is K1, K1 is K2, and K2 is the movement angle of the second joint a 2. It is noted that, by calculating the difference between the rotated angle of the rotating shaft 02 and the rotated angle of the rotating shaft 01, the movement angle of the second joint a2 in which the manipulating part b is located can be obtained, by changing K1 to N2 to N2 to N1 to N2 to N1.
In a second application scenario, after the motion angle of the second joint a2 is obtained, the corresponding relationship between the coordinate system (X1, Y1) and the coordinate system (X2, Y2) may be corrected according to the motion angle K2, and the corrected coordinate system (X1, Y1) and the coordinate system (X2, Y2) are parallel, and the corresponding relationship is restored to be consistent, so that the robot arm posture compensation is completed.
It should be noted that, in the embodiment of the present invention, the control component may specifically be a 3D mouse or a rocker component, which may be installed at the end of shutdown of the mechanical arm, and the traction control of the mechanical arm is realized by pulling the 3D mouse or the rocker.
As described above, in the embodiments of the present invention, even when the joints of the robot arm move, the correspondence between the manipulation member mounted on the joints and the coordinate systems of the robot arm can be corrected in real time, so that the situation that the two coordinate systems are offset due to the movement of the manipulation member is avoided, and the accuracy of the manipulation member in controlling the robot arm is improved to a certain extent.
The above mainly describes a method for compensating the attitude of the robot arm, and a device for compensating the attitude of the robot arm will be described in detail below.
Fig. 6 is a structural diagram illustrating an embodiment of a robot attitude compensation apparatus according to an embodiment of the present invention.
A robot arm posture compensation device applied to a robot arm provided with at least one joint and a manipulation member mounted on the joint;
the robot arm attitude compensation device includes:
a motion angle detection module 601, configured to detect a motion angle of the joint in real time during a process of controlling the mechanical arm to move by pulling the manipulation component, where the motion angle is an angle rotated from a position at a previous time when the joint moves;
a coordinate system correcting module 602, configured to correct a correspondence between a coordinate system of the robot arm and a coordinate system of the manipulating component according to the motion angle.
Furthermore, the mechanical arm is provided with more than two joints, after the more than two joints are sequentially connected through a rotating shaft, one end of the joint is installed on a base of the mechanical arm through the rotating shaft, and the other end of the joint is provided with the control component;
the motion angle detection module may include:
and the joint angle detection unit is used for detecting the motion angle of the joint where the control component is located in real time.
Further, the joint angle detection unit may specifically include:
a rotated angle acquiring subunit, configured to acquire, in real time, a rotated angle of a rotating shaft of each of the two or more joints, where the rotated angle is a rotated angle of a current position of the rotating shaft with respect to an initial position;
and the motion angle calculation subunit is used for calculating the motion angle of the joint where the control component is located according to each rotated angle corresponding to each joint.
Further, the robot arm posture compensation device may further include:
and the angle recording module is used for recording the rotated angle of the rotating shaft which rotates if the rotating shaft of each joint rotates.
Further, comprising:
when the motion angle is an angle based on a coordinate system of the robot arm, the coordinate system modification module may include:
the first mechanical arm coordinate system adjusting unit is used for adjusting the coordinate system of the mechanical arm to the angle value of the movement angle along the direction of the movement angle; or, a first manipulating part coordinate system adjusting unit, configured to adjust the coordinate system of the manipulating part by an angle value of the movement angle along a direction opposite to the movement angle;
when the motion angle is an angle based on a coordinate system of the manipulating part, the coordinate system correcting module may include:
the second mechanical arm coordinate system adjusting unit is used for adjusting the coordinate system of the mechanical arm to the angle value of the movement angle along the opposite direction of the movement angle; or, a second manipulating part coordinate system adjusting unit for adjusting the coordinate system of the manipulating part by an angle value of the movement angle along the direction of the movement angle.
The embodiment of the invention also provides a mechanical arm, wherein the mechanical arm is provided with at least one joint and a control component, and the control component is arranged on the joint; the robot arm further comprises any one of the robot arm attitude compensation arrangements described in the corresponding embodiment of fig. 6.
Figure 7 is a schematic view of a robotic arm provided in accordance with an embodiment of the present invention. As shown in fig. 7, the robot arm 7 of this embodiment includes: a processor 70, a memory 71 and a computer program 72, such as a robot arm pose compensation program, stored in said memory 71 and executable on said processor 70. The processor 70, when executing the computer program 72, implements the steps in each of the robot arm pose compensation method embodiments described above, such as steps 301 to 302 shown in fig. 3. Alternatively, the processor 70, when executing the computer program 72, implements the functions of each module/unit in the above-mentioned device embodiments, for example, the functions of the modules 601 to 602 shown in fig. 6.
Illustratively, the computer program 72 may be partitioned into one or more modules/units that are stored in the memory 71 and executed by the processor 70 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 72 in the robot arm 7.
The robotic arm 7 may include, but is not limited to, a processor 70, a memory 71. Those skilled in the art will appreciate that figure 7 is merely an example of a robotic arm 7 and does not constitute a limitation of the robotic arm 7 and may include more or fewer components than shown, or some components in combination, or different components, e.g., the robotic arm may also include input output devices, network access devices, buses, etc.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may be an internal storage unit of the robot 7, such as a hard disk or a memory of the robot 7. The memory 71 may also be an external storage device of the robot arm 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the robot arm 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the robot arm 7. The memory 71 is used for storing the computer program and other programs and data required by the computer. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A robot arm attitude compensation method, characterized in that the robot arm attitude compensation method is applied to a robot arm provided with a joint and a manipulation member mounted on the joint;
the mechanical arm posture compensation method comprises the following steps:
pre-establishing a corresponding relation between a coordinate system of the mechanical arm and a coordinate system of the control component;
detecting the motion angle of the joint in real time in the process of controlling the mechanical arm to move by drawing the control component, wherein the motion angle is the angle rotated relative to the position at the previous moment when the joint moves;
correcting the corresponding relation between the coordinate system of the mechanical arm and the coordinate system of the control component according to the motion angle;
the mechanical arm is provided with more than two joints, after the more than two joints are sequentially connected through a rotating shaft, one end of the joint is installed on a base of the mechanical arm through the rotating shaft, and the other end of the joint is provided with the control component;
the step of detecting the motion angle of the joint in real time specifically comprises the following steps:
detecting the motion angle of the joint where the control component is located in real time;
the step of detecting the motion angle of the joint where the control component is located in real time comprises the following steps:
when the rotating shaft of the joint rotates, recording the rotated angle of the rotating shaft which rotates;
acquiring a rotated angle of a rotating shaft of each joint in the more than two joints in real time, wherein the rotated angle is a rotated angle of the current position of the rotating shaft relative to the initial position;
calculating the motion angle of the joint where the control component is located according to each rotated angle corresponding to each joint;
when the movement angle is an angle based on a coordinate system of the robot arm, the correcting the correspondence between the coordinate system of the robot arm and the coordinate system of the manipulating part according to the movement angle includes:
adjusting the coordinate system of the mechanical arm along the direction of the motion angle by the angle value of the motion angle; or, adjusting the coordinate system of the manipulating part by the angle value of the movement angle along the opposite direction of the movement angle;
when the movement angle is an angle based on a coordinate system of the manipulating part, the correcting the correspondence between the coordinate system of the robot arm and the coordinate system of the manipulating part according to the movement angle includes:
adjusting the coordinate system of the mechanical arm along the opposite direction of the motion angle by the angle value of the motion angle; or, adjusting the coordinate system of the manipulating part by the angle value of the movement angle along the direction of the movement angle.
2. A robot arm posture compensation device, characterized in that the robot arm posture compensation device is applied to a robot arm provided with a joint and a manipulation member mounted on the joint;
the robot arm attitude compensation device includes:
the corresponding relation establishing module is used for establishing a corresponding relation between a coordinate system of the mechanical arm and a coordinate system of the control component in advance;
the motion angle detection module is used for detecting the motion angle of the joint in real time in the process of controlling the mechanical arm to move by drawing the control component, wherein the motion angle is the angle rotated relative to the position at the previous moment when the joint moves;
the coordinate system correction module is used for correcting the corresponding relation between the coordinate system of the mechanical arm and the coordinate system of the control component according to the motion angle;
the mechanical arm is provided with more than two joints, after the more than two joints are sequentially connected through a rotating shaft, one end of the joint is installed on a base of the mechanical arm through the rotating shaft, and the other end of the joint is provided with the control component;
the motion angle detection module includes:
the joint angle detection unit is used for detecting the motion angle of the joint where the control component is located in real time;
the joint angle detection unit specifically includes:
a rotated angle recording subunit for recording a rotated angle of the rotating shaft that rotates when the rotating shaft of the joint rotates;
a rotated angle acquiring subunit, configured to acquire, in real time, a rotated angle of a rotating shaft of each of the two or more joints, where the rotated angle is a rotated angle of a current position of the rotating shaft with respect to an initial position;
the motion angle calculation subunit is used for calculating the motion angle of the joint where the control component is located according to each rotated angle corresponding to each joint;
when the motion angle is an angle based on a coordinate system of the robot arm, the coordinate system correction module includes:
the first mechanical arm coordinate system adjusting unit is used for adjusting the coordinate system of the mechanical arm to the angle value of the movement angle along the direction of the movement angle; or, a first manipulating part coordinate system adjusting unit, configured to adjust the coordinate system of the manipulating part by an angle value of the movement angle along a direction opposite to the movement angle;
when the movement angle is an angle based on a coordinate system of the manipulating part, the coordinate system correction module includes:
the second mechanical arm coordinate system adjusting unit is used for adjusting the coordinate system of the mechanical arm to the angle value of the movement angle along the opposite direction of the movement angle; or, a second manipulating part coordinate system adjusting unit for adjusting the coordinate system of the manipulating part by an angle value of the movement angle along the direction of the movement angle.
3. A robot arm, characterized in that the robot arm is provided with a joint and a manipulation member mounted on the joint;
the robot arm further comprises a robot arm attitude compensation device according to claim 2.
4. A robot arm comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program performs the steps of the robot arm pose compensation method of claim 1.
5. A computer-readable storage medium, having a computer program stored thereon, where the computer program is executed by a processor to perform the steps of the robot arm pose compensation method according to claim 1.
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| CN112109084A (en) * | 2020-08-21 | 2020-12-22 | 华南理工大学 | Terminal position compensation method based on robot joint angle compensation and application thereof |
| CN113263498B (en) * | 2021-04-12 | 2022-06-10 | 万勋科技(深圳)有限公司 | Mechanical arm movement control method and device, terminal equipment and storage medium |
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