CN108015772A - A kind of when base jumping instruction system and algorithm based on time beat - Google Patents
A kind of when base jumping instruction system and algorithm based on time beat Download PDFInfo
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- CN108015772A CN108015772A CN201711310288.2A CN201711310288A CN108015772A CN 108015772 A CN108015772 A CN 108015772A CN 201711310288 A CN201711310288 A CN 201711310288A CN 108015772 A CN108015772 A CN 108015772A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
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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
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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Abstract
The system and algorithm instructed the invention discloses a kind of when base jumping based on time beat, including industrial robot, it first captures article in starting point station；Then, starting point station is left along station exit path, again, article is sent to terminal station by starting point station according to default transport path；Then, terminal station is placed items within along station access path；Starting point station, it is placed in the station needs to be captured article；Station exit path, by the path, industrial robot drives article to leave starting point station；Transport path, it is used for connection source station and terminal station；Position access path, by the path, animal product are positioned over terminal station by industrial robot；Terminal station, its station are used to be placed with the article placed after crawl.
Description
Technical field
The present invention relates to industrial robot motion control, logistics captures and placement technique field at a high speed, and in particular to a kind of
When base jumping instruction system and algorithm based on time beat.
Background technology
The key technical indexes of production line is productivity (yield)-how many a products of production i.e. per minute, when robot quilt
For the material transfer in production line, sorting when process, main requirement is exactly to capture material from start position then to exist
Objective-be exactly to move one section of space length-and then reality before the deadline in simple terms is placed into the suitable time
Now with the matched reciprocating motion beat of yield.And crawl and placement action are mainly to be realized by jumping instruction.
Jumping is at least made of three sections of linear motions：Take-off, translation, whereabouts, generally for (efficient) at a high speed, steadily
Ground movement will also respectively increase by one section of transition arc between take-off and translation and between translation and whereabouts.Existing robot fortune
Dynamic control instruction needs to set multiple parameters for each section of movement, including：Position, speed, acceleration (or even acceleration).It is existing
In application only location parameter (including commencing height, translation distance and height of drop) be it is dominant known, and speed and
The parameters such as acceleration must pass through polynary side according to constraintss such as the high-order continuitys of space length, run duration and parameter
Journey is parsed to obtain.Actually so complicated computing is impossible to be solved in engineering site by Application Engineer.
Especially when carrying out that operation is placed in crawl at a high speed using robot, such as using parallel robot (it is commonly called as spider
Or ' Delta manipulators ') carry out more than 100 times per minute crawl placement act, the effect of action is to motion control parameter
Change and its sensitivity.Then tried repeatedly to the great pressure of field application engineer, it is necessary to devote a tremendous amount of time adjusting parameter
Test, field adjustable is extremely inefficient.
Some solutions in order to reduced parameter adjust often by acceleration and acceleration value set very big numerical value-
Parameter of so only regulating the speed meets the requirement of beat.It is done so that result can make again motion process impact it is larger, drop
Low service life of equipment.
The content of the invention
For above-mentioned technical problem, in order to simplify Application Engineer's field adjustable difficulty, shorten debug time, reality is used
The customer engineering language beat (productivity) of production as a kind of innovation of major parameter-research and development be used for industrial robot based on
The algorithm that the when base jumping of time beat instructs.Need to only be inputted using the instruction dominant location parameter and with beat phase
Matched run duration parameter, you can realize that position and beat be accurate and the jumping of minimal impact.
When base jumping instruction set and its algorithm based on time beat
The system that a kind of when base jumping based on time beat instructs, the system comprises,
Industrial robot, it first captures article in starting point station；Then, starting point work is left along station exit path
Position, again, terminal station is sent to according to default transport path by article by starting point station；Then, along station access path
Place items within terminal station；
Starting point station, it is placed in the station needs to be captured article；
Station exit path, by the path, industrial robot drives article to leave starting point station；
Transport path, it is used for connection source station and terminal station；
Station access path, by the path, animal product are positioned over terminal station by industrial robot；
Terminal station, its station are used to be placed with the article placed after crawl；
Wherein, starting point station, station exit path, transport path, station access path and terminal station form industry
Robot drives the space tracking of article operation；
The space tracking is to the n set point progress vectorized process on every section of path and with B-spline Curve pair
A kind of parametrization track point sequence of the n predetermined continuously smooths for clicking through row interpolation and being generated, and the space tracking is several
What profile is controlled by the polygon using n control point as vertex；
Interpolation point PT is provided between the set point of adjacent two B-spline curves on space tracking, wherein industry
The processor of robot determines according to constant duration, the quantity of interpolation point PT=(industrial robot drives article to operate in phase
Track run duration/default interpolation time interval between the set point of two adjacent B-spline curves) -1；
When article position corresponds to interpolation point PT positions, the processor of industrial robot is by the space at interpolation point PT
The maximal rate of trajectory path at coordinate position, interpolation point PT, the peak acceleration at interpolation point PT and the interpolation point
Maximum acceleration at PT is supplied to the servo control system of industrial robot.
Wherein, the station exit path is lift motion path, and the transport path is straight movement path, circular arc is transported
Dynamic path or elliptic motion path, station access path are falling motion path.
Wherein, station exit path passes through station deflecting respectively with transport path and station access path with transport path
Path transition connection, station deflecting path is arc track；
The end of station exit path and the beginning of transport path are tangent with corresponding station deflecting path respectively；
The end of transport path and the beginning of station access path are tangent with corresponding station deflecting path respectively.
Wherein, the set point is distributed on whole path by quintic algebra curve rule.
Wherein, minimum position loop control of the interpolation time at intervals of the servo control system of the industrial robot
Cycle processed.
The algorithm that a kind of when base jumping based on time beat instructs, it is based on industrial robot, including following step
Suddenly,
Step 1, article is captured with placing article path and default interpolation time interval, work according to industrial robot
Industry robot obtains the path point information and pitch time of space tracking；
Wherein, space tracking includes the starting point station, station exit path, transport road that industrial robot drives article operation
Footpath, station access path and terminal station；Pitch time performs single crawl for industrial robot or places in task process
The summation at interpolation time interval determined by the loop control periods of servo control system position；
Step 2, path function expression formula is generated by the space tracking requirement in step 1, and makes all set points whole
It is distributed in a path length by quintic algebra curve；Calculate n set point and as the input parameter of B-spline interpolation algorithm；
Step 3, carries out vectorized process to the given point sequence in step 2, calculates the corresponding B-spline base of each set point
Function generates basic function matrix, is coefficient matrix structure together with set point vector by unknown vector, basic function matrix of control point
Linear equation group, solves the control point that equation group calculates B-spline curves；
Step 4, according to corresponding cubic B-spline basic function of default interpolation time interval calculation each moment, basic function
With the control point of gained in step 3 B-spline Curve, road described in generation step one are calculated together as input parameter
The track point sequence at each moment corresponding to footpath；Wherein, the quantity of tracing point=(industrial robot drive article running orbit fortune
Dynamic time/default interpolation time interval)+1；
Step 5, the next given dot position information determined successively in calculation procedure four, with the processing of industrial robot
Device calculating parameter information, the parameter information include the maximal rate of trajectory path, interpolation point PTn+1 at set point PTn+1
Maximum acceleration at the peak acceleration at place and set point PTn+1；
Parameter information in step 5 is supplied to the servo of industrial robot to transport by step 6, the processor of industrial robot
Autocontrol system；Servo control system performs corresponding operation acts according to the parameter information；
Step 7, after all interpolation point Pn in the traversal step four in step 5, this section of space tracking is finished, and
Repeat step three performs the control point jumping of next section of adjacent two B-spline curves；Until moving to terminal station.
The invention has the advantages that：
Surveyed by field application, the instruction system established using the invention, can save the related commissioning time 80%
More than, user only needs the time of several hours to one day to can be achieved and grasps the crawl of fast and stable and place control.
Brief description of the drawings
Fig. 1 is the jumping track schematic diagram of the present invention.
Fig. 2 is the non-equidistantly B-spline curves control point set figure of the optimization of the present invention.
Fig. 3 is the calculating interpolation point position exemplary plot of the present invention.
Fig. 4 is the brief control flow chart of the present invention.
Fig. 5 is the control flow chart of the present invention.
Embodiment
Following embodiments are used to illustrate the present invention, but are not limited to the scope of the present invention.
In the present invention, set point is as one group of sparse location point selected by robot motion path, these positions
The distance interval of point is usually heterogeneous, and the present invention samples the continuous function of robot geometric path with quintic algebra curve
To choose set point；
Control point is calculated by constructing system of linear equations, and except the head and the tail other control points in two control points not
On B-spline curves, the geometric profile of B-spline curves is determined using control point as the controlling polygon that vertex is formed；
Tracing point be the continuous function expression formulas of B-spline curves is carried out according to ad hoc fashion sliding-model control as a result,
It is direct send out from the command sequence to servo-driver position control ring.
In the present invention, jumping is the elemental motion process that robotic arm carries out material crawl and placement.This mistake
Journey generally mainly continuously gets up to realize by three sections of movements：I.e. from the upward lift motion of starting point, laterally across the space horizontal stroke of distance
To falling motion that is mobile and reaching home vertically downward.
Spatially transverse movement can be the shortest linear motion of a distance or one section of radius of curvature is very big
Circular motion, even one section of elliptic motion.
As shown in Figure 1, by taking linear space transverse shifting as an example, lift motion path and spatially transverse mobile route it
Between, and between spatially transverse mobile route and falling motion path, one section of transition arc path of increase is generally required, to avoid
Impact is produced among the motion process of both ends.And this transition arc is to need connected both ends motion path tangent.
When base jumping refer to：Control robotic arm is from the off along the space tracking planned and by true
Fixed time span is reached home position.
As shown in Fig. 2, after space tracking has been planned, space tracking can be realized using multistage B-spline Curve
Fitting operation.Such as to be divided into n sections of B-spline curves and then need to determine n-1 control point on space tracking.
In actual use, space lateral distance is significantly larger than and lifts height in general robotic arm handling process
Degree, height of drop and transition arc this several sections path length, so in order to ensure to realize accurate track at track both ends
Fitting, it is preferred to use five rank multinomial indexings realize non-optimal control point algorithm at equal intervals.
It can ensure that the starting and ending section in track obtains relatively intensive B-spline curves control using this algorithm
Point, and then minimum directly the going up, directly descend track-this point of realizing route deviation is that technique particularly important during robotic arm is carried will
Ask.
As shown in figure 3, last, according to constant duration, usually according to robotic arm servo control system most
Small position loop controlling cycle (generally 1ms~4ms), the spatial coordinate location of interpolation point is calculated by B-spline curves, at the same time
Calculate the maximal rate of trajectory path, peak acceleration and maximum acceleration, and be supplied to servo control at this time
System.
During interpolation point is calculated, interpolation still is calculated using normalized five rank multinomial to whole trajectory path
The distance between point, ensures the minimum TRAJECTORY CONTROL of impact with this.
The quantity of interpolation point PT=(industrial robot drive article operates in the control point of two adjacent B-spline curves
Between track run duration/default interpolation time interval) -1；
The time span that base jumping-process determines when so can be achieved is reached home position.
As described in Fig. 4-5, it is a kind of based on time beat when base jumping instruction system, the system comprises,
Industrial robot, it first captures article in starting point station；Then, starting point work is left along station exit path
Position, again, terminal station is sent to according to default transport path by article by starting point station；Then, along station access path
Place items within terminal station；
Starting point station, it is placed in the station needs to be captured article；
Station exit path, by the path, industrial robot drives article to leave starting point station；
Transport path, it is used for connection source station and terminal station；
Station access path, by the path, animal product are positioned over terminal station by industrial robot；
Terminal station, its station are used to be placed with the article placed after crawl；
Wherein, starting point station, station exit path, transport path, station access path and terminal station form industry
Robot drives the space tracking of article operation；
The space tracking is to the n set point progress vectorized process on every section of path and with B-spline Curve pair
A kind of parametrization track point sequence of the n predetermined continuously smooths for clicking through row interpolation and being generated, and the space tracking is several
What profile is controlled by the polygon using n control point as vertex；
Interpolation point PT is provided between the set point of adjacent two B-spline curves on space tracking, wherein industry
The processor of robot determines according to constant duration, the quantity of interpolation point PT=(industrial robot drives article to operate in phase
Track run duration/default interpolation time interval between the set point of two adjacent B-spline curves) -1；
When article position corresponds to interpolation point PT positions, the processor of industrial robot is by the space at interpolation point PT
The maximal rate of trajectory path at coordinate position, interpolation point PT, the peak acceleration at interpolation point PT and the interpolation point
Maximum acceleration at PT is supplied to the servo control system of industrial robot.
Wherein, the station exit path is lift motion path, and the transport path is straight movement path, circular arc is transported
Dynamic path or elliptic motion path, station access path are falling motion path.
Wherein, station exit path passes through station deflecting respectively with transport path and station access path with transport path
Path transition connection, station deflecting path is arc track；
The end of station exit path and the beginning of transport path are tangent with corresponding station deflecting path respectively；
The end of transport path and the beginning of station access path are tangent with corresponding station deflecting path respectively.
Wherein, the set point is distributed on whole path by quintic algebra curve rule.
Wherein, minimum position loop control of the interpolation time at intervals of the servo control system of the industrial robot
Cycle processed.
The algorithm that a kind of when base jumping based on time beat instructs, it is based on industrial robot, including following step
Suddenly,
Step 1, article is captured with placing article path and default interpolation time interval, work according to industrial robot
Industry robot obtains the path point information and pitch time of space tracking；
Wherein, space tracking includes the starting point station, station exit path, transport road that industrial robot drives article operation
Footpath, station access path and terminal station；Pitch time performs single crawl for industrial robot or places in task process
The summation at interpolation time interval determined by the loop control periods of servo control system position；
Step 2, path function expression formula is generated by the space tracking requirement in step 1, and makes all set points whole
It is distributed in a path length by quintic algebra curve；Calculate n set point and as the input parameter of B-spline interpolation algorithm；
Step 3, carries out vectorized process to the given point sequence in step 2, calculates the corresponding B-spline base of each set point
Function generates basic function matrix, is coefficient matrix structure together with set point vector by unknown vector, basic function matrix of control point
Linear equation group, solves the control point that equation group calculates B-spline curves；
Step 4, according to corresponding cubic B-spline basic function of default interpolation time interval calculation each moment, basic function
With the control point of gained in step 3 B-spline Curve, road described in generation step one are calculated together as input parameter
The track point sequence at each moment corresponding to footpath；Wherein, the quantity of tracing point=(industrial robot drive article running orbit fortune
Dynamic time/default interpolation time interval)+1；
Step 5, the next given dot position information determined successively in calculation procedure four, with the processing of industrial robot
Device calculating parameter information, the parameter information include the maximal rate of trajectory path, interpolation point PTn+1 at set point PTn+1
Maximum acceleration at the peak acceleration at place and set point PTn+1；
Parameter information in step 5 is supplied to the servo of industrial robot to transport by step 6, the processor of industrial robot
Autocontrol system；Servo control system performs corresponding operation acts according to the parameter information；
Step 7, after all interpolation point Pn in the traversal step four in step 5, this section of space tracking is finished, and
Repeat step three performs the control point jumping of next section of adjacent two B-spline curves；Until moving to terminal station.
The invention has the advantages that：
Surveyed by field application, the instruction system established using the invention, can save the related commissioning time 80%
More than, user only needs the time of several hours to one day to can be achieved and grasps the crawl of fast and stable and place control.
For example, in the robot application of certain condiment bag encasement, the vanning control of 200 bags/minute is realized；In certain lithium battery
The large span handling efficiency of 70/minute is realized in production line.
Although above with general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention, belong to the scope of protection of present invention.
Claims (6)
- A kind of 1. system that when base jumping based on time beat instructs, it is characterised in that the system comprises：Industrial robot, it first captures article in starting point station；Then, starting point station is left along station exit path, Again, article is sent to terminal station by starting point station according to default transport path；Then, along station access path by thing Product are placed on terminal station；Starting point station, it is placed in the station needs to be captured article；Station exit path, by the path, industrial robot drives article to leave starting point station；Transport path, it is used for connection source station and terminal station；Station access path, by the path, animal product are positioned over terminal station by industrial robot；Terminal station, its station are used to be placed with the article placed after crawl；Wherein, starting point station, station exit path, transport path, station access path and terminal station form industrial machine People drives the space tracking that article is run；The space tracking is vectorized process to be carried out to n set point on every section of path and with B-spline Curve to the n A kind of parametrization track point sequence of the predetermined continuously smooth for clicking through row interpolation and being generated, and the geometric profile of the space tracking Controlled by the polygon using n control point as vertex；Interpolation point PT, wherein industrial machine are provided between the set point of adjacent two B-spline curves on space tracking The processor of people determines according to constant duration, the quantity of interpolation point PT=(it is adjacent that industrial robot drives article to operate in Track run duration/default interpolation time interval between the set point of two B-spline curves) -1；When article position corresponds to interpolation point PT positions, the processor of industrial robot is by the space coordinate at interpolation point PT At the maximal rate of trajectory path at position, interpolation point PT, the peak acceleration at interpolation point PT and interpolation point PT Maximum acceleration be supplied to the servo control system of industrial robot.
- 2. the system that the when base jumping according to claim 1 based on time beat instructs, it is characterised in that described Station exit path is lift motion path, and the transport path is straight movement path, circular motion path or elliptic motion Path, station access path are falling motion path.
- 3. the system that the when base jumping according to claim 1 based on time beat instructs, it is characterised in that station Exit path is connected by station deflecting path transition respectively with transport path and station access path with transport path, station Deflecting path is arc track；The end of station exit path and the beginning of transport path are tangent with corresponding station deflecting path respectively；The end of transport path and the beginning of station access path are tangent with corresponding station deflecting path respectively.
- 4. the system that the when base jumping according to claim 1 based on time beat instructs, it is characterised in that described Set point is distributed on whole path by quintic algebra curve rule.
- 5. the system that the when base jumping according to claim 1 based on time beat instructs, it is characterised in that described Minimum position loop control periods of the interpolation time at intervals of the servo control system of the industrial robot.
- 6. the algorithm that a kind of when base jumping based on time beat instructs, it is characterised in that it is based on industrial robot, bag Include following steps,Step 1, article is captured with placing article path and default interpolation time interval, industrial machine according to industrial robot Device people obtains the path point information and pitch time of space tracking；Wherein, space tracking include industrial robot drive article operation starting point station, station exit path, transport path, Station access path and terminal station；Pitch time performs single crawl for industrial robot or places in task process by watching Take the summation at interpolation time interval determined by kinetic control system position loop controlling cycle；Step 2, path function expression formula is generated by the space tracking requirement in step 1, and makes all set points on whole road It is distributed in electrical path length by quintic algebra curve；Calculate n set point and as the input parameter of B-spline interpolation algorithm；Step 3, carries out vectorized process to the given point sequence in step 2, calculates the corresponding B-spline basic function of each set point Basic function matrix is generated, is that coefficient matrix is formed line together with set point vector using control point as unknown vector, basic function matrix Property equation group, solve equation group and calculate the control points of B-spline curves；Step 4, according to corresponding cubic B-spline basic function of default interpolation time interval calculation each moment, basic function and step The control point of gained calculates B-spline Curve together as input parameter in rapid three, path institute described in generation step one The track point sequence at corresponding each moment；Wherein, the quantity of tracing point=(when industrial robot drives the movement of article running orbit Between/default interpolation time interval)+1；Step 5, the next given dot position information determined successively in calculation procedure four, with the processor meter of industrial robot Parameter information is calculated, which includes the maximal rate of trajectory path at set point PTn+1, at interpolation point PTn+1 Maximum acceleration at peak acceleration and set point PTn+1；Parameter information in step 5 is supplied to the servo motion control of industrial robot by step 6, the processor of industrial robot System processed；Servo control system performs corresponding operation acts according to the parameter information；Step 7, after all interpolation point Pn in the traversal step four in step 5, this section of space tracking is finished, and repeats Step 3 performs the control point jumping of next section of adjacent two B-spline curves；Until moving to terminal station.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109240216A (en) * | 2018-08-27 | 2019-01-18 | 天津鼎成高新技术产业有限公司 | The dynamic process control method and information data processing terminal of parallel servos |
| CN110900597A (en) * | 2018-09-14 | 2020-03-24 | 上海沃迪智能装备股份有限公司 | Jumping motion track planning method with settable vertical height and corner height |
| CN112894822A (en) * | 2021-02-01 | 2021-06-04 | 配天机器人技术有限公司 | Robot motion trajectory planning method, robot and computer storage medium |
| CN114802976A (en) * | 2022-06-09 | 2022-07-29 | 合肥友高物联网标识设备有限公司 | Control method for realizing one-object-one-code product automatic boxing aiming at spiders |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109240216A (en) * | 2018-08-27 | 2019-01-18 | 天津鼎成高新技术产业有限公司 | The dynamic process control method and information data processing terminal of parallel servos |
| CN109240216B (en) * | 2018-08-27 | 2021-08-10 | 天津鼎成高新技术产业有限公司 | Dynamic process control method of parallel servo system and information data processing terminal |
| CN110900597A (en) * | 2018-09-14 | 2020-03-24 | 上海沃迪智能装备股份有限公司 | Jumping motion track planning method with settable vertical height and corner height |
| CN112894822A (en) * | 2021-02-01 | 2021-06-04 | 配天机器人技术有限公司 | Robot motion trajectory planning method, robot and computer storage medium |
| CN112894822B (en) * | 2021-02-01 | 2023-12-15 | 配天机器人技术有限公司 | Robot motion trail planning method, robot and computer storage medium |
| CN114802976A (en) * | 2022-06-09 | 2022-07-29 | 合肥友高物联网标识设备有限公司 | Control method for realizing one-object-one-code product automatic boxing aiming at spiders |
| CN114802976B (en) * | 2022-06-09 | 2023-10-03 | 合肥友高物联网标识设备有限公司 | Control method for realizing one-object one-code of products aiming at automatic boxing of spider hands |
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