CN109773796A - A kind of working method of mechanical arm - Google Patents
A kind of working method of mechanical arm Download PDFInfo
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- CN109773796A CN109773796A CN201910216576.4A CN201910216576A CN109773796A CN 109773796 A CN109773796 A CN 109773796A CN 201910216576 A CN201910216576 A CN 201910216576A CN 109773796 A CN109773796 A CN 109773796A
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- mechanical arm
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Abstract
The invention discloses a kind of working methods of mechanical arm, belong to robot device's application field.It the described method comprises the following steps: initialization mechanical arm；Establish the communication connection between FPGA and host computer；Data are write in the host computer creation, and data are sent FPGA；The FPGA receives data and is handled, and FPGA controls mechanical arm and completes to write.The invention can more accurate simulation action of writing, restore details, cope with complicated writing surface and normal work, wireless remote manipulation, and automatic Verification data correctness may be implemented.
Description
Technical field
The invention belongs to robot device's application field, specially a kind of working method of mechanical arm.
Background technique
It is generally write by printer printing character substitution in life, but printer can not realize that signature etc. being capable of body
The function of existing individual's specific style, therefore can choose the mechanical arm substitution by high-freedom degree.Existing various machinery on the market
Arm is only capable of completing the upper inferior simple operations in front and back, cannot achieve multiple steering engine combined operations, can not be according to oneself style book
It writes.
Summary of the invention
In view of the deficiencies of the prior art, the purpose of the present invention is to provide a kind of working methods of mechanical arm, existing to solve
There is mechanical arm present in technology to be only capable of completing the upper inferior simple operations in front and back, cannot achieve multiple steering engine combined operations, less
The problem of capable of being write according to the style of oneself.
To solve prior art problem, the technical scheme adopted by the invention is as follows:
A kind of working method of mechanical arm, the described method comprises the following steps:
Initialize mechanical arm；
Establish the communication connection between FPGA and host computer；
Communication connection between the FPGA and host computer can independently be selected by operator, default FPGA and host computer it
Between pass through bluetooth connection；
Data are write in the host computer creation, and data are sent FPGA；
The FPGA receives data and is handled, and FPGA controls mechanical arm and completes to write.
Further, the mechanical arm initial method includes: that the mechanical arm is accessed FPGA general-purpose interface, is established
Communication connection between FPGA and mechanical arm；
Initialization key is pressed, the FPGA judges whether the freedom degree number of mechanical arm meets writing and require；Work as freedom
It spends number and meets writing requirement, i.e., when freedom degree number is more than or equal to four, corresponding initialization process is selected according to freedom degree；It is logical
The initialization for crossing initialization process completion mechanical arm initializes failure if freedom degree number is unsatisfactory for requiring, and lights yellow and refers to
Show lamp alarm.
After the FPGA determines freedom degree number, mechanical arm enters specific initialization process, and FPGA con current control is each
A steering engine makes each steering engine pinch and reaches intermediate value, FPGA is slow by internal setting initial velocity later by exporting specific square wave
Slow falling head, while inside is started counting until pen tip touches paper, mechanical arm stopping at this time acting and generates feedback signal,
Feedback signal is captured inside FPGA and calculates falling head, is entered after the writing height of the suitable current environment of automatic adjustment ready
State.
For the difference of freedom degree number, the process initialized respectively to mechanical arm is stored in FPGA, due to certainly
By spending and the difference of coordinate system selection, pinch also can be variant for the steering engine of each point in corresponding space, therefore needs according to different
The each corner of the inverse kinematics derivation of equation, according to this situation, storing multiple sets calculation in FPGA, with mechanical with suitable different type
Arm and different coordinate systems, FPGA default choice polar coordinate system, four-degree-of-freedom manipulator model can reach each on plane domain
A coordinate points can uniformly touch each point on writing surface, since pen tip is vertical with writing surface always in writing process,
It is lower to simulate the fine degree write, compared to five degree-of-freedom manipulator, increases freedom degree in nib, turning for pen can be controlled
It is dynamic, the weight variation of every bit can be embodied, similarly, freedom degree more fine degree is higher, but complexity is also higher, inverse fortune
The dynamic calculating for learning formula, belongs to existing knowledge, this will not be repeated here.
Further, the mechanical arm initial method specifically includes: FPGA electrification reset；Detection general-purpose interface judges machine
Whether the freedom degree number of tool arm meets the requirements；Select suitable initialization scheme；FPGA receives feedback and post-processes and export just
Beginning signal carries out initialization procedure to mechanical arm.
Further, the freedom degree number is more than or equal to 4.
Further, the writing data creation method includes:
Character is inputted in the host computer；
The host computer is according to character stroke acquisition order pixel；
Obtain the polar coordinates information and specific information symbol of each pixel；
The data packet of the character is generated according to polar coordinates information and specific information symbol；
The specific information symbol includes the pause of character stroke and empties position；
Further, the information in the data packet includes: the sequencing of total length of data, coordinate information, special letter
Cease the position of symbol.
Further, the data processing method is as follows；
The FPGA, which identifies data characteristics and completes parsing in inside, obtains the polar coordinates of series of pixel point；
Judge polar reasonability；
Polar coordinates are converted to the square-wave signal of control mechanical arm.
Further, the host computer includes mobile phone and PC；The mechanical arm includes Cartesian robot arm, circular cylindrical coordinate
Mechanical arm and polar coordinates mechanical arm.
Further, the end of the mechanical arm is fixed with writing pen.
It operates mouse and writes character in the input window of host computer, host computer is according to stroke writing sequence automatic collection pixel
Point, to calculate the polar coordinates of each pixel, when pausing and emptying occur in person's handwriting, host computer automatically generates special letter
Breath symbol automatically generates the data packet of the character, data packet includes total length of data, coordinate after completing to write inside host computer
The sequencing of information, the position etc. of specific information symbol are automatically selected as single frames according to length or multiframe are transmitted, and according to number
Corresponding data packet is sent according to transport protocol.
Host computer is clicked send after, data packet by Bluetooth transmission to FPGA, FPGA according to transport protocol received data packet,
It identifies data packet feature, completes parsing in inside, obtain the polar coordinates of series of pixel point, examine each polar coordinates, judge
Unreasonable coordinate simultaneously filters out, if filtering out quantity more than threshold value, is judged as error of transmission, issues red light alarm, if filtering is sat
Number is marked within error, then it represents that font is reasonable, then handles by internal calculation, and polar coordinates are converted to control steering engine
Square-wave signal successively moves to control mechanical arm according to the coordinate of pixel, to complete to write.
Compared with prior art, the present invention is with following the utility model has the advantages that FPGA concurrent processing characteristic larger can be promoted
Data processing speed and working efficiency, multifreedom controlling can more accurate simulation action of writing, restore details, reply is multiple
Wireless remote manipulation, and automatic Verification data correctness may be implemented in miscellaneous writing surface and normal work.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the working method specific embodiment of mechanical arm of the present invention；
Fig. 2 is mechanical arm auto-initiation flow chart in a kind of working method specific embodiment of mechanical arm of the present invention；
Fig. 3 is to establish bluetooth connection flow chart in a kind of working method specific embodiment of mechanical arm of the present invention；
Fig. 4 is to write the flow chart that Data Concurrent is sent in a kind of working method specific embodiment of mechanical arm of the present invention；
Fig. 5 is to receive data in a kind of working method specific embodiment of mechanical arm of the present invention and be converted to output signal process
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
As shown in figure 1, figure 2, figure 3, figure 4 and figure 5, a kind of working method of mechanical arm, the described method comprises the following steps:
S10, initialization mechanical arm；
Establish the communication connection between FPGA and mechanical arm；
The FPGA judges whether the freedom degree number of mechanical arm meets writing and require, and corresponding according to freedom degree selection
Initialization process；
The initialization of mechanical arm is completed by initialization process.
S10 specifically includes the following steps:
S101, FPGA electrification reset；
S102, detection general-purpose interface；
S103, judge whether the freedom degree number of mechanical arm meets the requirements, S104 step is entered if meeting the requirements, it is no
Then enter S105 step；
S104, the suitable initialization scheme of selection；
S105, yellow indicator lamp alarm is issued；
S106, FPGA receive feedback and post-process and export initial signal, keep mechanical arm ready in suitable position.
For the mechanical arm of different freedom degrees, FPGA driving method differs greatly, and per more ones degree of freedom, inverse kinematics is public
The complexity of formula increases accordingly, so corresponding to the mechanical arm of different freedom degrees, it is public all to prepare a set of corresponding calculating inside FPGA
Formula is write as plane, and the type of mechanical arm has Cartesian robot arm, circular cylindrical coordinate machinery arm and polar coordinates mechanical arm three classes,
According to the complexity of writing, operator can independently select the coordinate domain write, and be defaulted as the highest polar coordinates mould of complexity
Formula, writing pen needs fixed in mechanical arm tail end, generally allow to have 1~2mm error, can allow pen tip from a coordinate motion to
It will not be interfered by too big frictional resistance when next coordinate, meanwhile, in order to avoid occurring causing due to subtle arithmetic eror
The problem of steering engine stall, it is proposed that write with the nib of soft contact, prevent steering engine because long-time stall reduces accuracy and makes
Use the service life.
S20, the Bluetooth communication established between FPGA and host computer connect；
S20 specifically includes the following steps:
S201, bluetooth initialization；
S202, detection connection；
S203, whether bluetooth is connected；
Whether S204, bluetooth respond；
S205, connection is established.
The no excessive demand of the selection of bluetooth can establish connection with host computer.
S30, host computer creation write data, and send the data to FPGA；
S30 specifically includes the following steps:
S301, host computer reset；
S302, control mouse write character stroke；
S303, judge whether the location of pixels of character stroke standardizes；
S304, give up current stroke automatically；
S305, parsing pixel, packaged data；
The configuration such as S306, host computer completing port, baud rate, check bit；
S307, data packet is sent；
It is S308, ready；
S309, whether require to retransmit.
Wherein writing the operators such as character stroke and configuration sending port can voluntarily control, and send an engineering, on
Position chance enters ready state, and the request until receiving the retransmission of the end FPGA, host computer will retransmit a data packet, on
The programming no special language requirement of position machine, but need to meet can the functions such as selection port, baud rate and parity check bit, tool
There is an input window and any character in input window can be converted to polar data, the character that mouse writes is big
It is small must host computer provide window in, if writing on outside window, current stroke will be judged as in vain, and host computer will be in window
Picture element signal be converted to coordinate signal, when stroke is more than one, specific information symbol can be generated, specific information symbol can allow machinery
Arm makes start writing Deng corresponding operatings, and final all data can be packaged into data packet, and host computer selects automatically according to data package size
Transmission mode is selected, is transferred to FPGA by radio connections such as data line or bluetooths.
S40, the FPGA receive data and are handled, FPGA control mechanical arm completion writing.
S40 specifically includes the following steps:
S401, FPGA received data packet；
S402, it parses data packet and extracts coordinate；
S403, judge whether data standardize；
S404, cast out data lack of standardization；
S405, it is loaded into coordinate information table；
S406, judge whether that missing is serious；
S407, request host computer retransmit；
S408, coordinate is converted into driving signal；
S409, driving signal drive mechanical arm.
Then the Bluetooth transmission protocol received data packet that FPGA is selected according to operator parses number according to Data Transport Protocol
According to packet, each pixel coordinate is obtained, coordinate is then successively examined, nonstandard data are cast out, judges that coordinate is believed after having parsed
Cease it is whether complete, if missing will seriously send request to host computer, if lack coordinate is converted within threshold value it is corresponding
Driving signal, driving mechanical arm work, the PWM drive cycle of general steering engine is 20ms, and controlled range is usually 0.5-2.5ms,
Middle position is all 1.5ms, selects a coordinate as origin, assigns the specific numerical value of steering engine, on polar coordinate plane, successively
It calculates the corresponding steering engine of relative coordinate to pinch, and this is exported in a manner of square-wave signal, to drive steering engine.
FPGA according to the data pack protocol parsing data packet of oneself setting and is mentioned according to Data Transport Protocol received data packet
Coordinate signal is taken, with inverse kinematics formula, mechanical arm principal arm and auxiliary length is substituted into, polar coordinates signal can be converted to machine
The angle-data of tool arm steering engine corner, while the square-wave signal that the FPGA output period is 20ms drives steering engine to go to specified angle,
According to calculating, pen tip will just fall in the point at this time.
The coordinate signal received is buffered in RAM by FPGA needs, is then successively read coordinate signal in order, is guaranteed
Each coordinate can be read.Coordinate signal needs to use inverse kinematics Formula Parsing, is ultimately converted to the corner of steering engine, FPGA
It just can be with output signal to drive steering engine to rotate after the angle for knowing corner.Inverse kinematics formula is existing knowledge, here not
It repeats.
Specifically, mechanical arm is using existing four-degree-of-freedom mechanical arm, operator independently select the type of pen simultaneously on the market
It is fixed in the end of mechanical arm, it is desirable that position is reasonable.Due to installing individually, the fixation position of pen might have subtle
Difference causes height of the pen tip apart from paper (or other faces of writing) different, influences effect of writing, and initialization can adapt to automatically
Such situation.
Host computer can be mobile phone terminal or the end PC, can also connect other by setting transport protocol at the end FPGA and answer
With, data are sent using the end PC herein, the character being intended by (or pattern) is write in host computer input frame by mouse,
Mechanical arm can write out corresponding character (or pattern) in paper or other writing surfaces.Mechanical arm can by development board or
FPGA is controlled, and receives the signal and control manipulator motion that host computer generates using FPGA in the present embodiment.
The above-mentioned a certain application that the invention is only illustrated with example, aspect reader understands, but does not represent purposes of the present invention
It is only limitted to this, for the non-technical personnel of this field, it is possible to understand that in the case of without departing from the principles of the present invention, Ke Yi
Make extension or recreation on the basis of this, the scope of the present invention is subject to claims.
Claims (9)
1. a kind of working method of mechanical arm, which is characterized in that the described method comprises the following steps:
Initialize mechanical arm；
Establish the communication connection between FPGA and host computer；
Data are write in the host computer creation, and data are sent FPGA；
The FPGA receives data and is handled, and FPGA controls mechanical arm and completes to write.
2. a kind of working method of mechanical arm according to claim 1, which is characterized in that the mechanical arm initial method
Include:
Establish the communication connection between FPGA and mechanical arm；
The FPGA judges whether the freedom degree number of mechanical arm meets writing and require, and corresponding initial according to freedom degree selection
Change process；
The initialization of mechanical arm is completed by the initialization process.
3. a kind of working method of mechanical arm according to claim 2, which is characterized in that the freedom degree number be greater than etc.
In 4.
4. a kind of working method of mechanical arm according to claim 2, which is characterized in that the mechanical arm initial method
It specifically includes: FPGA electrification reset；Detection general-purpose interface judges whether the freedom degree number of mechanical arm meets the requirements；Selection is suitable
Initialization scheme；FPGA receives feedback and post-processes and export initial signal, carries out initialization procedure to mechanical arm.
5. a kind of working method of mechanical arm according to claim 1, which is characterized in that the writing data creation method
Include:
Character is inputted in the host computer；
The host computer is according to character stroke acquisition order pixel；
Obtain the polar coordinates information and specific information symbol of each pixel；
The data packet of the character is generated according to polar coordinates information and specific information symbol；
The specific information symbol includes the pause of character stroke and empties position.
6. a kind of working method of mechanical arm according to claim 5, which is characterized in that the packet in the data packet
It includes: the position of total length of data, the sequencing of coordinate information and specific information symbol.
7. a kind of working method of mechanical arm according to claim 1, which is characterized in that the data processing method is such as
Under；
The FPGA identifies data characteristics and completes parsing in inside, obtains the polar coordinates of series of pixel point；
Judge polar reasonability；
Polar coordinates are converted to the square-wave signal of control mechanical arm.
8. a kind of working method of mechanical arm according to claim 1, which is characterized in that
The host computer includes mobile phone and PC；The mechanical arm includes that Cartesian robot arm, circular cylindrical coordinate machinery arm and pole are sat
Mark mechanical arm.
9. a kind of working method of mechanical arm according to claim 1, which is characterized in that the end of the mechanical arm is fixed
There is writing pen.
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