CN109807891B - Equipment motion processing method and device - Google Patents
Equipment motion processing method and device Download PDFInfo
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- CN109807891B CN109807891B CN201910101216.XA CN201910101216A CN109807891B CN 109807891 B CN109807891 B CN 109807891B CN 201910101216 A CN201910101216 A CN 201910101216A CN 109807891 B CN109807891 B CN 109807891B
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Abstract
The invention discloses a device motion processing method and device. Wherein, the method comprises the following steps: acquiring an initial posture of a track axis Z corresponding to a mechanical arm of the robot and the position of a current track point; determining the position of the next track point and the target posture of the Z axis of the next track point; determining a track surface between the current track point and the next track point according to the position of the current track point and the position of the next track point; determining a track angle between the current track point and the next track point according to the initial posture and the target posture; and the mechanical arm of the control robot rotates to the next track point on the track surface along the track angle from the position of the current track point, wherein when the mechanical arm of the robot rotates to the next track point, the Z-axis posture of the mechanical arm corresponds to the target posture of the Z axis of the next track point.
Description
Technical Field
The invention relates to the technical field of equipment control, in particular to an equipment motion processing method and device.
Background
In the related art, when the robot is in operation, if work such as grinding, polishing, laser lettering, pile up neatly, often carry out the operation along preset orbit, generally can include a plurality of points in the preset orbit, currently, to the predetermined orbit of settlement, often seek the shortest distance of marcing, can make the robot along the track point during operation like this, the robot is terminal can cause the axle to transfinite and can't continue to work because the change of track point gesture can be too big round terminal Z axle rotation angle, can lead to a large amount of robot damages like this, the life of robot has been reduced, and the work efficiency of robot still can lead to the inefficiency because maintenance duration's delay.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a device motion processing method and a device, which at least solve the technical problem that when a device works along a track path in the related art, the tail end of the device rotates by an overlarge angle around a Z axis at the tail end due to the change of the posture, so that the device cannot continue to work.
According to an aspect of an embodiment of the present invention, there is provided a device motion processing method including: acquiring an initial posture of a track axis Z corresponding to a mechanical arm of the robot and the position of a current track point; determining the position of the next track point and the target posture of the Z axis of the next track point; determining a track surface between the current track point and the next track point according to the position of the current track point and the position of the next track point; determining a track angle between the current track point and the next track point according to the initial posture and the target posture; and controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the position of the current track point by the track angle, wherein when the mechanical arm of the robot rotates to the next track point, the Z-axis posture of the mechanical arm corresponds to the target posture of the Z axis of the next track point.
Further, the step of determining the track angle between the current track point and the next track point includes: when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point, determining a rotation acute angle through a preset rule, and taking the rotation acute angle as a track angle between the current track point and the next track point; the step of controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the track angle from the position of the current track point comprises the following steps: and when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point, controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the rotation acute angle from the position of the current track point.
Further, the preset rule is a vector right-handed screw rule.
Further, the step of determining the track angle between the current track point and the next track point further includes: when the initial posture of the Z axis of the current track point is the same as the target posture of the Z axis of the next track point, determining the track angle between the current track point and the next track point as a preset numerical value; the step of controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the track angle from the position of the current track point further comprises the following steps: and when the initial posture of the Z axis of the current track point is the same as the target posture of the Z axis of the next track point, keeping the rotation posture of the mechanical arm of the robot unchanged, and controlling the mechanical arm of the robot to translate to the next track point on the track surface along the track angle from the position of the current track point.
Further, when the trajectory route of the robot is a closed-loop path, and a trajectory initial point and a trajectory end point in the trajectory route coincide, after controlling a mechanical arm of the robot to rotate on the trajectory plane from the position of the current trajectory point along the trajectory angle to the next trajectory point, the method further includes: and if the next track point is the track end point, adjusting the posture of the mechanical arm of the robot to be the same as the posture of the track initial point.
Further, acquiring an initial posture of a trajectory axis Z axis corresponding to a robot arm of the robot includes: after the robot finishes the scales of the current track point, the initial posture is detected by an angle measurer carried on a mechanical arm of the robot, wherein the initial posture comprises a posture angle and the scale direction of the mechanical arm.
According to another aspect of the embodiments of the present invention, there is also provided a device motion processing apparatus including: the acquisition unit is used for acquiring the initial posture of a track axis Z corresponding to a mechanical arm of the robot and the position of a current track point; the first determining unit is used for determining the position of the next track point and the target posture of the Z axis of the next track point; the second determining unit is used for determining a track surface between the current track point and the next track point according to the position of the current track point and the position of the next track point; a third determining unit, configured to determine a trajectory angle between the current trajectory point and the next trajectory point according to the initial posture and the target posture; and the control unit is used for controlling the mechanical arm of the robot to follow the position of the current track point along the track angle to rotate to the next track point on the track surface, wherein when the mechanical arm of the robot rotates to the next track point, the Z-axis posture of the mechanical arm corresponds to the target posture of the Z axis of the next track point.
Further, the third determination unit includes: the first determining module is used for determining a rotation acute angle through a preset rule when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point, and taking the rotation acute angle as a track angle between the current track point and the next track point; the control unit includes: and the second determining module is used for controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the rotation acute angle from the position of the current track point when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point.
Further, the preset rule is a vector right-handed screw rule.
Further, the third determining unit further includes: the fourth determining module is used for determining that the track angle between the current track point and the next track point is a preset numerical value when the initial posture of the Z axis of the current track point is the same as the target posture of the Z axis of the next track point; the control unit further includes: and the fifth determining module is used for keeping the rotation posture of the mechanical arm of the robot unchanged when the initial posture of the Z axis of the current track point is the same as the target posture of the Z axis of the next track point, and controlling the mechanical arm of the robot to translate to the next track point on the track surface along the track angle from the position of the current track point.
Further, when the trajectory route of the robot is a closed-loop path, a trajectory initial point and a trajectory end point in the trajectory route coincide, and the device motion processing apparatus further includes: and the adjusting unit is used for adjusting the posture of the mechanical arm of the robot to be the same as the posture of the initial point of the track if the next track point is the end point of the track after the mechanical arm of the robot is controlled to rotate to the next track point on the track surface along the track angle from the position of the current track point.
Further, the acquisition unit includes: and the acquisition module is used for detecting the initial attitude through an angle measurer carried on a mechanical arm of the robot after the robot finishes the calibration of the current track point, wherein the initial attitude comprises an attitude angle and the calibration direction of the mechanical arm.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium for storing a program, where the program, when executed by a processor, controls a device on which the storage medium is located to execute any one of the device motion processing methods described above.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes the device motion processing method described in any one of the above.
In the embodiment of the invention, the initial posture of a track axis Z axis corresponding to a mechanical arm of a robot and the position of a current track point are obtained, the position of a next track point and the target posture of the Z axis of the next track point are determined, a track surface between the current track point and the next track point is determined according to the position of the current track point and the position of the next track point, a track angle between the current track point and the next track point is determined according to the initial posture and the target posture, the mechanical arm of the robot is controlled to rotate on the track surface from the position of the current track point to the next track point along the track angle, wherein when the mechanical arm of the robot rotates to the next track point, the Z axis posture of the mechanical arm corresponds to the target posture of the Z axis of the next track point. In this embodiment, when the robot moves, the robot can be controlled to keep the Z-axis posture of the robot between two adjacent track points to rotate along the track angle, and the track angle can be used for determining the minimum track rotation angle, so that the technical problem that the tail end of the equipment cannot continue to work due to the fact that the shaft is overrun because the change of the posture can be too large around the tail end Z-axis rotation angle when the equipment works along the track path in the related art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow diagram of an alternative method of device motion processing according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a robot according to an embodiment of the present invention
FIG. 3 is a schematic illustration of another robot operating in accordance with an embodiment of the present invention;
fig. 4 is a schematic diagram of an alternative apparatus motion processing device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
To facilitate the understanding of the present invention, some terms or nouns related to the embodiments of the present invention are explained below:
tracing points: a data packet containing three-dimensional spatial coordinates and orientation.
Track edge: corresponding to the side with the same variation amplitude when the robot walks.
The embodiment of the invention can be applied to various track generation fields, in particular to the fields of production equipment, education equipment, robots and the like, such as industrial robots or educational robots.
Optionally, the range of application of the embodiment of the present invention may include at least one of the following: trajectory planning software, robot control systems, industrial production trajectory planning, and the like. The production range of applications includes but is not limited to: welding, grinding, industrial polishing or laser lettering, etc. For example, the welding of parts can be realized through the embodiment of the invention, and the posture of the track point is determined again to ensure the optimal posture from the tail end of the robot to the track point under the condition of ensuring the minimum Z-axis rotation of the track point.
The invention is illustrated below by means of various examples.
Alternatively, the Z axis in each of the embodiments described below may refer to a working direction corresponding to the tip (direction indicated by the robot arm) of the robot.
In accordance with an embodiment of the present invention, there is provided an apparatus motion processing method embodiment, it is noted that the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flow chart of an alternative device motion processing method according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, acquiring an initial posture of a track axis Z corresponding to a mechanical arm of the robot and a position of a current track point;
step S104, determining the position of the next track point and the target posture of the Z axis of the next track point;
step S106, determining a track surface between the current track point and the next track point according to the position of the current track point and the position of the next track point;
step S108, determining a track angle between the current track point and the next track point according to the initial posture and the target posture;
and S110, controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the track angle from the current track point, wherein when the mechanical arm of the robot rotates to the next track point, the Z-axis posture of the mechanical arm corresponds to the target posture of the Z axis of the next track point.
Through the steps, the initial posture of the track axis Z axis corresponding to the mechanical arm of the robot and the position of the current track point can be obtained, the position of the next track point and the target posture of the Z axis of the next track point are determined, the track surface between the current track point and the next track point is determined according to the position of the current track point and the position of the next track point, the track angle between the current track point and the next track point is determined according to the initial posture and the target posture, the mechanical arm of the robot is controlled to rotate to the next track point on the track surface along the track angle from the position of the current track point, and when the mechanical arm of the robot rotates to the next track point, the Z axis posture of the mechanical arm corresponds to the target posture of the Z axis of the next track point. In this embodiment, when the robot moves, the robot can be controlled to keep the Z-axis posture of the robot between two adjacent track points to rotate along the track angle, and the track angle can be used for determining the minimum track rotation angle, so that the technical problem that the tail end of the equipment cannot continue to work due to the fact that the shaft is overrun because the change of the posture can be too large around the tail end Z-axis rotation angle when the equipment works along the track path in the related art is solved.
The above steps will be explained below.
In the following embodiments of the present invention, the robot arm indicates an industrial robot or an educational robot, and the robot can perform a series of operations such as grinding, polishing, welding, spraying, stacking, laser lettering, and the like, so as to complete corresponding operations.
And S102, acquiring the initial posture of a track axis Z corresponding to the mechanical arm of the robot and the position of the current track point.
Fig. 2 is a schematic operation diagram of a robot according to an embodiment of the present invention, as shown in fig. 2, the robot may be an industrial robot, the robot performs operation on a plane through an extended mechanical arm, and optionally, an arrow B1 to the mechanical arm in fig. 2 indicates a Z-axis of the mechanical arm, i.e., a Z-axis indicated by an arrow right in front of the mechanical arm.
After the direction of confirming the arm, if the robot carries out the operation along the orbit route, can carry out the operation along track point one by one, can determine the position of current track point to determine the Z axis vector that current orbit corresponds, generally speaking, the Z axle of current track point has been adjusted well with the arm, and like this, the arm can be directly to current track point operation. If the next track point is reached from the current track point, then the operation is carried out, firstly, the Z axis of the mechanical arm and the Z axis of the track point need to be aligned, and then the operation can be carried out.
In an alternative embodiment of the present invention, the acquiring an initial posture of a trajectory axis Z axis corresponding to a robot arm of the robot includes: after the robot finishes the scale of the current track point, an initial posture is detected by an angle measurer carried on a mechanical arm of the robot, wherein the initial posture comprises a posture angle and the scale direction of the mechanical arm.
Alternatively, the initial pose may indicate the orientation (i.e., the above-mentioned scale direction), the coordinate position, etc. of the robot arm, and the pose angle may refer to the position and the pose of the trace point of the straight line of the robot arm. Among data used for describing tasks on a plurality of devices in the manufacturing industry at present, a plurality of key data comprise track points and tracks, such as the tracks for describing the motions of an end effector of an industrial robot; g codes describing the processing path of the numerical control machine tool; welder instructions describing the welding position and attitude, etc., all trajectory points contain the most basic data three-dimensional space position and attitude, and the quality of the position and attitude directly affects the working quality of the device.
The above-mentioned posture indicates the working direction and angle of the robot arm.
Each track point in the embodiment of the invention can correspond to three coordinate axes, namely an X axis, a Y axis and a Z axis, wherein the X axis and the Y axis indicate the plane where the track point is located, and the Z axis indicates the scale posture of the track point.
Through the initial attitude of the track axis Z corresponding to the mechanical arm of the robot and the position of the current track point, the track surface and the working attitude between the track points can be positioned.
And step S104, determining the position of the next track point and the target posture of the Z axis of the next track point.
According to the invention, the position of the next track point can be determined through the track path, and then the Z-axis posture of the next track point is determined.
Fig. 3 is a schematic diagram of another robot according to an embodiment of the present invention, and as shown in fig. 3, there are three coordinate axes for the next point B2, and the upward arrow in fig. 3 may indicate the Z-axis of the next trace point.
From point B1 in fig. 2 to point B2 in fig. 3, it is necessary to determine the trajectory plane between B1 and B2, determine the minimum angle between B1 and B2, and then rotate B1 along the trajectory plane to be parallel to line B2 along the minimum angle.
And S106, determining a track surface between the current track point and the next track point according to the position of the current track point and the position of the next track point.
I.e. a trajectory plane can be located by two trajectory points.
And S108, determining a track angle between the current track point and the next track point according to the initial posture and the target posture.
The gesture of each track point is possibly different, so that the track angle needs to be changed, and the gesture of the track can be aligned when the current track point is aligned to the next track point, so that the robot can directly work.
When the track angle is determined, the first condition is that the Z axis of an initial track point is parallel to the Z axis of a next track point; second, the Z-axis of the initial trace point is not parallel to the Z-axis of the next trace point.
For the first case, the Z axis of the initial track point is parallel to the Z axis of the next track point, optionally, the step of determining the track angle between the current track point and the next track point further includes: and when the initial posture of the Z axis of the current track point is the same as the target posture of the Z axis of the next track point, determining the track angle between the current track point and the next track point as a preset numerical value, and determining the track angle between the current track point and the next track point as the preset numerical value.
Optionally, the preset value may be 0, that is, two track points may be parallel to each other, and the postures of the Z axes of the two track points are also the same, so that the Z axis does not need to be rotated, and only translation is needed to be performed to reach the next track point from the current track point.
For the second case, the step of determining the trajectory angle between the current trajectory point and the next trajectory point includes: and when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point, determining a rotation acute angle through a preset rule, and taking the rotation acute angle as a track angle between the current track point and the next track point.
Preferably, the preset rule is a vector right-handed screw rule.
When the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point, the minimum track angle can be determined through the corresponding rule, so that the minimum Z axis rotation is realized, the joint angle of the robot is ensured not to be suddenly changed, and the joint loss of the robot is reduced.
Through the two conditions, the track angle of the robot needing to be adjusted can be obtained.
And S110, controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the track angle from the current track point, wherein when the mechanical arm of the robot rotates to the next track point, the Z-axis posture of the mechanical arm corresponds to the target posture of the Z axis of the next track point.
Corresponding to the above two cases, the first case further includes, in the step of controlling the mechanical arm of the robot to rotate on the trajectory plane from the current position of the trajectory point along the trajectory angle to the next trajectory point: when the initial posture of the Z axis of the current track point is the same as the target posture of the Z axis of the next track point, the rotation posture of the mechanical arm of the robot is kept unchanged, and the mechanical arm of the robot is controlled to translate to the next track point on the track surface along the track angle from the position of the current track point.
The situation indicates that the robot can translate on the track surface in a translation mode, and track movement is achieved when the initial posture of the Z axis of the front track point is the same as the target posture of the Z axis of the next track point.
And for the second type, the step of controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the track angle from the position of the current track point comprises the following steps: and when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point, controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the rotation acute angle from the position of the current track point.
The situation indicating robot can realize the track movement when the initial posture of the Z axis of the front track point is different from the target posture of the Z axis of the next track point by the minimum rotation angle according to the calculated rotation acute angle.
Optionally, in the above manner, the moving process between every two track points can be determined, so that the rotation angle is minimum, and the rest other track points can be performed in sequence.
In another optional embodiment of the present invention, when the trajectory route of the robot is a closed-loop path, and the initial trajectory point and the end trajectory point in the trajectory route coincide, after controlling the mechanical arm of the robot to rotate on the trajectory plane from the position of the current trajectory point along the trajectory angle to the next trajectory point, the method further includes: and if the next track point is the track end point, adjusting the posture of the mechanical arm of the robot to be the same as the posture of the track initial point.
For example, when a robot welds a part, the trajectory traveled by the robot is a closed loop, the positions of the initial point and the end point of the trajectory are coincident with the Z axis, but the postures are not consistent, so that when the robot travels through a circle of path, the robot rotates around the Z axis at the tail end, and the welding often needs to repeatedly travel through the same path for several times, thereby causing overrun (the rotation exceeds 360 degrees). The robot returns to the posture of the initial point of the track when the robot finishes one circle of track by performing minimum Z-axis rotation processing, so that the robot can repeatedly walk without exceeding the limit.
In order to solve the problem that when the robot works along the track point, the tail end (or the mechanical arm) of the robot cannot continue to work due to the fact that the rotation angle of the tail end Z axis is too large due to the change of the posture of the track point, the invention ensures that the rotation angle of the mechanical arm around the Z axis is not too large according to the principle that the change of the tail end Z axis is minimum in the working process of the robot. The method comprises the following steps of 1, if the Z axis of a track point in a track is consistent with the Z axis of a track initial point, ensuring that the rotation angle of the tail end of a robot around the Z axis in the process from the initial point to the point is a preset value (can be 0), namely translation motion, if the Z axis of the track point is not parallel to the Z axis of the track initial point, and re-determining the new posture of the track point by an acute angle determined by vector right-hand spiral determination between the two Z axes. Through the two rules, the posture of the track point can be determined again to ensure the optimal posture of the robot mechanical arm to the track point under the condition of ensuring that the Z axis of the track point is unchanged.
The invention is illustrated below by means of a further alternative embodiment.
Fig. 4 is a schematic diagram of an alternative apparatus motion processing device according to an embodiment of the present invention, as shown in fig. 4, the device may include: an acquisition unit 41, a first determination unit 43, a second determination unit 45, a third determination unit 47, a control unit 49, wherein,
an obtaining unit 41, configured to obtain an initial posture of a trajectory axis Z axis corresponding to a mechanical arm of the robot and a position of a current trajectory point;
a first determining unit 43, configured to determine a position of a next trace point and a target pose of a Z axis of the next trace point;
the second determining unit 45 is configured to determine a trajectory plane between the current trajectory point and the next trajectory point according to the position of the current trajectory point and the position of the next trajectory point;
a third determining unit 47, configured to determine a trajectory angle between the current trajectory point and the next trajectory point according to the initial posture and the target posture;
and a control unit 49 for controlling the robot arm of the robot to rotate to a next track point on the track surface along the track angle from the position of the current track point, wherein when the robot arm of the robot rotates to the next track point, the Z-axis posture of the robot arm corresponds to the target posture of the Z-axis of the next track point.
The device motion processing apparatus can acquire the initial posture of the track axis Z corresponding to the mechanical arm of the robot and the position of the current track point through the acquisition unit 41, the position of the next track point and the target attitude of the Z axis of the next track point are determined by the first determination unit 43, the second determination unit 45 determines the track surface between the current track point and the next track point according to the position of the current track point and the position of the next track point, the third determining unit 47 determines the track angle between the current track point and the next track point according to the initial posture and the target posture, the robotic arm of the robot is controlled by the control unit 49 to rotate on the trajectory plane from the position of the current trajectory point along the trajectory angle to the next trajectory point, when the mechanical arm of the robot rotates to the next track point, the Z-axis posture of the mechanical arm corresponds to the target posture of the Z axis of the next track point. In this embodiment, when the robot moves, the robot can be controlled to keep the Z-axis posture of the robot between two adjacent track points to rotate along the track angle, and the track angle can be used for determining the minimum track rotation angle, so that the technical problem that the tail end of the equipment cannot continue to work due to the fact that the shaft is overrun because the change of the posture can be too large around the tail end Z-axis rotation angle when the equipment works along the track path in the related art is solved.
Optionally, the third determining unit includes: the first determining module is used for determining a rotation acute angle through a preset rule when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point, and taking the rotation acute angle as a track angle between the current track point and the next track point; the control unit includes: and the second determining module is used for controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the rotation acute angle from the position of the current track point when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point.
Preferably, the preset rule is a vector right-handed screw rule.
Alternatively, the third determining unit further includes: the fourth determining module is used for determining the track angle between the current track point and the next track point to be a preset numerical value when the initial posture of the Z axis of the current track point is the same as the target posture of the Z axis of the next track point; the control unit further includes: and the fifth determining module is used for keeping the rotation posture of the mechanical arm of the robot unchanged when the initial posture of the Z axis of the current track point is the same as the target posture of the Z axis of the next track point, and controlling the mechanical arm of the robot to translate to the next track point on the track surface along the track angle from the position of the current track point.
As an optional example of the embodiment of the present invention, when the trajectory route of the robot is a closed-loop path, a trajectory initial point and a trajectory end point in the trajectory route coincide with each other, and the apparatus motion processing device further includes: and the adjusting unit is used for adjusting the posture of the mechanical arm of the robot to be the same as the posture of the initial point of the track if the next track point is the end point of the track after the mechanical arm of the robot is controlled to rotate to the next track point on the track surface along the track angle from the position of the current track point.
In an embodiment of the present invention, the obtaining unit includes: the acquisition module is used for detecting an initial posture through an angle measurer carried on a mechanical arm of the robot after the robot finishes the calibration of the current track point, wherein the initial posture comprises a posture angle and a calibration direction of the mechanical arm.
The device motion processing apparatus may further include a processor and a memory, and the acquiring unit 41, the first determining unit 43, the second determining unit 45, the third determining unit 47, the control unit 49, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory. The kernel can be set to be one or more than one, and the mechanical arm of the robot is controlled to rotate to the next track point on the track surface along the track angle from the position of the current track point by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium for storing a program, where the program, when executed by a processor, controls a device in which the storage medium is located to perform any one of the device motion processing methods described above.
According to another aspect of the embodiments of the present invention, there is also provided a processor, configured to execute a program, where the program executes the device motion processing method described in any one of the above.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: acquiring an initial posture of a track axis Z corresponding to a mechanical arm of the robot and the position of a current track point; determining the position of the next track point and the target posture of the Z axis of the next track point; determining a track surface between the current track point and the next track point according to the position of the current track point and the position of the next track point; determining a track angle between the current track point and the next track point according to the initial posture and the target posture; and the mechanical arm of the control robot rotates to the next track point on the track surface along the track angle from the position of the current track point, wherein when the mechanical arm of the robot rotates to the next track point, the Z-axis posture of the mechanical arm corresponds to the target posture of the Z axis of the next track point.
Optionally, when the processor executes the program, the following steps may be further implemented: when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point, determining a rotation acute angle through a preset rule, and taking the rotation acute angle as a track angle between the current track point and the next track point; the method comprises the following steps of controlling a mechanical arm of the robot to rotate to a next track point on a track surface along a track angle from the position of the current track point, wherein the steps comprise: and when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point, controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the rotation acute angle from the position of the current track point.
Optionally, the preset rule is a vector right-handed screw rule.
Optionally, when the processor executes the program, the following steps may be further implemented: when the initial posture of the Z axis of the current track point is the same as the target posture of the Z axis of the next track point, determining the track angle between the current track point and the next track point as a preset numerical value; the step of controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the track angle from the current track point position further comprises the following steps: when the initial posture of the Z axis of the current track point is the same as the target posture of the Z axis of the next track point, the rotation posture of the mechanical arm of the robot is kept unchanged, and the mechanical arm of the robot is controlled to translate to the next track point on the track surface along the track angle from the position of the current track point.
Optionally, when the trajectory route of the robot is a closed-loop path, the trajectory initial point and the trajectory end point in the trajectory route coincide, and optionally, the processor, when executing the program, may further implement the following steps: after the mechanical arm of the robot is controlled to rotate to the next track point on the track surface along the track angle from the current track point, if the next track point is the track end point, the posture of the mechanical arm of the robot is adjusted to be the same as the posture of the track initial point.
Optionally, when the processor executes the program, the following steps may be further implemented: after the robot finishes the scale of the current track point, an initial posture is detected by an angle measurer carried on a mechanical arm of the robot, wherein the initial posture comprises a posture angle and the scale direction of the mechanical arm.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: acquiring an initial posture of a track axis Z corresponding to a mechanical arm of the robot and the position of a current track point; determining the position of the next track point and the target posture of the Z axis of the next track point; determining a track surface between the current track point and the next track point according to the position of the current track point and the position of the next track point; determining a track angle between the current track point and the next track point according to the initial posture and the target posture; and the mechanical arm of the control robot rotates to the next track point on the track surface along the track angle from the position of the current track point, wherein when the mechanical arm of the robot rotates to the next track point, the Z-axis posture of the mechanical arm corresponds to the target posture of the Z axis of the next track point.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple 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, units or modules, and may be in an electrical 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 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 Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A device motion processing method, comprising:
acquiring an initial posture of a track axis Z corresponding to a mechanical arm of the robot and the position of a current track point;
determining the position of the next track point and the target posture of the Z axis of the next track point;
determining a track surface between the current track point and the next track point according to the position of the current track point and the position of the next track point;
determining a track angle between the current track point and the next track point according to the initial posture and the target posture;
controlling a robot arm of the robot to rotate to the next track point on the track surface along the track angle from the position of the current track point, wherein when the robot arm of the robot rotates to the next track point, a Z-axis attitude of the robot arm corresponds to a target attitude of a Z-axis of the next track point,
wherein, the step of determining the track angle between the current track point and the next track point comprises: and when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point, determining a rotation acute angle through a preset rule, and taking the rotation acute angle as a track angle between the current track point and the next track point.
2. The method of claim 1,
the step of controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the track angle from the position of the current track point comprises the following steps: and when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point, controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the rotation acute angle from the position of the current track point.
3. The method of claim 2, wherein the preset rule is a vector right-handed spiral rule.
4. The method of claim 2,
determining the track angle between the current track point and the next track point, further comprising: when the initial posture of the Z axis of the current track point is the same as the target posture of the Z axis of the next track point, determining the track angle between the current track point and the next track point as a preset numerical value;
the step of controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the track angle from the position of the current track point further comprises the following steps: and when the initial posture of the Z axis of the current track point is the same as the target posture of the Z axis of the next track point, keeping the rotation posture of the mechanical arm of the robot unchanged, and controlling the mechanical arm of the robot to translate to the next track point on the track surface along the track angle from the position of the current track point.
5. The method of claim 1, wherein when the trajectory route of the robot is a closed-loop path, and the initial trajectory point and the end trajectory point in the trajectory route coincide, after controlling the mechanical arm of the robot to rotate on the trajectory plane from the position of the current trajectory point to the next trajectory point along the trajectory angle, the method further comprises:
and if the next track point is the track end point, adjusting the posture of the mechanical arm of the robot to be the same as the posture of the track initial point.
6. The method of claim 1, wherein obtaining an initial pose of a trajectory axis Z-axis corresponding to a robotic arm of the robot comprises:
the initial pose is detected by an goniometer carried on a robotic arm of the robot, wherein the initial pose comprises a pose angle.
7. An apparatus motion processing device, comprising:
the acquisition unit is used for acquiring the initial posture of a track axis Z corresponding to a mechanical arm of the robot and the position of a current track point;
the first determining unit is used for determining the position of the next track point and the target posture of the Z axis of the next track point;
the second determining unit is used for determining a track surface between the current track point and the next track point according to the position of the current track point and the position of the next track point;
a third determining unit, configured to determine a trajectory angle between the current trajectory point and the next trajectory point according to the initial posture and the target posture;
a control unit for controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the track angle from the position of the current track point, wherein when the mechanical arm of the robot rotates to the next track point, the Z-axis posture of the mechanical arm corresponds to the target posture of the Z-axis of the next track point,
wherein the third determination unit includes: and the first determining module is used for determining a rotation acute angle through a preset rule when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point, and taking the rotation acute angle as a track angle between the current track point and the next track point.
8. The apparatus of claim 7,
the control unit includes: and the second determining module is used for controlling the mechanical arm of the robot to rotate to the next track point on the track surface along the rotation acute angle from the position of the current track point when the initial posture of the Z axis of the current track point is different from the target posture of the Z axis of the next track point.
9. A storage medium storing a program, wherein the program, when executed by a processor, controls an apparatus in which the storage medium is located to perform the apparatus motion processing method according to any one of claims 1 to 6.
10. A processor, characterized in that the processor is configured to execute a program, wherein the program executes the device motion processing method according to any one of claims 1 to 6.
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