CN110919639A - Articulated teaching arm and teaching method based on same - Google Patents
Articulated teaching arm and teaching method based on same Download PDFInfo
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- CN110919639A CN110919639A CN201811091356.5A CN201811091356A CN110919639A CN 110919639 A CN110919639 A CN 110919639A CN 201811091356 A CN201811091356 A CN 201811091356A CN 110919639 A CN110919639 A CN 110919639A
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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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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Abstract
The invention relates to the technical field of industrial robots, and discloses a joint type teaching arm and a teaching method based on the teaching arm, wherein the teaching arm comprises a teaching arm flange plate, a teaching arm flange plate bottom arm, a first teaching arm joint, a teaching arm middle arm, a second teaching arm joint, a teaching arm upper arm and a third teaching arm joint, the teaching arm flange plate is welded at the bottom of the teaching arm flange plate bottom arm, the top of the teaching arm flange plate bottom arm is movably connected with the teaching arm middle arm through the first teaching arm joint, the teaching arm middle arm is movably connected with the teaching arm upper arm through the second teaching arm joint, the teaching arm is installed on a flange plate of a robot through a parallel teaching arm flange plate to form serial teaching, the teaching method provides two novel teaching methods of serial teaching and teaching, and solves the problems of low teaching efficiency and poor interactivity of the traditional teaching box by means of a teaching mechanical arm, the programming requirement on operators is high, so that the teaching process is simpler and more convenient.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a joint type teaching arm and a teaching method based on the teaching arm.
Background
The industrial robot is widely applied to the industrial fields of welding, spraying, polishing, stacking and the like, and the traditional teaching box is unfriendly to the teaching of complex tracks, long in teaching time and high in difficulty. The complex track can be taught in the industry by adopting an off-line teaching mode, however, the off-line programming needs to provide an accurate three-dimensional model, the robot needs to have higher absolute positioning precision, and the subsequent track adjusting process is complex and unintuitive. By means of a third-party auxiliary teaching device, the traditional teaching method is changed to simplify the existing teaching process, and the urgent practical requirement is met.
Disclosure of Invention
The present invention is directed to a teaching arm and a teaching method based on the teaching arm, which solve the problems of the related art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an articulated type teaching arm, includes teaching arm ring flange, teaching arm ring flange end arm, first teaching arm joint, teaching arm middle arm, second teaching arm joint, teaching arm upper arm and third teaching arm joint, the bottom welding of teaching arm ring flange end arm has the teaching arm ring flange, the top of teaching arm ring flange end arm is through first teaching arm joint swing joint teaching arm middle arm, and teaching arm middle arm is through second teaching arm joint swing joint teaching arm upper arm, and the teaching arm upper arm is kept away from the one end of second teaching arm joint and is connected with third teaching arm joint, and the teaching arm is installed through the teaching arm ring flange and is constituteed serial-type teaching on the ring flange of robot, and the robot is installed on the base.
Furthermore, the first teaching arm joint, the second teaching arm joint and the third teaching arm joint are all provided with encoders, the encoders are electrically connected with an upper computer PC, and the upper computer PC is electrically connected with the robot controller.
Further, the encoder selects RS485 asynchronous serial communication and performs data acquisition in a polling mode.
Furthermore, the coordinate system of the base is O, the coordinate system of the tail end of the robot connected with the teaching arm is A, the coordinate system of the tail end of the teaching arm connected with the robot is B, and the coordinate system of one end of the teaching arm far away from the robot is C.
The invention provides another technical scheme: a teaching method of an articulated teaching arm comprises the following steps:
the method comprises the following steps: in the serial teaching process, the robot is in a static state, and the terminal pose of the robot is obtained through calculation by reading the angle of each joint on the demonstrator;
step two: then connecting the teaching arm with a robot, dragging the teaching arm by hands to draw an actually required track, and acquiring data by encoders of all joints of the teaching arm in the process;
step three: and then the teaching track is obtained through the data processing of the upper computer PC.
Further, the secondary transformation matrix of the robot end pose matrix relative to the base coordinate system is as follows:
wherein
Is the secondary transformation matrix of robot joint i relative to joint i-1,
the secondary transformation matrix of the terminal pose matrix of the teaching arm relative to the terminal pose matrix of the base coordinate is as follows:
wherein
To teach the next transformation matrix of arm joint i relative to joint i-1,
the transformation matrix of the pose of the tail end of the teaching arm relative to the robot base coordinate system is as follows:
further, the teaching mode also comprises a parallel type, the robot and the teaching arm are placed in parallel in the space, and the teaching mode comprises the following steps:
the first step is as follows: setting up a coordinate system, wherein the base coordinate system of the robot is O1-X1Y1Z1The base coordinate of the teaching arm is O2-X2Y2Z2Both have the same reference coordinate system, i.e. the workpiece coordinate system O3-X3Y3Z3。T2 1，T1 3， T2 3Respectively representing a transformation matrix between the coordinate system 1 relative to the coordinate system 2, a transformation matrix of the coordinate system 3 relative to the coordinate system 1, and a transformation matrix of the coordinate system 3 relative to the coordinate system 2;
the second step is that: t is2 3The transformation matrix can be obtained by processing the teaching arm data, T1 2Can be obtained by a three-point calibration method, and according to coordinate transformation:
the third step: taking 3 points p in the reference plane of the workpiece coordinate system1,p2,p3And the three points are not collinear, with P1Is the origin, P1P2The direction is the X direction, and the normal vector direction perpendicular to the plane is the Z axis, so that the construction of a coordinate system 3 is completed;
the fourth step: the teaching arm is moved to three points in sequence, and the terminal pose p of the teaching arm is recorded2 1,p2 2,p2 3(ii) a Then the robot is enabled to move to the three points in sequence, and the terminal pose p of the robot is recorded1 1,p1 2,p1 3。
Further, the method for constructing the coordinate system 3 includes the following steps:
the x-axis direction and z-axis direction vectors of the coordinate system 3, respectively, then the y-axis direction vector is:
the transformation matrix of coordinate system 3 with respect to coordinate system 1 is obtained as:
the transformation matrix of coordinate system 3 with respect to coordinate system 2 is obtained as:
by
A transformation matrix of the robot coordinate system 1 with respect to the teaching arm coordinate system 2 is obtained.
Furthermore, the upper computer PC and the teaching arm are used as clients in the parallel teaching, the robot controller is used as a server, the upper computer software and the lower computer software are communicated through the Ethernet, the upper computer PC and the robot controller are directly connected through a cross cable, a client program is written on the upper computer, data acquisition and data processing are conducted on a teaching arm encoder, and a communication protocol stack between the upper computer PC and the robot controller is realized through Socket.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a joint type teaching arm and a teaching method based on the teaching arm, and provides two novel teaching methods of series type teaching and parallel type teaching, the teaching arm has a structure similar to that of a general universal six-freedom industrial robot, the teaching arm is dragged by a human hand to reach an expected pose, joint data collected by an encoder, calculating the tail end track of the teaching arm according to the structural parameters of the teaching arm, calculating the conversion relation between the teaching arm and a robot coordinate system, obtaining joint variables theta 1-theta 6 based on positive kinematics to obtain DH parameters of the teaching arm, therefore, the terminal track of the teaching arm is converted into the terminal track of the robot, and by means of the teaching mechanical arm, the problems that the teaching efficiency of the traditional teaching box teaching method is low, the interactivity is poor, the programming requirement on an operator is high and the like are solved, so that the teaching process is simpler and more convenient.
Drawings
FIG. 1 is a schematic diagram of a teaching arm structure according to the present invention;
FIG. 2 is a schematic diagram of the teachings of the present invention;
FIG. 3 is a schematic diagram of the series teaching of the present invention;
FIG. 4 is a schematic diagram of the parallel teaching of the present invention.
In the figure: 1. a teaching arm flange plate; 2. a teaching arm flange plate bottom arm; 3. a first teaching arm joint; 4. A middle teaching arm; 5. a second teaching arm joint; 6. an upper arm of the teaching arm; 7. a third teaching arm joint; 8. A robot.
Detailed Description
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.
Referring to fig. 1, in the embodiment of the present invention: an articulated teaching arm is a mechanical structure based on a traditional six-degree-of-freedom industrial robot, is not internally provided with a motor and comprises a teaching arm flange plate 1, a teaching arm flange bottom arm 2, a first teaching arm joint 3, a teaching arm middle arm 4, a second teaching arm joint 5, a teaching arm upper arm 6 and a third teaching arm joint 7, wherein the teaching arm flange plate 1 is welded at the bottom of the teaching arm flange bottom arm 2 and is used for connecting the teaching arm flange plate 1 with a robot 8, the top of the teaching arm flange bottom arm 2 is movably connected with the teaching arm middle arm 4 through the first teaching arm joint 3, the teaching arm middle arm 4 is movably connected with the teaching arm upper arm 6 through the second teaching arm joint 5, one end of the teaching arm upper arm 6, which is far away from the second teaching arm joint 5, is connected with the third teaching arm joint 7, and the teaching can be realized by the dragging motion of a human hand through the three teaching arm joints, first teaching arm joint 3, second teaching arm joint 5 and third teaching arm joint 7 all are provided with the encoder, and the encoder is connected with upper computer PC electricity, and upper computer PC is used for gathering arm data to convert and optimize data, and give robot controller with data transmission. RS485 asynchronous serial communication is selected by the encoder, data acquisition is carried out in a polling mode, and therefore a plurality of encoders can be acquired by one serial port at the same time. The teaching method comprises the following steps: the method specifically comprises series teaching and parallel teaching. According to the method, complicated track planning is not needed, the teaching arm is dragged to reach the expected end pose, and the teaching track is obtained by recording data through the encoder.
Example 1
Referring to fig. 3, the teaching arm is mounted on the flange of the robot 8 through the teaching arm flange 1 to form a series teaching, the robot 8 is mounted on the base 9, the coordinate system of the base 9 is O, the coordinate system of the end of the robot 8 connected to the teaching arm is a, the coordinate system of the end of the teaching arm connected to the robot 8 is B, and the coordinate system of the end of the teaching arm far away from the robot 8 is C.
Based on the above-mentioned articulated teaching arm, the present embodiment provides a teaching method for an articulated teaching arm, including the following steps:
the method comprises the following steps: in the serial teaching process, the robot is in a static state, and the terminal pose of the robot is obtained through calculation by reading the angle of each joint on the demonstrator; the next transformation matrix of the terminal pose matrix of the robot 8 relative to the base coordinate system is:
wherein
The second transformation matrix of robot joint i relative to joint i-1.
The secondary transformation matrix of the terminal pose matrix of the teaching arm relative to the terminal pose matrix of the base coordinate is as follows:
wherein
To teach the secondary transformation matrix of arm joint i relative to joint i-1.
The transformation matrix of the pose of the tail end of the teaching arm relative to the robot base coordinate system is as follows:
step two: then, the teaching arm is connected with the robot 8, the teaching arm is dragged by hands to draw an actually required track, and each joint encoder of the teaching arm acquires data in the process;
step three: and then the teaching track is obtained through the data processing of the upper computer PC.
The track obtained by the series teaching is composed of a plurality of points, and a homogeneous transformation matrix C of the pose of each point relative to a base coordinate system can be calculatediThen, a position vector p of each point relative to the base coordinate system is obtainediAnd Euler angle [ α ]i,βi,γi]. The point location information is written into a text file of off-line programming, the movement speed is set in the file, linear movement is adopted between each point, interpolation between the points is automatically completed by a robot controller, teaching points forming a teaching track are dense, so that a place with large curvature of the teaching track can not appear, the stability of the reproduction process of the robot is ensured, and the reproduction process can be realized by importing the off-line file into the robot through a USB flash disk.
Example 2
Referring to fig. 4, in order to can more directly perceived convenient teaching, take another kind of teaching mode namely parallel teaching, the parallel teaching regards host computer PC and teaching arm as the client, robot controller is as the server, communicate through the ethernet between the host computer software and the lower computer, host computer PC directly passes through cross cable with robot controller and is connected, write client program on the host computer, do data acquisition and data processing to teaching arm encoder simultaneously, communication protocol stack is realized by Socket between host computer PC and the robot controller, place robot 8 and teaching arm parallel in the space, its step includes:
the first step is as follows: a coordinate system is set, and the base coordinate system of the robot 8 is O1-X1Y1Z1The base coordinate of the teaching arm is O2-X2Y2Z2Both have the same reference coordinate system, i.e. the workpiece coordinate system O3-X3Y3Z3。T2 1，T1 3， T2 3Respectively representing a transformation matrix between the coordinate system 1 relative to the coordinate system 2, a transformation matrix of the coordinate system 3 relative to the coordinate system 1, and a transformation matrix of the coordinate system 3 relative to the coordinate system 2;
the second step is that: t is2 3The transformation matrix can be obtained by processing the teaching arm data, T1 2Can be obtained by a three-point calibration method, and according to coordinate transformation:
the third step: taking 3 points p in the reference plane of the workpiece coordinate system1,p2,p3And the three points are not collinear, with P1Is the origin, P1P2The direction is the X direction, and the normal vector direction perpendicular to the plane is the Z axis, so that the construction of a coordinate system 3 is completed; the construction method of the coordinate system 3 comprises the following steps:
the x-axis direction and z-axis direction vectors of the coordinate system 3, respectively, then the y-axis direction vector is:
the transformation matrix of coordinate system 3 with respect to coordinate system 1 is obtained as:
the transformation matrix of coordinate system 3 with respect to coordinate system 2 is obtained as:
by
A transformation matrix of the robot coordinate system 1 with respect to the teaching arm coordinate system 2 is obtained.
The fourth step: the teaching arm is moved to three points in sequence, and the terminal pose p of the teaching arm is recorded2 1,p2 2,p2 3(ii) a Then the robot is enabled to move to the three points in sequence, and the terminal pose p of the robot is recorded1 1,p1 2,p1 3。
As in fig. 2, the principle is taught: the teaching arm has a structure similar to that of a general six-degree-of-freedom industrial robot, the tail end of the teaching arm is dragged by a human hand to reach an expected pose, joint data collected through an encoder are calculated according to structural parameters of the teaching arm to obtain a tail end track of the teaching arm, a conversion relation between the teaching arm and a robot coordinate system is calculated, joint variables theta 1-theta 6 are obtained based on positive kinematics, parameters of a DH of the teaching arm are obtained, and therefore the tail end track of the teaching arm is converted into the tail end track of the robot.
In summary, the articulated teaching arm and the teaching method based on the teaching arm provided by the invention provide two novel teaching methods of series teaching and parallel teaching, the teaching arm has a structure similar to that of a general universal six-degree-of-freedom industrial robot, the teaching arm is dragged by a human hand to reach an expected pose, joint data collected by an encoder is calculated by using structural parameters of the teaching arm to obtain a tail end track of the teaching arm, a conversion relation between the teaching arm and a robot coordinate system is calculated, joint variables theta 1-theta 6 are obtained based on positive kinematics to obtain a DH parameter of the teaching arm, so that the tail end track of the teaching arm is converted into the tail end track of the robot, and by means of the teaching mechanical arm, the problems of low teaching efficiency, poor interactivity, high programming requirement on an operator and the like of the traditional teaching box teaching method are solved, so that the teaching process is simpler, is convenient.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (9)
1. An articulated teaching arm is characterized by comprising a teaching arm flange plate (1), a teaching arm flange plate bottom arm (2), a first teaching arm joint (3), a teaching arm middle arm (4), a second teaching arm joint (5), a teaching arm upper arm (6) and a third teaching arm joint (7), wherein the teaching arm flange plate (1) is welded at the bottom of the teaching arm flange plate bottom arm (2), the top of the teaching arm flange plate bottom arm (2) is movably connected with the teaching arm middle arm (4) through the first teaching arm joint (3), the teaching arm middle arm (4) is movably connected with the teaching arm upper arm (6) through the second teaching arm joint (5), one end, far away from the second teaching arm joint (5), of the teaching arm upper arm (6) is connected with the third teaching arm joint (7), and the teaching arm is installed on a flange plate of a robot (8) through the teaching arm flange plate (1) to form a series teaching, the robot (8) is mounted on a base (9).
2. An articulated teaching arm according to claim 1, wherein the first teaching arm joint (3), the second teaching arm joint (5) and the third teaching arm joint (7) are each provided with an encoder, the encoders being electrically connected to an upper computer PC, the upper computer PC being electrically connected to the robot controller.
3. The articulated teaching arm of claim 2, wherein the encoder selects RS485 asynchronous serial communication and performs data acquisition in a round-robin manner.
4. An articulated teach arm according to claim 1, wherein the base (9) has a coordinate system of O, the robot (8) is connected to the teach arm at its end a, the teach arm is connected to the robot (8) at its end B and the teach arm is remote from the robot (8) at its end C.
5. A method for teaching an articulated teaching arm according to claim 1, comprising the steps of:
the method comprises the following steps: in the serial teaching process, the robot is in a static state, and the terminal pose of the robot is obtained through calculation by reading the angle of each joint on the demonstrator;
step two: then, the teaching arm is connected with a robot (8), the teaching arm is dragged by a human hand to draw an actually required track, and each joint encoder of the teaching arm acquires data in the process;
step three: and then the teaching track is obtained through the data processing of the upper computer PC.
6. A method for teaching articulated teaching arms according to claim 5, characterized in that the secondary transformation matrix of the robot (8) end pose matrix with respect to its base coordinate system is:
wherein
Is the secondary transformation matrix of robot joint i relative to joint i-1,
the secondary transformation matrix of the terminal pose matrix of the teaching arm relative to the terminal pose matrix of the base coordinate is as follows:
wherein
To teach the next transformation matrix of arm joint i relative to joint i-1,
the transformation matrix of the pose of the tail end of the teaching arm relative to the robot base coordinate system is as follows:
7. the method for teaching an articulated teaching arm according to claim 5, wherein the teaching mode further comprises a parallel type, the robot (8) and the teaching arm are placed in parallel in the space, and the method comprises the steps of:
the first step is as follows: a coordinate system is set, and the base coordinate system of the robot (8) is O1-X1Y1Z1The base coordinate of the teaching arm is O2-X2Y2Z2Both have the same reference coordinate system, i.e. the workpiece coordinate system O3-X3Y3Z3。T2 1，T1 3，T2 3Respectively representing a transformation matrix between the coordinate system 1 relative to the coordinate system 2, a transformation matrix of the coordinate system 3 relative to the coordinate system 1, and a transformation matrix of the coordinate system 3 relative to the coordinate system 2;
the second step is that: t is2 3The transformation matrix can be obtained by processing the teaching arm data, T1 2Can be obtained by a three-point calibration method, and according to coordinate transformation:
the third step: taking 3 points P in the reference plane of the workpiece coordinate system1，P2，P3And the three points are not collinear, with P1Is the origin, P1P2The direction is X direction, and is perpendicular to the normal vector direction of the planeThe Z axis is used for completing the construction of a coordinate system 3;
the fourth step: the teaching arm is moved to three points in sequence, and the terminal pose p of the teaching arm is recorded2 1,p2 2,p2 3(ii) a Then the robot is enabled to move to the three points in sequence, and the terminal pose p of the robot is recorded1 1,p1 2,p1 3。
8. The teaching method of an articulated teaching arm according to claim 5, wherein the method of constructing the coordinate system 3 comprises:
the x-axis direction and z-axis direction vectors of the coordinate system 3, respectively, then the y-axis direction vector is:
the transformation matrix of coordinate system 3 with respect to coordinate system 1 is obtained as:
the transformation matrix of coordinate system 3 with respect to coordinate system 2 is obtained as:
by
The coordinate system of the robot coordinate system 1 relative to the teaching arm coordinate system can be obtained2, transformation matrix.
9. The method for teaching articulated teaching arms according to claim 5, wherein the parallel teaching uses the upper computer PC and the teaching arms as clients, the robot controller as a server, the upper and lower computer software communicates with each other via Ethernet, the upper computer PC and the robot controller are directly connected via a cross cable, a client program is written on the upper computer, data acquisition and data processing are performed on a teaching arm encoder, and a communication protocol stack between the upper computer PC and the robot controller is realized by Socket.
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