CN111015723B - Robot joint positioning method and device, robot and storage medium - Google Patents
Robot joint positioning method and device, robot and storage medium Download PDFInfo
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- CN111015723B CN111015723B CN201911418633.3A CN201911418633A CN111015723B CN 111015723 B CN111015723 B CN 111015723B CN 201911418633 A CN201911418633 A CN 201911418633A CN 111015723 B CN111015723 B CN 111015723B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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Abstract
The embodiment of the invention discloses a robot joint positioning method, a robot joint positioning device, a robot and a storage medium, wherein the method comprises the following steps: resetting a joint steering engine of the robot; the joint steering engine is driven to rotate along a first direction and stop at a first angle; confirming a limit angle difference between the first angle and a preset limit angle; and rotating the joint steering engine along a second angle according to the limit angle difference to perform initial positioning. According to the invention, the technical problem that the robot joint is difficult to position due to tolerance problem of components in the production and processing process and matching problem in the installation process in the prior art is solved by determining the limit angle difference between the actual rotation angle and the theoretical limit angle, so that the joint steering engine is intelligently positioned, the position of the joint steering engine is automatically adjusted, and the technical effect of improving the production efficiency is further achieved.
Description
Technical Field
The embodiment of the invention relates to a machine positioning technology, in particular to a robot joint positioning method and device, a robot and a storage medium.
Background
Robots are the common name for automatic control machines (Robot) that include all machines that simulate human behavior or thought and other creatures (e.g., machine dogs, machine cats, etc.). There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the scientific community is researching and developing in the direction.
Related parts in the current robot have the technical problem that the joint of the robot is difficult to position due to tolerance problems in a machining process and matching problems during assembly, so that the production efficiency of the industrial robot is low, and the size of a produced product is not accurate.
Disclosure of Invention
The invention provides a robot joint positioning method and device, a robot and a storage medium, which are used for intelligently positioning a joint steering engine and automatically adjusting the position of the joint steering engine, so that the production efficiency is improved.
In a first aspect, an embodiment of the present invention provides a method for positioning a robot joint, including:
resetting a joint steering engine of the robot;
the joint steering engine is driven to rotate along a first direction and stop at a first angle;
confirming a limit angle difference between the first angle and a preset limit angle;
and rotating the joint steering engine along a second angle according to the limit angle difference to perform initial positioning.
Further, follow first direction drive joint steering wheel rotates after the first angle stops, include:
judging whether the joint steering engine rotating by the first angle triggers current limiting protection or not;
if the joint steering engine after rotating the first angle triggers current limiting protection, executing the step of confirming a limiting angle difference between the first angle and a preset limiting angle;
if the joint steering engine rotating by the first angle does not trigger the current limiting protection, the joint steering engine is driven to rotate in the second direction by a third angle to stop, and the third angle is the rotating angle of the joint steering engine when the current limiting protection is triggered in the second direction.
Further, it includes before rotating along the second angle according to spacing angular difference the joint steering wheel carries out initialization positioning:
and clearing the current-limiting protection state of the joint steering engine.
Further, it includes to rotate along the second angle according to spacing angular difference the joint steering wheel carries out initialization positioning:
if the joint steering engine rotating by the first angle triggers current limiting protection, rotating the joint steering engine along the second direction according to the limiting angle difference to perform initial positioning;
and if the joint steering engine rotating by the third angle triggers current limiting protection, rotating the joint steering engine in the first direction according to the limit angle difference to perform initial positioning.
Further, the first angle and the third angle are less than or equal to 180 degrees.
Further, the first direction and the second direction are opposite to each other.
Furthermore, the joint steering engine of robot includes current limiting protection module, current limiting protection module is in when the joint steering engine during operation appears the electric current too big the steering engine stops.
In a second aspect, an embodiment of the present invention further provides a positioning device for a robot joint, including:
the resetting module is used for resetting the joint steering engine of the robot;
the rotating module is used for driving the joint steering engine to rotate along a first direction and stop at a first angle;
the calculation module is used for confirming a limit angle difference between the first angle and a preset limit angle;
and the positioning module is used for rotating the joint steering engine along a second angle according to the limiting angle difference to perform initial positioning.
In a third aspect, an embodiment of the present invention provides a robot, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the positioning method for the robot joint in any one of the above embodiments when executing the computer program.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by the processor, implements the steps of the positioning method for the robot joint according to any one of the foregoing embodiments.
According to the invention, the technical problem that the robot joint is difficult to position due to tolerance problem of components in the production and processing process and matching problem in the installation process in the prior art is solved by determining the limit angle difference between the actual rotation angle and the theoretical limit angle, so that the joint steering engine is intelligently positioned, the position of the joint steering engine is automatically adjusted, and the technical effect of improving the production efficiency is further achieved.
Drawings
Fig. 1 is a flowchart of a positioning method for a robot joint according to an embodiment of the present invention;
fig. 2 is a flowchart of a positioning method for a robot joint according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a positioning device for a robot joint according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a robot according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are for purposes of illustration and not limitation. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.
Furthermore, the terms "first," "second," and the like may be used herein to describe various orientations, actions, steps, elements, or the like, but the orientations, actions, steps, or elements are not limited by these terms. These terms are only used to distinguish one direction, action, step or element from another direction, action, step or element. For example, a first reset module may be referred to as a second reset module, and similarly, a second reset module may be referred to as a first reset module, without departing from the scope of the present application. The first reset module and the second reset module are both reset modules, but are not the same reset module. The terms "first", "second", etc. are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the embodiments of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Example one
Fig. 1 is a flowchart of a method for positioning a robot joint according to an embodiment of the present invention, where the embodiment is applicable to positioning a robot joint, and the method may be executed by a processor or a single chip in the robot. As shown in fig. 1, the positioning method for a robot joint of the present embodiment specifically includes the following steps:
s110, resetting a joint steering engine of the robot;
specifically, the joint steering engine is also called a servo motor, and can continuously control the rotation angle of a device or equipment through a program, so that the joint steering engine is widely applied to steering of an intelligent vehicle or joint movement of a robot. The steering engine generally comprises a steering wheel, a reduction gear set, a position sensor, a direct current motor, a control circuit and the like. Therefore, the steering engine is a position servo driver, the rotation range is generally not more than 180 degrees, and the steering engine is suitable for drivers which need to be changed continuously and can be kept, such as joints of robots, control surfaces of airplanes and the like. In this embodiment, the joint of the robot, such as a robot arm, may be initially in a double-arm extension position. Before the joint steering engine of the robot starts to work, the joint steering engine can be reset firstly. Through the reset operation, the joint steering engine can be positioned, so that the steering engine is ensured to be in a normal working position.
Step S120, driving the joint steering engine to rotate along a first direction and stop at a first angle;
specifically, in this embodiment, the steering engine may be a steering engine with a current limiting protection function, and the first direction may refer to clockwise rotation or counterclockwise rotation. The first angle of this embodiment refers to the turned angle that corresponds when the joint steering wheel triggered current-limiting protection, and if the first angle of the joint steering wheel of robot all triggered the current-limiting protection of steering wheel exactly when rotating 90 degrees clockwise and 90 degrees anticlockwise relative to the initial position for the initial position relative to the initial position, first angle is clockwise 90 degrees or anticlockwise 90 degrees promptly. The specific value of the first angle can be adjusted according to the corresponding joint steering engine of the robot, and the specific value of the first angle is not limited herein. In this embodiment, taking the first direction as a clockwise direction as an example, when the steering engine is expected to rotate 90 degrees in the clockwise direction, it can be determined in real time whether the current steering engine triggers the current limiting protection function. If, when the steering wheel rotated 69 degrees along the clockwise, if the steering wheel triggered the current-limiting this moment, the steering wheel can stall, and first angle is 69 degrees clockwise promptly to compare this first angle with theoretical spacing angle, obtain spacing angular difference, thereby rotate the regulation that the joint steering wheel carries out initialization positioning according to spacing angular difference. If the current limiting is not triggered after the steering engine rotates clockwise by 90 degrees (or more than 90 degrees, which is not limited herein), the steering engine may be rotated counterclockwise by 90 degrees from the initial position (which is equivalent to rotate counterclockwise by 180 degrees from the position of 90 degrees clockwise), because the steering engine is equivalently rotated by 90 degrees along the clockwise direction from the actual initial position and is also rotated by 90 degrees along the anticlockwise direction from the actual initial position, namely, the steering engine rotates 180 degrees, namely the current limiting protection is triggered, when the steering engine rotates 90 degrees relative to the actual initial position along the clockwise direction and the current limiting protection is not triggered, the steering engine can be pre-rotated by 90 degrees along the counterclockwise direction relative to the actual initial position, and the angle of the current steering engine which triggers the current limiting protection relative to the theoretical initial position is measured in real time, namely the first counterclockwise angle.
Step S130, confirming a limit angle difference between the first angle and a preset limit angle;
specifically, when the joints of the robot are installed, due to the tolerance problem of each part, the more the joints of the robot are, the more difficult the positioning of the joint steering engine is. The preset limit angle is the maximum angle that the steering engine can rotate from the theoretical initial position theoretically, and after the joint steering engine is rotated by the first angle in step S120 and the steering engine triggers the current limiting protection, the difference (i.e., the limit angle difference) between the first angle and the preset limit angle in the same rotation direction is calculated.
And S140, rotating the joint steering engine along a second angle according to the limiting angle difference to perform initial positioning.
Specifically, after the limit angle difference is obtained, the current-limiting protection state of the steering engine can be cleared firstly, so that the steering engine is recovered to a normal working state, and then the rotating angle of the joint steering engine along the first direction or the second direction is determined according to the positive and negative sum value of the limit angle difference, so that the initial positioning of the joint steering engine is completed. In this embodiment, the second angle may be a clockwise rotation or a counterclockwise rotation, when the steering engine rotates a first angle along a first direction (such as clockwise or counterclockwise), the steering engine triggers overcurrent protection and calculates a limit angle difference between the first angle and a preset limit angle, for example, the first angle of the steering engine rotating clockwise relative to an actual initial position is 90 degrees, namely, the steering engine triggers the current limiting protection when rotating 90 degrees clockwise, the rotation angle of the steering engine relative to the initial position can be measured, the rotation angle is compared with the theoretical limit angle to obtain the limit angle difference, for example, the limit angle difference of the steering engine is 2, namely, the angle difference between the actual initial position and the theoretical initial position of the steering engine is 2 degrees, and the steering engine can be judged to rotate by a certain angle along which direction according to the positive and negative limit angle difference. If the steering wheel has rotated 85 degrees along the clockwise for actual initial position to when having triggered current limiting protection, the steering wheel has rotated 85 degrees along the clockwise for initial position this moment, and theoretical spacing angle is 90 degrees, that is to say spacing angular difference is minus 5 degrees, just at this moment can be with the steering wheel rotatory 5 degrees along the counter-clockwise, be about to the steering wheel rotates to predetermineeing spacing angle department or theoretical initial position department, thereby accomplish the initial positioning to the joint steering wheel. When the steering engine rotates 90 degrees relative to the actual initial position along the clockwise direction and current limiting protection is not triggered, the steering engine rotates 90 degrees counterclockwise relative to the actual initial position and triggers current limiting protection, the rotation angle of the steering engine at the moment relative to the theoretical initial position along the counterclockwise rotation is measured, current limiting protection is triggered only when the rotation angle is 79 degrees counterclockwise, the third angle is 79 degrees counterclockwise, difference between the rotation angle (namely the third angle) and the theoretical limit angle is calculated to obtain corresponding limit angle difference, the steering engine rotates towards the opposite direction according to the limit angle difference along the clockwise direction or the counterclockwise direction (clockwise or counterclockwise depends on the positive and negative of the limit angle difference, negative indicates that the current position exceeds the theoretical limit angle, and regular indicates that the current position does not reach the position of the theoretical limit angle, the steering engine rotates towards the same direction), thereby completing the initial positioning of the joint steering engine.
The first embodiment of the invention has the beneficial effects that the technical problem that the robot joint is difficult to position due to tolerance problem of parts in the production and processing process and matching problem in the installation process in the prior art is solved by determining the limit angle difference between the actual rotation angle and the theoretical limit angle, the joint steering engine is intelligently positioned, the position of the joint steering engine is automatically adjusted, and the technical effect of improving the production efficiency is further achieved.
Example two
The second embodiment of the invention is further optimized on the basis of the first embodiment. Fig. 2 is a flowchart of a positioning method for a robot joint according to a second embodiment of the present invention. As shown in fig. 2, the method for positioning a robot joint according to the present embodiment includes:
s210, resetting a joint steering engine of the robot;
specifically, in the present embodiment, the joint of the robot, such as the robot arm, may be the two-arm extension in the initial position of the joint. Before the joint steering engine of the robot starts to work, the joint steering engine can be reset firstly. Through the reset operation, the joint steering engine can be positioned, so that the steering engine is ensured to be in a normal working position.
Step S220, driving the joint steering engine to rotate along a first direction and stop at a first angle; step S230, judging whether the joint steering engine rotating by the first angle triggers current limiting protection or not;
step S241, if the joint steering engine which rotates by the first angle triggers current limiting protection, step S250 is executed;
step 242, if the joint steering engine which rotates by the first angle does not trigger current limiting protection, driving the joint steering engine to rotate in the second direction by a third angle to stop, wherein the third angle is the rotation angle of the joint steering engine when current limiting protection is triggered in the second direction;
and S250, confirming a limit angle difference between the first angle and a preset limit angle.
Specifically, in this embodiment, the steering engine may be a steering engine with a current limiting protection function, and the first direction may refer to clockwise rotation or counterclockwise rotation. The first angle of this embodiment refers to the turned angle that corresponds when the joint steering wheel triggered current-limiting protection, and if the first angle of the joint steering wheel of robot all triggered the current-limiting protection of steering wheel exactly when rotating 90 degrees clockwise and 90 degrees anticlockwise relative to the initial position for the initial position relative to the initial position, first angle is clockwise 90 degrees or anticlockwise 90 degrees promptly. The specific value of the first angle can be adjusted according to the corresponding joint steering engine of the robot, and the specific value of the first angle is not limited herein. In this embodiment, taking the first direction as a clockwise direction as an example, when the steering engine is expected to rotate 90 degrees in the clockwise direction, it can be determined in real time whether the current steering engine triggers the current limiting protection function. If, when the steering wheel rotated 69 degrees along the clockwise, if the steering wheel triggered the current-limiting this moment, the steering wheel can stall, and first angle is 69 degrees clockwise promptly to compare this first angle with theoretical spacing angle, obtain spacing angular difference, thereby rotate the regulation that the joint steering wheel carries out initialization positioning according to spacing angular difference. If the current limiting is not triggered after the steering engine rotates clockwise by 90 degrees (or more than 90 degrees, which is not limited herein), the steering engine may be rotated counterclockwise by 90 degrees from the initial position (which is equivalent to rotate counterclockwise by 180 degrees from the position of 90 degrees clockwise), because the steering engine is equivalently rotated by 90 degrees along the clockwise direction from the actual initial position and is also rotated by 90 degrees along the anticlockwise direction from the actual initial position, namely, the steering engine rotates 180 degrees, namely the current limiting protection is triggered, when the steering engine rotates 90 degrees relative to the actual initial position along the clockwise direction and the current limiting protection is not triggered, the steering engine can be pre-rotated by 90 degrees along the counterclockwise direction relative to the actual initial position, and the angle of the current steering engine which triggers the current limiting protection relative to the theoretical initial position is measured in real time, namely the first counterclockwise angle.
In this embodiment, the first angle may be a rotation angle with a fixed value, for example, the first angle may be negative 90 or 90 degrees (i.e., 90 degrees counterclockwise or 90 degrees clockwise), and the first direction may be clockwise or counterclockwise, and when the joint steering engine rotates in the clockwise or counterclockwise direction, there may be two rotation conditions of the steering engine: the robot rotates clockwise by a first angle to trigger current-limiting protection, and the robot rotates clockwise by the first angle but does not trigger current-limiting protection.
Specifically, if the current joint steering engine rotating by a first angle triggers current limiting protection, an angle difference (namely a limiting angle difference) between the angle triggering the current limiting protection and a preset limiting angle in the same rotating direction can be directly calculated according to the angle at which the current limiting protection is just triggered in the process of rotating by the joint steering engine by the first angle; if the current joint steering engine rotating by the first angle still does not trigger the current limiting protection, the joint steering engine can be rotated by a certain angle (namely, a third angle) in the opposite direction (if the steering engine is rotated in the clockwise direction at first, the steering engine is rotated in the anticlockwise direction at this moment, and if the steering engine is rotated in the anticlockwise direction at first, the steering engine is rotated in the clockwise direction at this moment) until the steering engine triggers the current limiting protection. In this embodiment, the third angle may be a rotation angle that just triggers the current limiting protection when the steering engine rotates in the second direction. The difference between the third angle and the theoretical limit angle is calculated, for example, the third angle is 96 degrees of rotation of the steering engine in the counterclockwise direction relative to the actual initial position, and the theoretical limit angle is 90 degrees, that is, the difference between the third angle of the current steering engine and the preset limit angle is minus 6 degrees.
And S260, clearing the current-limiting protection state of the joint steering engine.
Step S271, if the joint steering engine rotating by the first angle triggers current limiting protection, rotating the joint steering engine along the second direction according to the limit angle difference to perform initial positioning;
and step S272, if the joint steering engine rotating by the third angle triggers current limiting protection, rotating the joint steering engine along the first direction according to the limit angle difference to perform initial positioning.
Specifically, the positioning method for the steering engine can be divided into two cases according to whether the joint steering engine triggers current limiting protection. Before the steering engine is initialized and positioned, the current-limiting protection state of the steering engine which triggers the current-limiting protection function can be cleared, so that the steering engine is recovered to a normal working state. In this embodiment, if the steering wheel that has rotated first angle along first direction has triggered current-limiting protection, for example, initially rotate along the clockwise to the joint steering wheel to real-time supervision joint steering wheel has triggered current-limiting protection. For example, when the joint steering engine rotates 80 degrees clockwise, the difference between the first angle (in this example, 80 degrees) and the preset limit angle (in this example, the theoretical limit angle in the clockwise direction is 90 degrees) may be calculated, the angle of the current steering engine rotating relative to the theoretical initial position may be measured first, for example, the steering engine rotates 84 degrees clockwise relative to the actual initial position, and when the theoretical limit angle is 90 degrees, the difference between the first angle and the preset limit angle is negative 6 degrees, at this time, the steering engine may be rotated 6 degrees counterclockwise, which is equivalent to rotating the steering engine to the theoretical limit angle or the theoretical initial position, thereby completing the initial positioning of the steering engine. If the steering engine which rotates the first angle along the first direction does not trigger current limiting protection and the steering engine which rotates the third angle in the direction opposite to the first direction triggers current limiting protection, the difference between the third angle and the preset limit angle can be calculated, if the third angle is that the steering engine rotates 85 degrees along the anticlockwise direction relative to the actual initial position and the theoretical limit angle is 90 degrees, namely the difference of the limit angles is minus 5 degrees, the steering engine can be rotated along the first direction (namely the clockwise direction) according to the difference, and accordingly initial positioning of the steering engine is completed. For example, when the steering engine rotates by 88 degrees (i.e., the third angle is 88 degrees in the counterclockwise direction) relative to the actual initial position in the counterclockwise direction (the first direction in this example is the clockwise direction), and the theoretical limit angle is 90 degrees, that is, the difference between the third angle and the preset limit angle is minus 2 degrees. At this moment, the steering engine can be rotated clockwise by 2 degrees, namely the steering engine is rotated to a theoretical limit angle or a theoretical initial position, so that the steering engine is initialized and positioned.
In this embodiment, the first angle and the third angle are less than or equal to 180 degrees.
In this embodiment, the first direction and the second direction are opposite to each other.
In this embodiment, the joint steering wheel of robot includes current-limiting protection module, current-limiting protection module is in the joint steering wheel stops the steering wheel when too big electric current appears in the during operation.
The first angle and the third angle in the alternative embodiment of the second embodiment may also be greater than 90 degrees, as long as the current limiting protection can be triggered along the same direction, and the corresponding angle is the first angle or the third angle.
The second embodiment of the invention has the advantages that the robot shutdown is positioned by determining the limit angle difference between the actual rotation angle and the theoretical limit angle and combining the overcurrent protection of the steering engine, so that the technical problem that the robot joint is difficult to position due to the tolerance problem of components in the production and processing process and the matching problem in the installation process in the prior art is solved, the joint steering engine is intelligently positioned, the position of the joint steering engine is automatically adjusted, and the technical effect of improving the production efficiency is achieved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a positioning device for a robot joint according to a third embodiment of the present invention. As shown in fig. 3, the positioning device 300 for a robot joint of the present embodiment includes:
the resetting module 310 is used for resetting the joint steering engine of the robot;
the rotating module 320 is used for driving the joint steering engine to rotate in a first direction and stop at a first angle;
a calculating module 330, configured to determine a limit angle difference between the first angle and a preset limit angle;
and the positioning module 340 is used for rotating the joint steering engine along a second angle according to the limit angle difference to perform initial positioning.
In this embodiment, the positioning device 300 for a robot joint of this embodiment further includes:
the judging module 350 is used for judging whether the joint steering engine rotating by the first angle triggers current limiting protection;
the rotating module 360 is used for executing the step of confirming the limiting angle difference between the first angle and a preset limiting angle if the joint steering engine after rotating the first angle triggers current limiting protection; if the joint steering engine rotating by the first angle does not trigger the current limiting protection, the joint steering engine is driven to rotate in the second direction by a third angle to stop, and the third angle is the rotating angle of the joint steering engine when the current limiting protection is triggered in the second direction.
In this embodiment, the positioning apparatus 300 for a robot joint further includes:
and the clearing module 370 is used for clearing the current-limiting protection state of the joint steering engine.
In this embodiment, the positioning module 340 includes:
the first positioning unit is used for rotating the joint steering engine in the second direction according to the limiting angle difference to perform initial positioning if the joint steering engine rotating by the first angle triggers current limiting protection;
and the second positioning unit is used for rotating the joint steering engine in the first direction according to the limit angle difference to perform initial positioning if the joint steering engine rotating by the third angle triggers current limiting protection.
In this embodiment, the first angle and the third angle are less than or equal to 180 degrees.
In this embodiment, the first direction and the second direction are opposite to each other.
In this embodiment, the joint steering wheel of robot includes current-limiting protection module, current-limiting protection module is in the joint steering wheel stops the steering wheel when too big electric current appears in the during operation.
The positioning device of the robot joint provided by the embodiment of the invention can execute the positioning method of the robot joint provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of a robot according to a fourth embodiment of the present invention, as shown in fig. 4, the robot includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of the processors 410 in the robot may be one or more, and one processor 410 is taken as an example in fig. 4; the processor 410, the memory 420, the input device 430 and the output device 440 in the robot may be connected by a bus or other means, and fig. 4 illustrates the connection by a bus as an example.
The memory 410 is a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the positioning apparatus of the robot joint in the embodiments of the present invention (e.g., a reset module, a move module, a calculate module, a position module, and a clear module in the positioning apparatus of the robot joint). The processor 410 executes software programs, instructions and modules stored in the memory 420, so as to execute various functional applications and data processing of the robot, that is, to implement the positioning method of the robot joint.
Namely:
resetting a joint steering engine of the robot;
the joint steering engine is driven to rotate along a first direction and stop at a first angle;
confirming a limit angle difference between the first angle and a preset limit angle;
and rotating the joint steering engine along a second angle according to the limit angle difference to perform initial positioning.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 420 may further include memory located remotely from the processor 410, which may be connected to the robot through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the robot. The output device 440 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for user credit assessment, the method including:
resetting a joint steering engine of the robot;
the joint steering engine is driven to rotate along a first direction and stop at a first angle;
confirming a limit angle difference between the first angle and a preset limit angle;
and rotating the joint steering engine along a second angle according to the limit angle difference to perform initial positioning.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the above method operations, and may also perform related operations in the positioning method for the robot joint provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a robot, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the positioning device for a robot joint, the included units and modules are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A method of positioning a robot joint, comprising:
resetting a joint steering engine of the robot;
the joint steering engine of the robot comprises a current-limiting protection module, and the current-limiting protection module stops the steering engine when the current is too large when the joint steering engine works;
the joint steering engine is driven to rotate along a first direction and stop at a first angle;
confirming a limit angle difference between the first angle and a preset limit angle;
and rotating the joint steering engine along a second angle according to the limit angle difference to perform initial positioning.
2. The method of claim 1, wherein said driving the joint steering engine in the first direction after a first angular stop comprises
Judging whether the joint steering engine rotating by the first angle triggers current limiting protection or not;
if the joint steering engine after rotating the first angle triggers current limiting protection, executing the step of confirming a limiting angle difference between the first angle and a preset limiting angle;
if the joint steering engine rotating by the first angle does not trigger the current limiting protection, the joint steering engine is driven to rotate in the second direction by a third angle to stop, and the third angle is the rotating angle of the joint steering engine when the current limiting protection is triggered in the second direction.
3. The method of claim 2, wherein before rotating the joint steering engine according to the limit angle difference along the second angle for initial positioning, the method comprises:
and clearing the current-limiting protection state of the joint steering engine.
4. The method of claim 2, wherein rotating the joint steering engine along a second angle according to the limit angle difference for initial positioning comprises:
if the joint steering engine rotating by the first angle triggers current limiting protection, rotating the joint steering engine along the second direction according to the limiting angle difference to perform initial positioning;
and if the joint steering engine rotating by the third angle triggers current limiting protection, rotating the joint steering engine in the first direction according to the limit angle difference to perform initial positioning.
5. The method of claim 2, wherein the first and third angles are less than or equal to 180 degrees.
6. The method of claim 2, wherein the first direction and the second direction are opposite directions to each other.
7. A robot joint positioning apparatus, comprising:
the resetting module is used for resetting the joint steering engine of the robot;
the joint steering engine of the robot comprises a current-limiting protection module, and the current-limiting protection module stops the steering engine when the current is too large when the joint steering engine works;
the rotating module is used for driving the joint steering engine to rotate along a first direction and stop at a first angle;
the calculation module is used for confirming a limit angle difference between the first angle and a preset limit angle;
and the positioning module is used for rotating the joint steering engine along a second angle according to the limiting angle difference to perform initial positioning.
8. A robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the method for positioning a robot joint according to any of claims 1-6.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for positioning a robot joint according to any one of claims 1-6.
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| CN108081255A (en) * | 2016-11-23 | 2018-05-29 | 广州汽车集团乘用车有限公司 | A kind of robot zero point correction method and device |
| CN110405749A (en) * | 2018-04-27 | 2019-11-05 | 深圳市优必选科技有限公司 | Joint limit detection method and device, robot and computer readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108081255A (en) * | 2016-11-23 | 2018-05-29 | 广州汽车集团乘用车有限公司 | A kind of robot zero point correction method and device |
| CN110405749A (en) * | 2018-04-27 | 2019-11-05 | 深圳市优必选科技有限公司 | Joint limit detection method and device, robot and computer readable storage medium |
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