CN112621713A - Robot demonstrator, controller, robot demonstrator and robot demonstrator control method, robot demonstrator control device and robot demonstrator control medium - Google Patents
Robot demonstrator, controller, robot demonstrator and robot demonstrator control method, robot demonstrator control device and robot demonstrator control medium Download PDFInfo
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- CN112621713A CN112621713A CN202011379198.0A CN202011379198A CN112621713A CN 112621713 A CN112621713 A CN 112621713A CN 202011379198 A CN202011379198 A CN 202011379198A CN 112621713 A CN112621713 A CN 112621713A
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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Abstract
The invention provides a robot demonstrator, a controller, a robot demonstrator and a robot demonstrator, a robot demonstrator and a robot control method, a robot demonstrator and a robot demonstrator medium, wherein the robot demonstrator comprises: when the six-axis robot teaching is carried out, whether the joint angle of a five-axis to be taught is near a wrist singular point or not is judged; if the joint angle of the five shafts is judged to be near the wrist singular point, correcting the joint angle of the five shafts to be a preset angle, and setting a configuration parameter cfx of a config value to be 8; calculating the joint angle of each axis of the robot through positive solution to obtain a Cartesian value of each axis, storing the Cartesian value into a PTP (precision time protocol) command, and controlling the robot to execute by a controller of the robot; and the controller of the robot judges whether the configuration parameter cfx of the config is 8 or not, and corrects the joint angle of the five shafts to be 0 degree if the configuration parameter cfx of the config is 8. The scheme provided by the invention can accurately obtain the joint angle of each axis even near the singular point of the wrist.
Description
Technical Field
The invention relates to the field of control, in particular to a robot demonstrator, a robot controller, a robot demonstrator teaching method, a robot demonstrator control device and a robot demonstrator medium. In particular to a six-axis robot teaching method, a six-axis robot teaching device, a storage medium, a demonstrator, a six-axis robot control method, a six-axis robot control device and a storage medium.
Background
In the case of a six-degree-of-freedom industrial robot, there are usually 8 sets of solutions as the inverse solutions, and when the robot is located near a wrist singular point, the 4-and 6-axis angles are theoretically determined to be arbitrary values, which makes it possible for the robot to move with the actual joint angle of the robot not coinciding with the teaching (when the axes of the three degrees of freedom of the wrist (the four, five, and six axes) intersect at one point, that is, when the five axes are zero degrees, the directions of motion of the four and six axes coincide, which is the wrist singular point).
Currently, a common processing method for the problem is to determine an inverse solution unique solution through a configuration algorithm, where a configuration value includes 4 configuration parameters: cf1, cf4, cf6 and cfx, wherein the cf1, cf4 and cf6 respectively limit the intervals of 1, 4 and 6 axes, and the cfx is a parameter specially configured for different cases of singular points, and has 8 values: 0,1,2,3,4,5,6,7, the 4-axis angle is 0, and the six-axis angle is the sum of the taught 4-and 6-axis joint angles in the vicinity of the wrist singular point. This approach, while determining the inverse solution unique solution and avoiding the problem of arbitrary values, can also lead to additional problems: firstly, when the robot walks a PTP instruction, the taught joint angle is possibly inconsistent with the actual joint angle due to the fact that the 4-axis is forced to be 0 near the singular point of the wrist, and secondly, when the pose of the robot is required, such as a clamp, the pose of the robot is changed due to the fact that the 4-axis angle and the 6-axis angle cannot be accurately obtained in the mode of inverse solution, and the effect that people want cannot be achieved. Therefore, it is necessary to accurately obtain the joint angle values of the axes near the wrist singular point.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provide a robot demonstrator, a controller, a teaching method, a control method, a device and a medium thereof, so as to solve the problem that in the prior art, when a 5-axis is positioned near a singular point of a wrist, an angle of 4 and 6 axes is an arbitrary value during inverse solution.
The invention provides a six-axis robot teaching method on the one hand, which comprises the following steps: when the six-axis robot teaching is carried out, whether the joint angle of a five-axis to be taught is near a wrist singular point or not is judged; if the joint angle of the five shafts is judged to be near the wrist singular point, correcting the joint angle of the five shafts to be a preset angle, and setting a configuration parameter cfx of a config value to be 8; calculating the joint angle of each axis of the robot through positive solution to obtain a Cartesian value of each axis, storing the Cartesian value into a PTP (precision time protocol) command, and controlling the robot to execute by a controller of the robot; and the controller of the robot judges whether the configuration parameter cfx of the config is 8 or not, and corrects the joint angle of the five shafts to be 0 degree if the configuration parameter cfx of the config is 8.
Optionally, the determining whether the taught joint angle of the five axes is near a wrist singular point includes: and judging whether the taught joint angle of the five shafts is in an angle range of (-0.01 degrees and 0.01 degrees).
In another aspect, the present invention provides a six-axis robot control method, including: when the robot is controlled to operate a PTP instruction, the Cartesian values of all axes in the PTP instruction are inversely calculated into joint angles of all axes through inverse solution calculation; judging whether the configuration parameter cfx of the config is 8 or not, and if the configuration parameter cfx is 8, correcting the joint angle of the five shafts of the robot to be 0 degree; controlling the robot to perform interpolation motion according to the corrected joint angle of the five shafts and the joint angles of other shafts obtained by inverse calculation; and the demonstrator sets the configuration parameter cfx of the config value to be 8 under the condition that the joint angle of the five shafts is judged to be close to the singular point of the wrist, and performs positive solution calculation on the joint angle of each shaft of the robot to obtain the Cartesian value of each shaft and stores the Cartesian value into the PTP instruction.
The present invention also provides a six-axis robot teaching apparatus, including: a first determination unit configured to determine whether a joint angle of a five-axis being taught is near a wrist singular point when teaching a six-axis robot; the first processing unit is used for correcting the joint angle of the five shafts to be a preset angle and setting the configuration parameter cfx of the config value to be 8 if the first judging unit judges that the joint angle of the five shafts is close to the wrist singular point; the first calculation unit is used for carrying out positive solution calculation on joint angles of all axes of the robot to obtain Cartesian values of all axes, storing the Cartesian values into a PTP (precision time protocol) command, and controlling the robot to execute by a controller of the robot; and the controller of the robot judges whether the configuration parameter cfx of the config is 8 or not, and corrects the joint angle of the five shafts to be 0 degree if the configuration parameter cfx of the config is 8.
Optionally, the determining unit determines whether the joint angle of the five axes being taught is near a wrist singular point, and includes: and judging whether the taught joint angle of the five shafts is in an angle range of (-0.01 degrees and 0.01 degrees).
Another aspect of the present invention also provides a six-axis robot control apparatus, including: the second calculation unit is used for calculating the Cartesian values of all axes in the PTP instruction back to joint angles of all axes through inverse solution calculation when the PTP instruction is controlled to run by the robot; a second judging unit, configured to judge whether the configuration parameter cfx of the config is 8; the second processing unit is used for correcting the joint angle of the five shafts of the robot to be 0 degree if the second judging unit judges that the configuration parameter cfx is 8; the control unit is used for controlling the robot to perform interpolation motion according to the corrected joint angles of the five shafts and joint angles of other shafts obtained through inverse calculation; and the demonstrator sets the configuration parameter cfx of the config value to be 8 under the condition that the joint angle of the five shafts is judged to be close to the singular point of the wrist, and performs positive solution calculation on the joint angle of each shaft of the robot to obtain the Cartesian value of each shaft and stores the Cartesian value into the PTP instruction.
Yet another aspect of the present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the six-axis robot teaching methods described above.
Yet another aspect of the present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of any of the aforementioned six-axis robot control methods.
A further aspect of the invention provides a teach pendant comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the steps of any of the methods described above.
In a further aspect, the invention provides a teach pendant comprising a six-axis robot teaching apparatus as described in any of the preceding.
Yet another aspect of the invention provides a robot controller comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when executing the program.
In a further aspect, the present invention provides a robot controller comprising a six-axis robot controller according to any of the preceding claims.
According to the technical scheme of the invention, the special treatment when the 5-axis is 0 is added in the fourth parameter cfx of the config value, so that the current configuration algorithm is perfected, the robot can accurately calculate the angles of the 4 and 6 axes near the singular point of the wrist during inverse solution, the actual arriving pose of the robot is consistent with the teaching, and the desired effect is achieved.
Adding a value 8 to the fourth parameter cfx of the configuration algorithm, which is set specifically for the wrist singular point, makes it possible to accurately find the joint angle of each axis even in the vicinity of the wrist singular point.
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 specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a method diagram of one embodiment of a six-axis robot teaching method provided by the present invention;
FIG. 2 is a method diagram of an embodiment of a six-axis robot control method provided by the present invention;
FIG. 3 is a schematic diagram of a method for teaching and control according to an embodiment of the present invention;
FIG. 4 is a block diagram of an embodiment of a six-axis robot teaching apparatus provided by the present invention;
fig. 5 is a schematic structural diagram of an embodiment of a six-axis robot control device according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.
When the PTP command is used, since cartesian values are stored, it is necessary to calculate cartesian values by a forward solution and store the cartesian values in the command when teaching through joint angles, and when the robot runs the command, it is necessary to convert the stored cartesian values into joint values by an inverse solution and move them, but since an arbitrary solution occurs in 4 and 6 axis angles when the inverse solution is performed near a singular point of the wrist, the joint angle actually running by the robot may not match the previously taught joint angle.
The invention provides a six-axis robot teaching method. The method is used in a robot demonstrator.
FIG. 1 is a method schematic diagram of an embodiment of a six-axis robot teaching method provided by the present invention.
As shown in fig. 1, according to an embodiment of the present invention, the teaching method includes at least step S110, step S120, and step S130.
In step S110, when teaching a six-axis robot, it is determined whether the joint angle of the five axes being taught is near a wrist singular point.
Specifically, when the robot is moved to an arbitrary position in the manual mode during teaching of the six-axis robot, it is determined whether the joint angle of the five axes to be taught is in the vicinity of the wrist singular point, that is, whether the joint angle of the five axes is in the vicinity of 0 degrees, specifically, whether the value of the five-axis joint angle is in the range of (-0.01 °,0.01 °), and if so, it is determined that the five-axis joint angle is in the vicinity of the wrist singular point.
And S120, if the joint angle of the five shafts is judged to be close to the wrist singular point, correcting the joint angle of the five shafts to be a preset angle, and setting the configuration parameter cfx of the config value to be 8.
The range of the predetermined angle includes, for example, [ -5 °, -1 ° ], and [1 °,5 ° ], which is not near the singular point, but is better as closer to 0 °. For example, if it is determined that the five-axis joint angle value is within the range of (-0.01 °,0.01 °), that is, around 0 °, the 5-axis angle is corrected to 1 °, and then the forward solution calculation is performed, and the configuration parameter cfx of the config value is set to 8. cfx is a parameter configured specifically for different situations of singular points, and currently, cfx has 8 values: 0,1,2,3,4,5,6, 7; the present invention adds a case where the configuration parameter cfx of the config value is set to 8 when the robot is located near the singular point of the wrist, that is, when the five-axis joint angle is near 0 °.
And step S130, carrying out forward solution calculation on joint angles of each axis of the robot to obtain Cartesian values of each axis, storing the Cartesian values into a PTP (precision time protocol) command, and controlling the robot to execute by a controller of the robot.
And carrying out positive solution calculation on joint angles of all axes of the robot to obtain corresponding Cartesian values and storing the Cartesian values into a PTP (precision time protocol) command. And the controller of the robot inversely calculates the Cartesian values of all the axes in the PTP command into joint angles of all the axes through inverse solution calculation so as to control the robot to carry out interpolation motion according to the joint angles of all the axes. The controller of the robot judges whether the config parameter cfx is 8, and if the config parameter cfx is 8, the five-axis joint angle is corrected to be 0; and if the configuration parameter cfx of the config is judged not to be 8, normally outputting the joint angle and controlling the robot to operate.
The invention further provides a six-axis robot control method. The method is used in a robot controller.
Fig. 2 is a schematic method diagram of an embodiment of a six-axis robot control method provided by the invention.
As shown in fig. 2, according to an embodiment of the present invention, the control method includes at least step S210, step S220, and step S230.
And step S210, when the robot is controlled to operate the PTP instruction, the Cartesian values of all axes in the PTP instruction are inversely calculated into joint angles of all axes through inverse solution calculation.
Under the condition that the joint angle of the five shafts is judged to be close to a wrist singular point, the demonstrator corrects the joint angle of the five shafts to be a preset angle, sets a configuration parameter cfx of a config value to be 8, and performs forward solution calculation on the joint angle of each shaft of the robot to obtain a Cartesian value of each shaft and stores the Cartesian value of each shaft in a PTP instruction. The range of the predetermined angle includes, for example, [ -5 °, -1 ° ], and [1 °,5 ° ], which is not near the singular point, but is better as closer to 0 °. For example, the preset angle is 1 °.
Specifically, when the demonstrator performs teaching of the six-axis robot, when the robot is moved to an arbitrary position in the manual mode, the demonstrator determines whether the joint angle of the five axes to be taught is in the vicinity of the wrist singular point, that is, whether the joint angle of the five axes is in the vicinity of 0 degree, and specifically determines whether the value of the five-axis joint angle is in the range of (-0.01 ° and 0.01 °), and if so, determines that the five-axis joint angle is in the vicinity of the wrist singular point, that is, in the vicinity of 0 °. And if the five axes are judged to be near the wrist singular point, correcting the angle of the 5 axes to be 1 degree, setting the configuration parameter cfx of the config value to be 8, and then carrying out forward solution calculation on the joint angles of the axes of the robot to obtain corresponding Cartesian values and storing the Cartesian values in a PTP (precision time protocol) command. And the controller of the robot inversely calculates the Cartesian values of all the axes in the PTP command into joint angles of all the axes through inverse solution calculation so as to control the robot to carry out interpolation motion according to the joint angles of all the axes.
And step S220, judging whether the configuration parameter cfx of the config is 8, and if the configuration parameter cfx is 8, correcting the joint angle of the five shafts of the robot to be 0 degree.
And step S230, controlling the robot to perform interpolation motion according to the corrected joint angles of the five shafts and the joint angles of other shafts obtained by inverse calculation.
When all joint angles are calculated, judging whether the configuration parameter cfx of the config is 8, if the configuration parameter cfx of the config is 8, indicating that a five-axis is positioned near a singular point of a wrist during teaching, and correcting the joint angle of the five-axis obtained by inverse solution to a preset angle, such as 1 degree, then correcting the joint angle of the five-axis to 0 degree, outputting joint angles of all axes (the corrected joint angle of the five-axis and the joint angles of other axes obtained by inverse calculation), and controlling the robot to perform interpolation motion; and if the configuration parameter cfx of the config is judged not to be 8, normally outputting the joint angle and controlling the robot to operate.
For clearly explaining the technical solution of the present invention, the following describes an execution flow of the six-axis robot teaching and control method provided by the present invention with a specific embodiment.
FIG. 3 is a method diagram of one embodiment of the teaching and control provided by the present invention. As shown in fig. 3:
step S1, teaching the robot to move the robot to a desired position in the manual mode;
step S2, judging whether the taught 5-axis joint value is in the range of (-0.01 degrees and 0.01 degrees), if yes, executing step S3; if not, directly performing forward solution calculation, and then executing to the step S5;
step S3, correcting the 5-axis angle to 1 degree, performing forward solution calculation, and then executing step S4;
step S4, setting the fourth parameter cfx of config to 8, and then executing step S5;
step S5, storing the cartesian value obtained by the positive solution in the PTP command, and then executing step S6;
step S6, when the PTP command is executed, determining joint angles of the respective axes by inverse solution, and then executing step S7;
in step S7, when all joint angles are calculated, it is determined whether the cfx value of config is 8, if so, the 5-axis angle is corrected to 0, and then step S8 is executed, otherwise, step S8 is directly executed.
And step S8, outputting the joint angle and controlling the robot to move.
The invention further provides a six-axis robot teaching device. The device is used in a robot demonstrator.
Fig. 4 is a block diagram showing a configuration of an embodiment of a six-axis robot teaching apparatus according to the present invention. As shown in fig. 4, the teaching apparatus 100 includes a first determination unit 110, a first processing unit 120, and a first calculation unit 130.
The first determination unit 110 is configured to determine whether or not a joint angle of a five-axis being taught is near a wrist singular point when teaching a six-axis robot.
Specifically, when the robot is moved to an arbitrary position in the manual mode during teaching of the six-axis robot, it is determined whether the joint angle of the five axes to be taught is in the vicinity of the wrist singular point, that is, whether the joint angle of the five axes is in the vicinity of 0 degrees, specifically, whether the value of the five-axis joint angle is in the range of (-0.01 °,0.01 °), and if so, it is determined that the five-axis joint angle is in the vicinity of the wrist singular point.
The first processing unit 120 is configured to correct the joint angle of the five axis to 1 degree and set the configuration parameter cfx of the config value to 8 if the first determining unit 110 determines that the joint angle of the five axis is near the wrist singular point.
The range of the predetermined angle includes, for example, [ -5 °, -1 ° ], and [1 °,5 ° ], which is not near the singular point, but is better as closer to 0 °. For example, if the first determination unit 110 determines that the five-axis joint angle value is within the range of (-0.01 °,0.01 °), that is, around 0 °, the positive solution calculation is performed after the 5-axis angle is corrected to 1 °, and the configuration parameter cfx of the config value is set to 8. cfx is a parameter configured specifically for different situations of singular points, and currently, cfx has 8 values: 0,1,2,3,4,5,6, 7; the present invention adds a case where the configuration parameter cfx of the config value is set to 8 when the robot is located near the singular point of the wrist, that is, when the five-axis joint angle is near 0 °.
The first calculating unit 130 is configured to calculate joint angles of each axis of the robot in a positive solution manner to obtain cartesian values of each axis, store the cartesian values in PTP commands, and control the robot to execute the cartesian values by a controller of the robot.
And carrying out positive solution calculation on joint angles of all axes of the robot to obtain corresponding Cartesian values and storing the Cartesian values into a PTP (precision time protocol) command. And the controller of the robot inversely calculates the Cartesian values of all the axes in the PTP command into joint angles of all the axes through inverse solution calculation so as to control the robot to carry out interpolation motion according to the joint angles of all the axes. The controller of the robot judges whether the config parameter cfx is 8, and if the config parameter cfx is 8, the five-axis joint angle is corrected to be 0; and if the configuration parameter cfx of the config is judged not to be 8, normally outputting the joint angle and controlling the robot to operate.
The invention also provides a six-axis robot control device. The device is used in a robot controller.
Fig. 5 is a schematic structural diagram of an embodiment of a six-axis robot control device according to the present invention. As shown in fig. 5, the control device 100 includes a second calculating unit 210, a second determining unit 220, a second processing unit 230, and a control unit 240.
The second calculating unit 210 is configured to, when controlling the robot to operate the PTP command, inversely calculate cartesian values of each axis in the PTP command as joint angles of each axis through inverse solution calculation.
Under the condition that the joint angle of the five shafts is judged to be close to a wrist singular point, the demonstrator corrects the joint angle of the five shafts to be a preset angle, sets a configuration parameter cfx of a config value to be 8, and performs forward solution calculation on the joint angle of each shaft of the robot to obtain a Cartesian value of each shaft and stores the Cartesian value of each shaft in a PTP instruction. The range of the predetermined angle includes, for example, [ -5 °, -1 ° ], and [1 °,5 ° ], which is not near the singular point, but is better as closer to 0 °. For example, the preset angle is 1 °.
Specifically, when the demonstrator performs teaching of the six-axis robot, when the robot is moved to an arbitrary position in the manual mode, the demonstrator determines whether the joint angle of the five axes to be taught is in the vicinity of the wrist singular point, that is, whether the joint angle of the five axes is in the vicinity of 0 degree, and specifically determines whether the value of the five-axis joint angle is in the range of (-0.01 ° and 0.01 °), and if so, determines that the five-axis joint angle is in the vicinity of the wrist singular point, that is, in the vicinity of 0 °. And if the five axes are judged to be near the wrist singular point, correcting the angle of the 5 axes to be 1 degree, setting the configuration parameter cfx of the config value to be 8, and then carrying out forward solution calculation on the joint angles of the axes of the robot to obtain corresponding Cartesian values and storing the Cartesian values in a PTP (precision time protocol) command. The second calculation unit 210 inversely calculates the cartesian values of the respective axes in the PTP command as the joint angles of the respective axes through inverse solution calculation to control the robot to perform interpolation motion according to the joint angles of the respective axes.
The second judging unit 220 is configured to judge whether the configuration parameter cfx of the config is 8; the second processing unit 230 is configured to correct the joint angle of the five axes of the robot to 0 ° if the second determining unit determines that the configuration parameter cfx is 8. The control unit 240 is configured to control the robot to perform interpolation motion based on the corrected joint angles of the five axes and joint angles of the other axes obtained by inverse calculation.
When all joint angles are calculated, the second judging unit 220 judges whether the configuration parameter cfx of the config is 8, if the configuration parameter cfx of the config is 8, which indicates that a five-axis is located near a wrist singular point during teaching, and the joint angle of the five-axis obtained by inverse solution at the moment is corrected to be a preset angle, 1 °, the second processing unit 230 corrects the joint angle of the five-axis to 0 °, and then outputs each axis joint angle (the joint angle of the five-axis after correction and the joint angle of each other axis obtained by inverse calculation), and the control unit 240 outputs each axis joint angle (the joint angle of the five-axis after correction and the joint angle of each other axis obtained by inverse calculation), and controls the robot to perform interpolation motion; if the second determining unit 220 determines that the configuration parameter cfx of the config is not 8, the control unit 240 normally outputs the joint angle to control the operation of the robot.
The robot can not accurately calculate joint angles of 4 and 6 axes when the 5 axis is near 0 degrees, but can accurately calculate when the 5 axis is not near 0 degrees, the idea of the invention is to firstly judge whether the 5 axis is near 0 degrees, and if not, the calculation can be directly carried out; if so, firstly assigning the 5-axis to be 1 degree for calculation, setting the cfx value at the moment to be 8 as a special condition for processing the wrist singular point, accurately calculating joint angles of 4 and 6 axes when inverse solution is carried out, and then determining whether the joint angle of the 5-axis needs to be corrected to be 0 according to the fact that whether the cfx value is 8 or not.
The accuracy and effectiveness of the technical scheme are fully demonstrated by giving the joint angle of the robot as [10,10,10,30,0,90] on a simulator, then performing forward and reverse solution calculation, and finally obtaining the result as [10,10,10,0, 120] according to the existing processing mode, wherein the result obtained by the technical scheme of the invention is consistent with the taught joint angle as [10,10,10,30,0,90 ].
The present invention also provides a storage medium corresponding to the six-axis robot teaching method, having a computer program stored thereon, which when executed by a processor, performs the steps of any of the methods described above.
The invention also provides a demonstrator corresponding to the six-axis robot teaching method, which comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of any one of the methods.
The invention also provides a demonstrator corresponding to the six-axis robot teaching device, which comprises any one of the six-axis robot teaching devices.
The invention also provides a robot controller corresponding to the six-axis robot teaching method, which comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of any one of the methods.
The invention also provides a robot controller corresponding to the six-axis robot control device, which comprises any one of the six-axis robot control devices.
Therefore, the scheme provided by the invention improves the current configuration algorithm by adding special processing when the 5-axis is near 0 degrees to the fourth parameter cfx of the configuration value, so that the robot can accurately calculate the angles of the 4 and 6 axes near the singular point of the wrist during inverse solution, the actual arriving pose of the robot is consistent with the teaching, and the desired effect is achieved.
Adding a value 8 to the fourth parameter cfx of the configuration algorithm, which is set specifically for the wrist singular point, makes it possible to accurately find the joint angle of each axis even in the vicinity of the wrist singular point.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
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 the parts serving as the control device 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.
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 above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (9)
1. A six-axis robot teaching method, comprising:
when the six-axis robot teaching is carried out, whether the joint angle of a five-axis to be taught is near a wrist singular point or not is judged;
if the joint angle of the five shafts is judged to be near the wrist singular point, correcting the joint angle of the five shafts to be a preset angle, and setting a configuration parameter cfx of a config value to be 8;
calculating the joint angle of each axis of the robot through positive solution to obtain a Cartesian value of each axis, storing the Cartesian value into a PTP (precision time protocol) command, and controlling the robot to execute by a controller of the robot;
and the controller of the robot judges whether the configuration parameter cfx of the config is 8 or not, and corrects the joint angle of the five shafts to be 0 degree if the configuration parameter cfx of the config is 8.
2. The method of claim 1, wherein determining whether the taught joint angle of the five axes is near a wrist singular point comprises:
and judging whether the taught joint angle of the five shafts is in an angle range of (-0.01 degrees and 0.01 degrees).
3. A six-axis robot control method, comprising:
when the robot is controlled to operate a PTP instruction, the Cartesian values of all axes in the PTP instruction are inversely calculated into joint angles of all axes through inverse solution calculation;
judging whether the configuration parameter cfx of the config is 8 or not, and if the configuration parameter cfx is 8, correcting the joint angle of the five shafts of the robot to be 0 degree;
controlling the robot to perform interpolation motion according to the corrected joint angle of the five shafts and the joint angles of other shafts obtained by inverse calculation;
and the demonstrator sets the configuration parameter cfx of the config value to be 8 under the condition that the joint angle of the five shafts is judged to be close to the singular point of the wrist, and performs positive solution calculation on the joint angle of each shaft of the robot to obtain the Cartesian value of each shaft and stores the Cartesian value into the PTP instruction.
4. A six-axis robot teaching device, comprising:
a first determination unit configured to determine whether a joint angle of a five-axis being taught is near a wrist singular point when teaching a six-axis robot;
the first processing unit is used for correcting the joint angle of the five shafts to be a preset angle and setting the configuration parameter cfx of the config value to be 8 if the first judging unit judges that the joint angle of the five shafts is close to the wrist singular point;
the first calculation unit is used for carrying out positive solution calculation on joint angles of all axes of the robot to obtain Cartesian values of all axes, storing the Cartesian values into a PTP (precision time protocol) command, and controlling the robot to execute by a controller of the robot;
and the controller of the robot judges whether the configuration parameter cfx of the config is 8 or not, and corrects the joint angle of the five shafts to be 0 degree if the configuration parameter cfx of the config is 8.
5. The apparatus according to claim 4, wherein the determination unit determines whether or not the joint angle of the taught five axes is in the vicinity of a wrist singular point, and includes:
and judging whether the taught joint angle of the five shafts is in an angle range of (-0.01 degrees and 0.01 degrees).
6. A six-axis robot control device, comprising:
the second calculation unit is used for calculating the Cartesian values of all axes in the PTP instruction back to joint angles of all axes through inverse solution calculation when the PTP instruction is controlled to run by the robot;
a second judging unit, configured to judge whether the configuration parameter cfx of the config is 8;
the second processing unit is used for correcting the joint angle of the five shafts of the robot to be 0 degree if the second judging unit judges that the configuration parameter cfx is 8;
the control unit is used for controlling the robot to perform interpolation motion according to the corrected joint angles of the five shafts and joint angles of other shafts obtained through inverse calculation;
and the demonstrator sets the configuration parameter cfx of the config value to be 8 under the condition that the joint angle of the five shafts is judged to be close to the singular point of the wrist, and performs positive solution calculation on the joint angle of each shaft of the robot to obtain the Cartesian value of each shaft and stores the Cartesian value into the PTP instruction.
7. A storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any one of claims 1-2 or carries out the steps of the method of claim 3.
8. A teach pendant comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any of claims 1-2 when executing the program or comprising the six axis robot teaching device of any of claims 4-5.
9. A robot controller comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of claim 3 when executing the program or comprising the six-axis robot control apparatus of claim 6.
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