CN113478491A - Method and system for controlling position of mechanical arm, robot and storage medium - Google Patents
Method and system for controlling position of mechanical arm, robot and storage medium Download PDFInfo
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- CN113478491A CN113478491A CN202111041062.3A CN202111041062A CN113478491A CN 113478491 A CN113478491 A CN 113478491A CN 202111041062 A CN202111041062 A CN 202111041062A CN 113478491 A CN113478491 A CN 113478491A
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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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- 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
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Abstract
The invention discloses a method and a system for controlling the position of a mechanical arm, a robot and a storage medium, wherein the method for controlling the position of the mechanical arm comprises the following steps: acquiring a control instruction for controlling the mechanical arm to move along the horizontal direction and the vertical direction; controlling the mechanical arm to move according to the control instruction so as to enable the mechanical arm to move to a preset position; acquiring the current position of the bed body; the bed body is used for bearing a target object to be processed and is positioned on one side of the mechanical arm; calculating a moving path of the mechanical arm according to the current position and a preset position; and controlling the mechanical arm to execute the positioning operation according to the moving path. The precision of mechanical arm control can be guaranteed, and the operation scheme is more humanized.
Description
Technical Field
The invention relates to the field of automatic control of mechanical arms, in particular to a method and a system for controlling the swing position of a mechanical arm, a robot and a storage medium.
Background
Before the related instrument is used, a user is required to adjust the initial position of the mechanical arm of the instrument in the horizontal direction and the vertical direction. However, due to the adjustment mode, the operation of a user is complex, the positioning accuracy is low, meanwhile, the safety is poor, and when the horizontal and vertical positions need to be recorded, the recording can be only realized by observing the scales, and the artificial error is large.
Therefore, how to make the control of the mechanical arm more accurate and the operation more humanized becomes a technical problem which needs to be solved by the people in the field at present.
Disclosure of Invention
The invention aims to provide a method and a system for controlling the position of a mechanical arm, a robot and a storage medium, which can ensure the control accuracy of the mechanical arm and enable an operation scheme to be more humanized.
In order to solve the above technical problem, the present invention provides a method for controlling the position of a robot arm, including:
acquiring a control instruction for controlling the mechanical arm to move along the horizontal direction and the vertical direction;
controlling the mechanical arm to move according to the control instruction so as to enable the mechanical arm to move to a preset position;
acquiring the current position of the bed body; the bed body is used for bearing a target object to be processed and is positioned on one side of the mechanical arm;
calculating a moving path of the mechanical arm according to the current position and a preset position;
and controlling the mechanical arm to execute the positioning operation according to the moving path.
Optionally, calculating a moving path of the mechanical arm according to the current position and the preset position includes:
and performing inverse kinematics calculation on the current position according to the preset position to obtain a moving path of the mechanical arm converted to the current position.
Optionally, calculating a movement path of the robot arm comprises:
acquiring an operation space of the mechanical arm; wherein, the operation space of the mechanical arm does not intersect with the bed body;
and solving the moving path of the mechanical arm transformed to the current position in the operating space.
Optionally, the method further comprises:
acquiring the latest position of the mechanical arm to obtain an updated preset position;
correspondingly, calculating the moving path of the mechanical arm according to the current position and the preset position comprises the following steps:
and calculating the moving path of the mechanical arm according to the current position and the updated preset position.
Optionally, the method further comprises:
acquiring a release signal transmitted by a release key; the release button is used for controlling the electromagnetic brake release of the telescopic arm, and the telescopic arm is connected with the base of the mechanical arm;
and controlling the electromagnetic brake to release according to the release signal so as to realize manual adjustment of the position of the telescopic arm and further change the position of the mechanical arm. Optionally, before controlling the electromagnetic brake to be released according to the release signal, the method further includes:
judging whether the mechanical arm is in a running state or not;
if yes, no response is made to the release signal;
if not, controlling the electromagnetic brake to release according to the release signal.
Optionally, after the electromagnetic brake is controlled to be released according to the release signal, the method further includes:
acquiring a holding signal for controlling the holding of the electromagnetic brake;
and controlling the electromagnetic brake to be tightly held according to the holding signal.
In order to solve the above problem, the present invention further provides a positioning control system for a robot arm, including:
presetting a motion control module: the control device is used for controlling the mechanical arm to move according to the control instruction so as to enable the mechanical arm to move to a preset position;
a current position acquisition module: the bed body positioning device is used for acquiring the current position of the bed body;
a movement path calculation module: the system comprises a robot arm, a control unit, a display unit and a control unit, wherein the robot arm is used for calculating a moving path of the robot arm according to a current position and a preset position;
the positioning operation control module: the positioning device is used for controlling the mechanical arm to execute the positioning operation according to the moving path.
The invention also provides a position-setting control system of the mechanical arm, which comprises:
a control instruction acquisition module: the control device is used for acquiring control instructions for controlling the mechanical arm to move along the horizontal direction and the vertical direction;
presetting a motion control module: the control device is used for controlling the mechanical arm to move according to the control instruction so as to enable the mechanical arm to move to a preset position;
a current position acquisition module: the bed body positioning device is used for acquiring the current position of the bed body; the bed body is used for bearing a target object to be processed and is positioned on one side of the mechanical arm;
a movement path calculation module: the system comprises a robot arm, a control unit, a display unit and a control unit, wherein the robot arm is used for calculating a moving path of the robot arm according to a current position and a preset position;
the positioning operation control module: the positioning device is used for controlling the mechanical arm to execute the positioning operation according to the moving path.
The invention also provides a robot, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor calls the computer program in the memory to realize the steps of the positioning control method of the mechanical arm.
The invention also provides a storage medium, wherein the storage medium stores computer-executable instructions, and the computer-executable instructions are loaded and executed by the processor to realize the steps of the positioning control method of the mechanical arm.
With respect to the above background art, the present invention provides a position control of a robot arm, including: acquiring control instructions for controlling the mechanical arm to move along the horizontal direction and the vertical direction, and controlling the mechanical arm to move according to the control instructions so as to enable the mechanical arm to move to a preset position; acquiring the current position of the bed body; calculating a moving path of the mechanical arm according to the current position and a preset position; and controlling the mechanical arm to execute the positioning operation according to the moving path.
Therefore, in practical application, by adopting the scheme of the invention, the control instruction for controlling the mechanical arm to move along the horizontal direction and the vertical direction can be obtained firstly; controlling the mechanical arm to move according to the control instruction so as to enable the mechanical arm to move to a preset position; then obtaining the current position of the bed body; calculating a moving path of the mechanical arm according to the current position and a preset position; and finally, controlling the mechanical arm to execute the positioning operation according to the moving path.
The technology collects displacement data when the mechanical arm moves to a preset position, then obtains data of the current position of the bed body, keeps a certain relative position relation between the bed body and the mechanical arm during the operation of the machine, calculates the moving route of the mechanical arm according to the current position of the bed body and the preset position information of the mechanical arm, controls the movement according to the route of the mechanical arm, can accurately record the current position data of the mechanical arm, improves the accuracy of the swing position and enables the operation to be more humanized.
The invention also provides a position control system of the mechanical arm, a robot and a storage medium, and has the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart illustrating steps of a method for controlling a position of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a positioning control system for a robotic arm according to an embodiment of the present invention;
FIG. 3 is a schematic view of an initial state of a robotic trolley according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the extreme horizontal and vertical movement of a robotic arm according to an embodiment of the present invention;
FIG. 5 is a general flow chart of a yaw control system for a robotic arm according to an embodiment of the present invention;
fig. 6 is a block diagram of a positioning control system of a robot arm according to an embodiment of the present invention.
The device comprises a base, a lifting upright post, a telescopic arm, a mechanical arm 1, a lifting upright post 2, a telescopic arm 3, a vertical displacement sensor position 4, a horizontal displacement sensor position 5, a trolley 6 and a release button 7, wherein the mechanical arm is arranged on the base; x is the displacement limit position (horizontal direction) of the telescopic arm, and Y is the displacement limit position (vertical direction) of the lifting upright post.
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.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 of the specification, fig. 1 is a flowchart of a method for controlling a position of a robot arm according to an embodiment of the present disclosure, where the method includes:
step 1: acquiring control instructions of the mechanical arm moving along the horizontal direction and the vertical direction; the control instruction sets mechanical arm displacement parameters through the man-machine interaction device, and the control instruction is issued through the control system.
The embodiment can be applied to control equipment of the mechanical arm, and the swing position of the mechanical arm is realized by planning the moving path of the mechanical arm. The above positioning means: and (3) putting the joints of the mechanical arms to specific positions and specific postures. The mechanical arm positioning in different scenes has different functions: for example, when the robot arm requires a higher position or posture, the operator needs to input accurate data in the controller and set a specific position and direction in conjunction with the adjustment in order to ensure the accuracy of the operation.
Specifically, the human-computer interaction device includes, but is not limited to, a release button, a touch screen, a joystick, or the like; the release button can be installed on a sliding table at the tail end of the mechanical arm, when a user presses the release button, the release button transmits a release signal, so that electromagnetic brake is released, after the release signal controls electromagnetic brake release, the user can manually adjust the position of a telescopic arm arranged on a base of the mechanical arm, and then the position of the mechanical arm is adjusted. Of course, the man-machine interaction device can also comprise a holding button which is used for outputting a holding signal, the holding signal can control the electromagnetic brake to hold tightly, after the position of the telescopic arm is adjusted manually, the electromagnetic brake is controlled again to hold tightly by triggering the holding button, and the telescopic arm at the moment can not realize manual position adjustment.
The release signal and the clasping signal can be both sent by the release button, namely, the release button is pressed for the first time, the release signal is sent, and the release button is pressed for the second time, the clasping signal is sent.
The touch screen can accurately control the mechanical arm by inputting displacement data, the displacement data of the mechanical arm is displayed, the touch screen is positioned on the robot trolley main body, and a user can observe the displacement condition of the mechanical arm in real time.
Above-mentioned rocker is located the terminal slip table of arm, and the steerable arm displacement of rocker can carry out when the rocker is multi-direction when moving in the use plane, the arm will carry out with the displacement motion of rocker equidirectional, and this kind of control mode demonstrates the displacement condition directly perceived more, is fit for carrying out the displacement under the more accurate condition of not counting at a long distance. Step 2: controlling the mechanical arm to move according to the control instruction so as to enable the mechanical arm to move to a preset position;
please refer to fig. 4 of the specification, in fig. 4: x is the displacement limit position of the telescopic arm, namely the horizontal direction limit position, and Y is the displacement limit position of the lifting upright post, namely the vertical direction limit position; the mechanical arm moves to a preset position according to a control instruction input manually, collects displacement data of the mechanical arm and sends the displacement data to an upper computer; the upper computer judges whether the collected mechanical arm displacement data is consistent with preset position data or not; if not, repeating the previous control instruction, and controlling the mechanical arm to continue moving along the preset position; wherein, the preset position is an ideal implementation position, and the specific situation needs to be adjusted again after the subsequent analysis and the relative position of the bed body.
In the process of controlling the movement of the mechanical arm, the displacement data of the mechanical arm can be collected in real time and sent to the upper computer; judging whether the collected mechanical arm displacement data is consistent with preset position data or not in real time by using an upper computer; if so, indicating that the mechanical arm moves in place at the moment, and controlling the mechanical arm to stop moving; if not, the movement of the mechanical arm is not in place at the moment, and a previous control instruction needs to be repeated to control the mechanical arm to continue moving along the preset position until the mechanical arm moves in place.
And step 3: acquiring the current position of the bed body; the bed body is used for bearing a target object to be processed and is positioned on one side of the mechanical arm;
referring to the attached fig. 3 of the specification, fig. 3 details the specific position distribution of the present embodiment, wherein the lower end of the mechanical arm 1 is connected to one end of the telescopic arm 3, and the telescopic arm is further provided with a release button 7. The other end of the telescopic arm 3 is connected with one end of the lifting upright post 2, and a vertical displacement sensor 4 and a horizontal displacement sensor 5 are also arranged on the lifting upright post 2. The other end of the lifting upright post 2 is arranged on the trolley 6; according to various implementation conditions, the default bed body position is changed, the mechanical arm needs to move relative to the bed body according to specific conditions, so that the current position of the bed body needs to be obtained, and the position of the mechanical arm is changed according to the current position of the bed body in a matched mode, so that the relative position of the bed body and the mechanical arm is kept unchanged.
The object to be treated carried by the bed body can be determined according to actual needs, for example, the object to be treated can be specifically a blank to be processed, an empty bottle to be filled, an object to be detected or clamped, and the like, and the object to be treated is not expanded herein.
Furthermore, the optical measuring instrument is used for detecting the current position of the bed body in real time, and when the posture change of the bed body is detected, the posture change data of the bed body is fed back in real time, so that the current position of the bed body is obtained in real time. The above optical measuring instrument may include an optical sensor, a light transmitting device, and a light receiving device. The bed body can be detected in real time through equipment such as a radar measuring instrument and an optical camera so as to obtain the current position of the bed body.
And 4, step 4: calculating a moving path of the mechanical arm according to the current position and a preset position;
after the current position of the bed body is obtained, in order to enable the mechanical arm and the bed body to keep a certain relative position in actual operation, a path along which the mechanical arm needs to move when the bed body is at the current position is calculated through an algorithm.
And 5: and controlling the mechanical arm to execute the positioning operation according to the moving path.
And the mechanical arm moves according to the calculated displacement path to accurately reach the final working position.
Further, for the step 4, calculating the moving path of the robot arm according to the current position and the preset position includes: and performing inverse kinematics calculation on the current position according to the preset position (the inverse kinematics is a process of determining parameters of a joint movable object to be set for achieving the required posture), and obtaining a moving path of the mechanical arm converted to the current position. And determining an operating space of the robot arm; and ensure that the operation space of the mechanical arm is positioned outside the plane of the bed body; and solving the moving path of the mechanical arm transformed to the current position in the operation space.
As can be seen, for the step of calculating the movement path of the robot arm, the operation space of the robot arm may be acquired first; wherein, the operation space of the mechanical arm does not intersect with the bed body; and then solving the moving path of the mechanical arm transformed to the current position in the operating space.
Therefore, the moving path and the bed body do not conflict, and the bed body does not influence the motion of the mechanical arm when the mechanical arm moves according to the moving path.
Further, the method for controlling the position of the mechanical arm further comprises the following steps:
and acquiring the latest position of the mechanical arm to obtain the updated preset position. Correspondingly, the moving path of the mechanical arm is calculated according to the current position and the updated preset position, and the calculation basis still adopts an inverse kinematics calculation mode.
Here, after the position of the mechanical arm is manually adjusted, if it is necessary to control the mechanical arm to move along with the position of the bed, the method further includes, after the position of the mechanical arm is manually adjusted: acquiring the latest position of the mechanical arm to obtain an updated preset position; correspondingly, the moving path of the mechanical arm is calculated according to the current position and the updated preset position, so that the mechanical arm moves according to the moving path.
Therefore, the manual adjustment mode and the adjustment mode by using the controller can be combined, the diversity of the adjustment modes is increased, and the efficiency and the precision of the position adjustment of the mechanical arm are improved.
Furthermore, after the position of the mechanical arm is manually adjusted and before the mechanical arm is controlled to execute the positioning operation according to the moving path, the electromagnetic brake is ensured to be in a holding state; namely judging whether the electromagnetic brake is in a holding state; if the electromagnetic brake is in a holding state, executing positioning operation; if the electromagnetic brake is in a release state, the position setting operation is not executed; therefore, the state of the electromagnetic brake can be timely known, and normal use of the mechanical arm is ensured.
Further, the method for controlling the position of the mechanical arm further comprises the following steps:
acquiring a release signal transmitted by a release key; the release button is used for controlling the electromagnetic brake release of the telescopic arm, and the telescopic arm is connected to the base of the mechanical arm;
the electromagnetic brake is controlled to release according to the release signal, and the telescopic arm can be manually adjusted, so that the position of the mechanical arm is changed. That is, when the release button is pressed, the electromagnetic brake is released, and the telescopic arm can be freely moved (namely, the telescopic arm can vertically move along the upright post, and the base of the mechanical arm can move along the horizontal direction of the telescopic arm), so that the position of the mechanical arm can be changed.
By the aforesaid, as the supplementary mode that utilizes control command control arm motion, can also adopt the position of manual regulation arm, that is to say, at first trigger the release button through the manual work, release button transmission release signal to make the electromagnetic brake release, after release signal control electromagnetic brake release, the user can manually adjust the position of flexible arm, and this kind of mode is applicable to and uses when changing the position of arm by a wide margin, makes the adjustment process go on fast, and follow-up can combine data control to carry out the secondary control.
Further, before controlling the electromagnetic brake to release according to the release signal, the method further comprises:
judging whether the mechanical arm is in a running state or not;
if yes, no response is made to the release signal;
if not, controlling the electromagnetic brake to release according to the release signal.
By the arrangement, when the mechanical arm is in the running state, the electromagnetic brake should not be controlled to release, and only when the mechanical arm stops running, the electromagnetic brake can be controlled to release, so that the electromagnetic brake can be used as a protection measure to prevent a user from damaging appliances or causing hidden danger to personal safety when the mechanical arm is moved in the power-on state.
Here, after the position of the robot arm is manually adjusted, the latest position of the robot arm may be acquired again to obtain the updated preset position. Correspondingly, the moving path of the mechanical arm is calculated according to the current position and the updated preset position, and the calculation basis still adopts an inverse kinematics calculation mode.
That is, after the position of the mechanical arm is adjusted manually, if the mechanical arm needs to be controlled to move along with the position of the bed, the method further includes the following steps: acquiring the latest position of the mechanical arm to obtain an updated preset position; correspondingly, the moving path of the mechanical arm is calculated according to the current position and the updated preset position, so that the mechanical arm moves according to the moving path.
Therefore, the manual adjustment mode and the adjustment mode by using the controller can be combined, the diversity of the adjustment modes is increased, and the efficiency and the precision of the position adjustment of the mechanical arm are improved.
Referring to fig. 2 of the specification, the present application provides a schematic diagram of a positioning control system of a robot arm, and the working process of the system may refer to the positioning control method of the robot arm;
transmitting a mechanical arm displacement control instruction to the micro control unit MCU for processing through the human-computer interaction device; after receiving the mechanical arm displacement control command, on one hand, manual operation can be selected, electromagnetic brakes are released, displacement and positioning are carried out manually, displacement data are collected and transmitted to a high-precision position sensor for the existing position after positioning is finished, the sensor returns the displacement data to the micro control unit MCU for processing through 485 communication, and finally the micro control unit MCU feeds back the real-time displacement data to the human-computer interaction interface. On the other hand, after the micro control unit MCU receives the mechanical arm displacement control instruction, accurate control can be selected by depending on a kinematic algorithm of the mechanical arm until the mechanical arm reaches a preset position, displacement data are collected at the moment, and a feedback flow of the collected data is not different from the mode.
Referring to fig. 5 in the specification, a general flowchart of a positioning control system for a robot arm according to an embodiment of the present invention is as follows:
firstly, executing a 'start' instruction, entering the next step of executing 'system initialization', entering the next step of executing 'mechanical arm preoperative positioning', and then executing 'manual adjustment of the position of a mechanical arm by pressing a release key through human-computer interaction' or 'setting of mechanical arm displacement parameters through human-computer interaction'.
Aiming at the manual adjustment of the position of the mechanical arm by pressing a release key through human-computer interaction, entering a flow of mechanical arm position movement (XY direction), wherein the two steps of the flow are specifically operated to manually adjust the position of the mechanical arm by pressing the release key through human-computer interaction;
then, a 'high-precision displacement sensor displacement data acquisition' process and a 'displacement data transmission to a control system' process are executed in sequence. The two-step process is specifically operated in such a way that X-axis direction data and Y-axis direction data of the position adjusted by the mechanical arm are acquired through a high-precision displacement sensor; sending the collected displacement data to a control system, and judging whether the displacement data is consistent with the calculated data;
after the displacement data is transmitted, the system directly executes a flow of displaying the displacement parameters of the mechanical arm in real time or a flow of judging whether the displacement data is consistent with the calculation data, namely when the movement data is consistent with the calculation data, the movement position parameters of the mechanical arm are displayed. If the judgment results are consistent, executing a process of displaying the mechanical arm displacement parameters in real time; if the judgment result is inconsistent, the flow of 'analyzing the displacement data by the control system' is entered, and the flow of 'calculating the data of the mechanical arm required to be displaced by the control system' is entered after the adjustment, the two steps of the flow are specifically operated in such a way that when the displacement data is inconsistent with the calculated data, the control system analyzes the displacement data, at the moment, the system flow is switched back to the flow of 'mechanical arm position movement (XY direction)' again, namely, the mechanical arm is controlled to move according to the changed data, and then the flow is carried out sequentially according to the flow sequence, so that several flows executed according to a certain sequence can be collectively called as a main flow section.
Aiming at the 'human-computer interaction, setting mechanical arm displacement parameters', namely performing human-computer interaction, and moving the mechanical arm according to input data; sequentially executing a next flow of 'control system sends displacement instructions', then entering a main flow section which is the same as the first option and is carried out according to the sequence of 'mechanical arm position movement (XY direction)' flow of 'high-precision displacement sensor displacement data acquisition' and 'displacement data sending to the control system', then directly executing the flow of 'real-time mechanical arm displacement parameter display' by the system after the same displacement data transmission arrives or executing the flow of 'judging whether the displacement data is consistent with the calculated data', and executing the flow of 'real-time mechanical arm displacement parameter display' if the judgment result is consistent; and if the judgment result is inconsistent, changing the data again and entering the main flow section for carrying out. The specific implementation method for judging whether the displacement data is consistent with the calculation data at this time is as follows:
setting the initial position of the shaft of the mechanical arm X, Y as a near end, acquiring data of the near end of the mechanical arm by the high-precision displacement sensor at the initial position of the shaft of the mechanical arm X, Y, setting the shaft of the mechanical arm X, Y to be unfolded to the extreme position as a far end, acquiring data of the far end of the mechanical arm by the high-precision displacement sensor at the extreme position of the shaft of the mechanical arm X, Y, and calculating the displacement distance of the shaft of the mechanical arm X, Y and the data change of the high-precision displacement sensor by an algorithm; when the displacement of the axis of the mechanical arm X, Y changes, the data collected by the high-precision displacement sensor also changes, that is, the high-precision displacement sensor converts the displacement data into analog signals, for example: current, voltage, or resistance signals, etc.; analog signals with different sizes represent displacement data with different sizes, and an analog quantity acquisition module on the equipment converts analog quantity into digital signals which can be recognized by a computer, and different digital signals represent different displacement data.
For example:
the X axis of the mechanical arm is at an initial position, the coordinate corresponding to the initial position is 0mm, the current corresponding to the high-precision displacement sensor is 0mA, and the current with the analog quantity of 0mA is converted into a digital signal of 0X 0000;
the X axis of the mechanical arm needs to move forwards by 100mm, the X axis of the mechanical arm needs to move 100mm through human-computer interaction, the data obtained by the fact that the X axis of the mechanical arm moves 100mm through an algorithm is 0X10ff (assuming that the data obtained when the analog quantity acquired by the high-precision displacement sensor is 5mA is 0X10 ff), after the equipment is started, the mechanical arm starts to move, but the acquired data is 5mA (0X 10 ff), and the mechanical arm stops moving.
After the main process section under the two option conditions is finished, uniformly entering an operation table position process, executing an operation table position adjustment process, and then executing an operation table displacement data acquisition and transmission control system process, namely acquiring the movement parameters of the operation table; and continuously executing the flow specific implementation method of 'the control system analyzes the displacement data' and 'the control system calculates the data of the mechanical arm required to be displaced' comprises the following steps: when the mechanical arm moves along with the operating table, the relative position of the mechanical arm and the operating table is kept unchanged, for example, the operating table moves upwards by 50mm towards the Y axis, and the mechanical arm also moves upwards by 50mm towards the Y axis, namely, the mechanical arm moves together with the operating table while moving; at the moment, the moving direction and the moving displacement of the analysis bed keep the mechanical arm to move through an algorithm, the mechanical arm enters the main flow section for the last time, and the output result executes the 'ending' flow.
The embodiment of the present invention further provides a positioning control system of a robot arm, which can be applied to the positioning control method of the robot arm, and the specific setting mode and the working process of the positioning control system can also refer to the positioning control method of the robot arm, and a structural block diagram of the positioning control system of the robot arm is shown in fig. 6 of the specification, and includes:
the control instruction acquisition module 101: the control instruction for acquiring the movement of the mechanical arm in the horizontal direction and the vertical direction is acquired; similarly to the above, the control instruction may be a displacement parameter of the mechanical arm set by the human-computer interaction device, and a displacement control instruction is issued by the control system, wherein the human-computer interaction device includes a release button, a touch screen, a rocker, or the like; the release button is arranged on a sliding table at the tail end of the mechanical arm, the touch screen is not arranged on the robot trolley main body, the rocker is arranged on the sliding table at the tail end of the mechanical arm, and the rocker is not unfolded any more;
the preset motion control module 102: the control device is used for controlling the mechanical arm to move according to the control instruction so as to enable the mechanical arm to move to a preset position;
the current position acquisition module 103: the bed body positioning device is used for acquiring the current position of the bed body; the bed body is used for bearing a target object to be processed and is positioned on one side of the mechanical arm;
movement path calculation module 104: the system comprises a robot arm, a control unit, a display unit and a control unit, wherein the robot arm is used for calculating a moving path of the robot arm according to a current position and a preset position;
the positioning operation control module 105: the positioning device is used for controlling the mechanical arm to execute the positioning operation according to the moving path.
Further, the preset motion control module 102 is further configured to control electromagnetic brake release according to the release signal, so that after the position of the telescopic arm (including the mechanical arm) is manually adjusted, the latest position of the mechanical arm is obtained, and the updated preset position is obtained.
Correspondingly, the moving path calculating module 104 is further configured to calculate a moving path of the robot arm according to the current position and the updated preset position.
Further, the preset motion control module 102 further includes:
the release unit is used for acquiring a release signal transmitted by the release key; the release button is used for controlling the electromagnetic brake release of the telescopic arm, the telescopic arm is connected with the base of the mechanical arm, and the electromagnetic brake release is controlled according to a release signal so as to achieve manual adjustment of the position of the telescopic arm and further change the position of the mechanical arm.
Further, the preset motion control module 102 is further configured to determine whether the mechanical arm is in an operating state; if yes, no response is made to the release signal; if not, controlling the electromagnetic brake to release according to the release signal.
Further, the preset motion control module 102 further includes:
and the enclasping unit is used for acquiring an enclasping signal for controlling enclasping of the electromagnetic brake and controlling enclasping of the electromagnetic brake according to the enclasping signal. Further, the moving path calculating module 104 is further configured to perform inverse kinematics calculation on the current position according to the preset position, so as to obtain a moving path from the mechanical arm to the current position.
Further, the moving path calculating module 104 is further configured to obtain an operation space of the robot arm; wherein, the operation space of the mechanical arm does not intersect with the bed body;
and the movement path calculation module 104 is used for solving the movement path of the robot arm transformed to the current position in the operation space.
The present application also provides a storage medium having a computer program stored thereon, which when executed, may implement the steps provided by the above-described embodiments. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The application also provides a robot, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor calls the computer program in the memory to realize the steps of the positioning control method of the mechanical arm. Of course, the robot may also include various network interfaces, power supplies, etc.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The present invention provides a method and a system for controlling the position of a robot arm, a robot, and a storage medium. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A method for controlling the position of a mechanical arm is characterized by comprising the following steps:
acquiring a control instruction for controlling the mechanical arm to move along the horizontal direction and the vertical direction;
controlling the mechanical arm to move according to the control instruction so as to enable the mechanical arm to move to a preset position;
acquiring the current position of the bed body; the bed body is used for bearing a target object to be processed and is positioned on one side of the mechanical arm;
calculating a moving path of the mechanical arm according to the current position and the preset position;
and controlling the mechanical arm to execute the positioning operation according to the moving path.
2. The swing position control method of a robot arm according to claim 1, wherein calculating a moving path of the robot arm from the current position and the preset position comprises:
and performing inverse kinematics calculation on the current position according to the preset position to obtain a moving path of the mechanical arm converted to the current position.
3. The yaw control method of a robot arm according to claim 1, wherein calculating a movement path of the robot arm includes:
acquiring an operation space of the mechanical arm; the operation space of the mechanical arm does not intersect with the bed body;
and solving the moving path of the mechanical arm transformed to the current position in the operating space.
4. A method of controlling the positioning of a robot arm according to any of claims 1 to 3, further comprising:
acquiring the latest position of the mechanical arm to obtain an updated preset position;
correspondingly, calculating the moving path of the mechanical arm according to the current position and the preset position comprises:
and calculating the moving path of the mechanical arm according to the current position and the updated preset position.
5. A method of controlling the positioning of a robot arm according to any of claims 1 to 3, further comprising:
acquiring a release signal transmitted by a release key; the release button is used for controlling the electromagnetic brake release of the telescopic arm, and the telescopic arm is connected with the base of the mechanical arm;
and controlling the electromagnetic brake to release according to the release signal so as to realize manual adjustment of the position of the telescopic arm and further change the position of the mechanical arm.
6. The method for controlling the positioning of a robot arm according to claim 5, wherein before controlling the electromagnetic brake to be released according to the release signal, the method further comprises:
judging whether the mechanical arm is in a running state or not;
if yes, not responding to the release signal;
and if not, controlling the electromagnetic brake to release according to the release signal.
7. The method for controlling the positioning of a robot arm according to claim 5, further comprising, after controlling the electromagnetic brake to be released according to the release signal:
acquiring a holding signal for controlling the holding of the electromagnetic brake;
and controlling the electromagnetic brake to be tightly held according to the holding signal.
8. A position-setting control system of a mechanical arm is characterized by comprising:
a control instruction acquisition module (101): the control device is used for acquiring control instructions for controlling the mechanical arm to move along the horizontal direction and the vertical direction;
preset motion control module (102): the control device is used for controlling the mechanical arm to move according to the control instruction so as to enable the mechanical arm to move to a preset position;
current position acquisition module (103): the bed body positioning device is used for acquiring the current position of the bed body; the bed body is used for bearing a target object to be processed and is positioned on one side of the mechanical arm;
movement path calculation module (104): the mechanical arm is used for calculating a moving path of the mechanical arm according to the current position and the preset position;
a positioning operation control module (105): and the manipulator is used for controlling the manipulator to execute the positioning operation according to the moving path.
9. A robot comprising a memory in which a computer program is stored and a processor which, when calling the computer program in the memory, carries out the steps of the method of controlling the positioning of a robot arm according to any of claims 1 to 7.
10. A storage medium having stored thereon computer-executable instructions that, when loaded and executed by a processor, perform the steps of a method of controlling the positioning of a robotic arm as claimed in any one of claims 1 to 7.
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