CN115570568B - Multi-manipulator cooperative control method and system - Google Patents
Multi-manipulator cooperative control method and system Download PDFInfo
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- CN115570568B CN115570568B CN202211241658.2A CN202211241658A CN115570568B CN 115570568 B CN115570568 B CN 115570568B CN 202211241658 A CN202211241658 A CN 202211241658A CN 115570568 B CN115570568 B CN 115570568B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims abstract description 51
- 230000001360 synchronised effect Effects 0.000 claims abstract description 39
- 230000001133 acceleration Effects 0.000 claims abstract description 28
- 239000003990 capacitor Substances 0.000 claims description 63
- 230000004044 response Effects 0.000 claims description 20
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 12
- 238000009954 braiding Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 12
- 210000001258 synovial membrane Anatomy 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 6
- 230000017525 heat dissipation Effects 0.000 claims description 4
- 230000000977 initiatory effect Effects 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 13
- 238000009940 knitting Methods 0.000 description 10
- 230000009286 beneficial effect Effects 0.000 description 8
- 238000004804 winding Methods 0.000 description 8
- 238000005520 cutting process Methods 0.000 description 6
- 239000003921 oil Substances 0.000 description 4
- 239000010687 lubricating oil Substances 0.000 description 3
- 238000010606 normalization Methods 0.000 description 3
- 238000009941 weaving Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 229920006253 high performance fiber Polymers 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling 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
-
- 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
-
- 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
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
- D04C3/00—Braiding or lacing machines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Textile Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention provides a multi-manipulator cooperative control method and a system, wherein the method comprises the following steps: the controller sends out a synchronous command, the servo driver sends out an execution command containing the initial position and the pulse position difference of the servo motor according to the synchronous command, and the servo motor arranged on the manipulator receives the execution command to synchronously start; after the servo motor is synchronously started, the controller collects current running track parameters of each manipulator and compares the current running track parameters with preset running track parameters to obtain error values; judging the error value and the threshold value preset by the controller, and sending out a manipulator operation instruction by the controller. The system comprises a controller, a servo motor, a servo driver, a manipulator, an infrared camera, a speed sensor and an acceleration sensor. The lifting stability of the work piece to be wound and woven is improved; and the synchronous control of each manipulator is realized by a mode that the servo motor and the movement track of the manipulator are synchronous, so that the initial action consistency of each manipulator is ensured.
Description
Technical Field
The invention relates to the technical field of manipulator control, in particular to a multi-manipulator cooperative control method and system.
Background
The manipulator belongs to the category of bionics, and can simulate certain actions of a human hand and an arm so as to grasp and carry objects or operate an automatic operation device of a tool according to a fixed program; in order to realize more accurate operation of the manipulator, the expected work is set through programming, so that the functions of the hand and the arm of a person can be realized in terms of structure and performance, the advantages of reliability, stability and long continuous working time of the robot can be realized, and the manipulator is widely applied to the fields of mechanical manufacture, metallurgy, electronics or light industry and the like. In actual production, certain large-scale work pieces are heavy, the lifting of a manipulator on one side is laborious, the safety is poor, meanwhile, the manipulator is easy to damage, and due to the heavy reasons, certain large-scale work pieces, the manipulator on one side cannot be lifted forcefully when being lifted, and the manipulator is damaged. For example: when the braiding machine works, the workpiece to be braided is required to be lifted.
In the first prior art, CN201910343077.1 is an annular special-shaped high-performance fiber braiding machine, which comprises: the device comprises a frame, a machine head assembly, a manipulator assembly and a controller; the machine head assembly and the manipulator assembly are arranged on the machine frame, a controller is arranged on one side of the machine frame, and the controller controls the machine head assembly and the manipulator assembly to operate. The advantages are that: because the spindle is provided with the concave 8-shaped guide rail on the inner ring surface, the fiber yarn discharged by the spindle has no breakage and napping phenomena, and can realize reciprocating knitting. Because the movement of the product core mould is controlled by a mechanical arm, the invention solves the problem that the conventional machine can not realize the functions of straight line, curve, reducing and other products. Since the sleeve adopts a vibration mode, the abrasion of raw materials in knitting is reduced. Saving raw materials. The method is applied to the transportation industry and the aerospace industry, and fills a blank in the same industry.
In the second prior art, the upper and lower disc knitting mechanism and the pneumatic color-changing manipulator device of the CN201310576225.7 double-sided automatic underwear machine comprise a dial seat, a dial base, a large disc gear, a needle selector, a lower needle cylinder, a saddle bottom ring, an upper needle cylinder, a manipulator body, a yarn outlet mechanism pneumatic loop module and a yarn cutting mechanism pneumatic loop module, wherein the dial seat is connected with a dial; the cutting disc base is connected with a cutting disc; the cutting disc is connected with a cylinder needle selecting device; the lower needle cylinder is connected to the large disc gear; the needle selector is connected to the large disc gear; the upper needle cylinder is connected to the lower needle cylinder; the saddle bottom ring is connected with a reset triangle; an automatic needle-moving triangle mechanism is connected on the saddle bottom ring; the manipulator body is provided with an air inlet; the pneumatic loop module of the yarn outlet mechanism is connected to the upper end of the manipulator body; the pneumatic loop pipeline of the yarn cutting mechanism is communicated with the yarn cutting mechanism pipeline and the air inlet. The invention has the characteristics of simple structure, convenient operation and practicability.
In the third prior art, CN201510797820.2 is a warp knitting machine with a manipulator, which comprises a knitting mechanism, a guide bar traversing mechanism, a warp feeding mechanism and a traction winding mechanism, wherein the traction winding mechanism comprises a motor and a cloth winding shaft, the motor is connected with the cloth winding shaft through a belt transmission or chain transmission mechanism, and the warp knitting machine also comprises an automatic grabbing device, wherein the automatic grabbing device comprises a portal frame, a base sliding rail, a cross beam and a mechanical claw; the warp knitting machine also comprises a lubricating oil circulating device, wherein the lubricating oil circulating device comprises an oil pump, and the oil pump comprises an oil inlet pipeline, an oil outlet pipeline, a pump body, an impeller and a pump shaft; the warp knitting machine can rapidly cool the temperature of lubricating oil.
The lifting of the winding work piece in the first prior art and the second prior art adopts a single-side manipulator, the lifting effect is unstable, the movement precision of the winding work piece is easy to be low, the manipulator is easy to be damaged, and the precision of the manipulator is reduced after long-term use.
Disclosure of Invention
In order to solve the technical problems, the invention provides a multi-manipulator cooperative control method, which comprises the following steps:
the controller sends out a synchronous command, and the servo driver sends out an execution command containing the initial position and the pulse position difference of the servo motor according to the synchronous command;
the controller collects current running track parameters of each manipulator and compares the current running track parameters with preset running track parameters to obtain error values;
judging the error value and the threshold value preset by the controller, and sending out a manipulator operation instruction by the controller.
Optionally, a servo motor installed on the manipulator receives the execution instruction to start synchronously;
after the servo motors are synchronously started, the controller collects current running track parameters of each manipulator.
Optionally, the method further comprises:
the servo driver sends a position scanning instruction to the servo motor according to the synchronous instruction, and response time and the current position of the servo motor corresponding to the servo driver are obtained according to feedback of the position scanning instruction;
according to the response time fed back by the position scanning instruction and the current position of the servo motor, taking the current position with the shortest response time as the synchronous initial position of the servo motor; calculating the difference value of the response time except the shortest response time and the shortest response time, determining the corresponding pulse position difference, and sending the initial position and the pulse position difference to the corresponding servo driver;
and calculating a difference value between the pulse position difference and the preset position difference, taking an absolute value of the difference value as a given value of the angular speed of the servo motor, taking a difference value between the actual angular speed of the servo motor and the given value of the angular speed as an input value of the synovial membrane controller, and obtaining an output value of the synovial membrane controller for controlling the rotating speed of the servo motor so as to realize synchronous movement of all the servo motors.
Optionally, the servo driver controls the opening and closing of the electric switch by measuring the working temperature of the electrolytic capacitor and connecting the capacitor when detecting that the working temperature of the electrolytic capacitor exceeds a preset threshold value, and the capacitor is used as a standby capacitor of the electrolytic capacitor, so that the continuous working of the servo driver is realized.
Optionally, the predetermined movement track parameters of the manipulator include: the motion trail, namely the displacement, the speed and the acceleration of a motion point, of the manipulator in the motion process of the manipulator in contact with the workpiece to be wound and woven is obtained through testing; the current running track parameters include: the motion trail in the motion process of the manipulator, namely the displacement, the speed and the acceleration of the motion point.
Optionally, the current running track parameter obtaining method includes:
shooting images of the movement of the manipulator through an infrared camera, extracting mass center pixel coordinates of each image, obtaining displacement of movement points through changes of adjacent mass center pixel coordinates, marking the points of each displacement by a controller of the braiding machine to obtain a plurality of manipulator track points, connecting the manipulator track points according to time sequence, and finally forming a movement track of the manipulator;
the speed of the moving point is obtained by a speed sensor, and the speed sensor is arranged at the tail end of the manipulator actuator; the acceleration of the movement point is obtained by an acceleration sensor, which is mounted at the end of the manipulator actuator.
Optionally, the running instruction includes a current running track parameter and a predetermined running track parameter; if the error value is not greater than the preset threshold value of the controller, the manipulator operates according to the current operation track parameter, and if the error value is greater than the preset threshold value, the manipulator operates according to the preset operation track parameter.
The invention provides a multi-manipulator cooperative control system, which comprises: the device comprises a controller, a servo motor, a servo driver, a manipulator, an infrared camera, a speed sensor and an acceleration sensor;
the controller is connected with the servo driver through the data line, the servo driver is connected with the servo motor, the manipulator is provided with a servo motor, an infrared camera, a speed sensor and an acceleration sensor, and the infrared camera, the speed sensor and the acceleration sensor are all connected with the controller through the data line.
Optionally, the servo driver is provided with a capacitance control module, the capacitance control module comprises a first capacitance, a second capacitance and a third capacitance, the capacitance control module is connected with a temperature sensor for measuring the temperature of an electrolytic capacitor in the servo driver, when the temperature of the electrolytic capacitor exceeds a threshold value, the capacitance control module performs an action to control the opening and closing of the electric switch to replace the electrolytic capacitor, when the temperature of the first capacitance exceeds the threshold value, the capacitance control module performs an action to control the opening and closing of the electric switch to replace the first capacitance, when the temperature of the second capacitance exceeds the threshold value, the capacitance control module performs an action to control the opening and closing of the electric switch to replace the second capacitance, and when the temperature exceeding the third capacitance exceeds the threshold value, the capacitance control module performs an action to control the opening and closing of the electric switch to replace the second capacitance.
Optionally, a fan is installed on one side of the electrolytic capacitor, the first capacitor, the second capacitor and the third capacitor, the fan is connected with a temperature sensor, a PID controller is integrated on the fan, and the PID controller controls the rotating speed of the fan according to the temperature value of the temperature sensor, so that heat dissipation of the electrolytic capacitor, the first capacitor, the second capacitor or the third capacitor which is working is realized.
According to the invention, the plurality of manipulators are arranged at two sides of the knitting machine, can be arranged according to specific conditions, and can be two groups, three groups or multiple groups, so that the workpiece to be wound and knitted is lifted, the defect that one manipulator is adopted in the prior art is overcome, and the lifting stability of the workpiece to be wound and knitted is improved; in order to realize synchronous control of each manipulator, the synchronous control is realized in a mode that the servo motor and the motion track of the manipulator are synchronous, the servo motor is critical to the motion of the manipulator, the servo motor is synchronous, an important foundation is laid for the synchronization of the manipulator, a controller of a braiding machine sends out synchronous instructions of the servo motors of a plurality of manipulators, a servo driver sends out execution instructions with auxiliary addresses and appointed starting position information according to the synchronous instructions, the servo motors are controlled to synchronously start at the adjusted starting positions, the starting positions of the servo motors are synchronous, and when the controller sends out instructions, the servo motors synchronously act, so that the initial motion consistency of the manipulators is ensured; the synchronization of the running track of the manipulator is carried out by comparing the error value with a preset value, so that the pace of the manipulator in the running process is ensured to be consistent, the running precision of a work piece to be wound is ensured, the winding accuracy is ensured, and the quality of a product is also ensured; according to the invention, cooperative control of multiple manipulators is realized in two ways, so that the control precision of the manipulators is greatly improved, the lifting stability of the workpiece to be wound and woven is improved, the weaving efficiency of the braiding machine is improved, the cooperative lifting control of the workpiece to be wound and woven is realized, and the damage to the manipulators is avoided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a flow chart of a method for collaborative control of multiple manipulators in an embodiment of the invention;
FIG. 2 is a schematic diagram of synchronous control of a servo motor in an embodiment of the present invention;
fig. 3 is a block diagram of a multi-robot cooperative control system in an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Example 1
As shown in fig. 1, the embodiment of the invention provides a multi-manipulator cooperative control method, which comprises the following steps:
s100: the controller sends out a synchronous command, the servo driver sends out an execution command containing the initial position and the pulse position difference of the servo motor according to the synchronous command, and the servo motor arranged on the manipulator receives the execution command to synchronously start;
s200: after the servo motor is synchronously started, the controller collects current running track parameters of each manipulator and compares the current running track parameters with preset running track parameters to obtain error values;
s300: if the error value is not greater than the preset threshold value of the controller, the manipulator operates according to the current operation track parameter, and if the error value is greater than the preset threshold value, the manipulator operates according to the preset operation track parameter.
The working principle and beneficial effects of the technical scheme are as follows: according to the invention, the plurality of manipulators are arranged at two sides of the knitting machine, can be arranged according to specific conditions, and can be two groups, three groups or multiple groups, so that the workpiece to be wound and knitted is lifted, the defect that one manipulator is adopted in the prior art is overcome, and the lifting stability of the workpiece to be wound and knitted is improved; in order to realize synchronous control of each manipulator, the synchronous control is realized in a mode that the servo motor and the motion track of the manipulator are synchronous, the servo motor is critical to the motion of the manipulator, the servo motor is synchronous, an important foundation is laid for the synchronization of the manipulator, a controller of a braiding machine sends out synchronous instructions of the servo motors of a plurality of manipulators, a servo driver sends out execution instructions with auxiliary addresses and appointed starting position information according to the synchronous instructions, the servo motors are controlled to synchronously start at the adjusted starting positions, the starting positions of the servo motors are synchronous, and when the controller sends out instructions, the servo motors synchronously act, so that the initial motion consistency of the manipulators is ensured; the running track of the manipulator is synchronized through the comparison of the error value and a preset value, the error value and the preset threshold value of the controller are judged, the controller sends out a manipulator running instruction, and the running instruction comprises the current running track parameter and the preset running track parameter, so that the pace of the manipulator in the running process is ensured to be consistent, the running precision of a workpiece to be wound is ensured, the winding accuracy is ensured, and the quality of a product is also ensured; according to the invention, cooperative control of multiple manipulators is realized in two ways, so that the control precision of the manipulators is greatly improved, the lifting stability of the workpiece to be wound and woven is improved, the weaving efficiency of the braiding machine is improved, the cooperative lifting control of the workpiece to be wound and woven is realized, and the damage to the manipulators is avoided.
Example 2
As shown in fig. 2, on the basis of embodiment 1, step S100 provided in the embodiment of the present invention includes:
s101: the servo driver sends a position scanning instruction to the servo motor according to the synchronous instruction, and response time and the current position of the servo motor corresponding to the servo driver are obtained according to feedback of the position scanning instruction;
s102: according to the response time fed back by the position scanning instruction and the current position of the servo motor, taking the current position with the shortest response time as the synchronous initial position of the servo motor; calculating the difference value of the response time except the shortest response time and the shortest response time, determining the corresponding pulse position difference, and sending the initial position and the pulse position difference to the corresponding servo driver;
s103: and calculating a difference value between the pulse position difference and the preset position difference, taking an absolute value of the difference value as a given value of the angular speed of the servo motor, taking a difference value between the actual angular speed of the servo motor and the given value of the angular speed as an input value of the synovial membrane controller, and obtaining an output value of the synovial membrane controller for controlling the rotating speed of the servo motor so as to realize synchronous movement of all the servo motors.
The working principle and beneficial effects of the technical scheme are as follows: according to the difference between the response time of each servo driver and the shortest response time, the invention determines the corresponding pulse position difference for each servo driver and sends the initial position and the pulse position difference to the corresponding servo driver; calculating according to absolute values of the pulse position difference and the preset position difference to obtain a given value of the angular speed of the servo motor; the method comprises the steps of obtaining the actual angular velocity of the slave servo motor, taking the difference value of the actual angular velocity and the angular velocity set value as the input value of the synovial membrane controller, obtaining the output value of the synovial membrane controller for controlling the rotating speed of the servo motor so as to realize synchronous motion of all the servo motors, ensuring that the rotating speeds of the servo motors of all the manipulators are the same through the scheme, ensuring that the lockstep of the servo motors during motion is consistent, realizing the synchronization of motion, laying a hardware foundation for the cooperative control of the manipulator at the back and ensuring the operation precision of the manipulator.
Example 3
On the basis of embodiment 1, the servo driver provided by the embodiment of the invention realizes continuous operation of the servo driver by measuring the working temperature of the electrolytic capacitor, controlling the opening and closing of the electric switch when detecting that the working temperature of the electrolytic capacitor exceeds a preset threshold value and connecting the capacitor as a standby capacitor of the electrolytic capacitor.
The working principle and beneficial effects of the technical scheme are as follows: the invention sets the standby capacitor, when the electrolytic capacitor of the servo driver fails, the standby capacitor is started, the temperature of the electrolytic capacitor is detected through the temperature sensor, the normal operation of the servo driver is ensured, and the normal operation of the manipulator is ensured, so that the work piece to be wound and woven can normally move, and the quality of the product of the braiding machine is ensured.
Example 4
On the basis of embodiment 1, the predetermined running track parameters of the manipulator provided by the embodiment of the invention include: the motion trail, namely the displacement, the speed and the acceleration of a motion point, of the manipulator in the motion process of the manipulator in contact with the workpiece to be wound and woven is obtained through testing; the current running track parameters include: the motion trail in the motion process of the manipulator, namely the displacement, the speed and the acceleration of the motion point. The current running track parameter obtaining method comprises the following steps:
and shooting images of the movement of the manipulator through an infrared camera, extracting mass center pixel coordinates of each image, obtaining displacement of movement points through changes of adjacent mass center pixel coordinates, marking the points of each displacement by a controller of the braiding machine to obtain a plurality of manipulator track points, connecting the manipulator track points according to time sequence, and finally forming a movement track of the manipulator.
The speed of the moving point is obtained by a speed sensor, and the speed sensor is arranged at the tail end of the manipulator actuator; the acceleration of the movement point is obtained by an acceleration sensor, which is mounted at the end of the manipulator actuator.
The working principle and beneficial effects of the technical scheme are as follows: according to the invention, the movement track of the manipulator can be timely and effectively obtained by recording the displacement, the speed and the acceleration of the movement point, a foundation is laid for comparing the subsequent movement track with the preset movement track, the manipulator is ensured to execute instructions according to the preset movement track, and the safe and effective work of the braiding machine is ensured.
Example 5
As shown in fig. 3, based on embodiment 1, the multi-manipulator cooperative control system provided in the embodiment of the present invention includes: the device comprises a controller, a servo motor, a servo driver, a manipulator, an infrared camera, a speed sensor and an acceleration sensor.
The controller is connected with the servo driver through the data line, the servo driver is connected with the servo motor, the manipulator is provided with a servo motor, an infrared camera, a speed sensor and an acceleration sensor, and the infrared camera, the speed sensor and the acceleration sensor are all connected with the controller through the data line.
The working principle and beneficial effects of the technical scheme are as follows: according to the invention, the controller sends out synchronous instructions of the servo motors of the plurality of manipulators, and the servo driver sends out execution instructions with auxiliary addresses and appointed starting position information according to the synchronous instructions, so that the servo motors are controlled to synchronously start at the adjusted starting positions; acquiring current running track parameters and preset running track parameters of a plurality of manipulators through an infrared camera, a speed sensor and an acceleration sensor, and acquiring error values according to the current running track parameters and the preset running track parameters; the controller judges that the error value is not larger than a preset threshold, a plurality of the controllers run according to the current running track parameters, and the error value is larger than the preset threshold, and the plurality of the controllers run according to the preset running track parameters. According to the invention, cooperative control of multiple manipulators is realized in two ways, so that the control precision of the manipulators is greatly improved, the lifting stability of the workpiece to be wound and woven is improved, the weaving efficiency of the braiding machine is improved, the cooperative lifting control of the workpiece to be wound and woven is realized, and the damage to the manipulators is avoided.
Example 6
On the basis of embodiment 5, the servo driver provided by the embodiment of the invention is provided with the capacitance control module, the capacitance control module comprises a first capacitance, a second capacitance and a third capacitance, the capacitance control module is connected with a temperature sensor for measuring the temperature of the electrolytic capacitance in the servo driver, when the temperature of the electrolytic capacitance exceeds a threshold value, the capacitance control module performs an action to control the opening and closing of the electric switch to the first capacitance to replace the electrolytic capacitance, when the temperature of the first capacitance exceeds the threshold value, the capacitance control module performs an action to control the opening and closing of the electric switch to the second capacitance to replace the first capacitance, when the temperature of the second capacitance exceeds the threshold value, the capacitance control module performs an action to control the opening and closing of the electric switch to the third capacitance to replace the second capacitance, and when the temperature exceeding the third capacitance exceeds the threshold value, the capacitance control the opening and closing of the electric switch to the third electrolytic capacitance.
The working principle and beneficial effects of the technical scheme are as follows: the invention is provided with the capacitance control device capable of realizing capacitance switching, when the temperature of the electrolytic capacitor is too high, the switching of the capacitance is carried out, the stable operation of the servo driver is ensured, the normal operation of the servo motor is ensured, and the precision of the cooperative control of multiple mechanical arms is also improved.
Example 7
On the basis of embodiment 5, a fan is arranged on one side of the electrolytic capacitor, the first capacitor, the second capacitor and the third capacitor, the fan is connected with a temperature sensor, a PID controller is integrated on the fan, the PID controller controls the rotating speed of the fan according to the temperature value of the temperature sensor, heat dissipation of the electrolytic capacitor, the first capacitor, the second capacitor or the third capacitor which are working is achieved, and long-time working of a servo driver is ensured.
The working principle and beneficial effects of the technical scheme are as follows: according to the invention, the temperature of the electrolytic capacitor, the first capacitor, the second capacitor or the third capacitor is acquired through the temperature sensor, and the accurate control of the rotating speed of the fan is realized through the PID controller, so that the heat dissipation of the electrolytic capacitor is facilitated, the energy is saved, the consumption is reduced, the real-time adjustment of the rotating speed of the fan is realized, and the stable and reliable operation of the servo driver is ensured. If the temperature of the electrolytic capacitor, the first capacitor, the second capacitor or the third capacitor still cannot be reduced to the threshold value by cooling the fan, the capacitor control module is started to switch the capacitors.
Example 8:
on the basis of embodiment 5, the multi-manipulator cooperative control system provided by the embodiment of the invention further comprises a noise processing module, wherein the noise processing module is connected with the controller, the noise processing module filters the input signal to be input into the controller, so as to improve the quality of the input signal, the control precision of the controller is improved greatly, and the processing process of the noise processing module on the input signal is as follows:
(1) The noise processing module receives an input signal set x= [ X ] 1 ,x 2 ,x 3 ,x 4 ,…,x n ]；
Wherein: x is x 1 Representing the output signal of the servo driver, x 2 Representing the output signal of an infrared camera, x 3 Representing the output signal of the speed sensor,x 4 an output signal representing the acceleration sensor; x is x n>4 Other signals which need to be collected by the multi-manipulator cooperative control system according to actual conditions are shown, for example: a signal or the like to be transmitted wirelessly to the device control terminal, where n is not less than 4; x is x n Representing the input signal;
(2) The input signal is normalized:
for each input signal X within the set of input signals X n The signal equalization processing is carried out,
wherein x' n Representing the input signal after the equalization process,mean value representing the set of input signals,/->Represents the average value, x, of the nth input signal n Represented as the nth input signal;
wherein x is n,t Representing the value of the n-th input signal at the t-th moment after normalization, x' n,t Representing the value of the nth input signal at the t-th moment after equalization processing, X min Representing the minimum value, X, of the same type of signal in the input signal set max Representing the maximum value of the same type of signal in the input signal set;
(3) Median filtering the value of the n-th input signal at the t-th moment after normalization to obtain a filtered input signal g (x) n )；
g(x n )＝x n,t -f(x n )
Wherein f (x) n ) Representing input signal x n Through the frequency spectrumThe spectrometer is measured and connected with the controller.
The working principle and beneficial effects of the technical scheme are as follows: because the working environment of the manipulator is complex, a plurality of working devices can generate signals with different frequencies, if the noise reduction function of the devices is poor, the devices can not work normally; therefore, the embodiment of the invention is provided with the noise processing module for removing noise, the noise processing module is connected with the controller, the noise processing module filters the noise of the input signal to be input into the controller, so as to improve the quality of the input signal, and the noise-free input signal is obtained by median filtering the normalization processing set of the input signal, so that the control precision of the controller can be greatly improved.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
1. The multi-manipulator cooperative control method is characterized by comprising the following steps of:
the controller sends out a synchronous command, and the servo driver sends out an execution command containing the initial position and the pulse position difference of the servo motor according to the synchronous command;
the controller collects current running track parameters of each manipulator and compares the current running track parameters with preset running track parameters to obtain error values;
judging the error value and a threshold value preset by a controller, and sending a manipulator operation instruction by the controller;
further comprises:
the servo driver sends a position scanning instruction to the servo motor according to the synchronous instruction, and response time and the current position of the servo motor corresponding to the servo driver are obtained according to feedback of the position scanning instruction;
according to the response time fed back by the position scanning instruction and the current position of the servo motor, taking the current position with the shortest response time as the synchronous initial position of the servo motor; calculating the difference value of the response time except the shortest response time and the shortest response time, determining the corresponding pulse position difference, and sending the initial position and the pulse position difference to the corresponding servo driver;
calculating the difference value between the pulse position difference and the preset position difference, taking the absolute value of the difference value as a given value of the angular speed of the servo motor, taking the difference value between the actual angular speed of the servo motor and the given value of the angular speed as an input value of the synovial membrane controller, and obtaining an output value of the synovial membrane controller for controlling the rotating speed of the servo motor so as to realize synchronous movement of all the servo motors;
the predetermined running track parameters of the manipulator include: the motion trail, namely the displacement, the speed and the acceleration of a motion point, of the manipulator in the motion process of the manipulator in contact with the workpiece to be wound and woven is obtained through testing; the current running track parameters include: the motion trail in the motion process of the manipulator, namely the displacement, the speed and the acceleration of the motion point;
the current running track parameter obtaining mode comprises the following steps:
shooting images of the movement of the manipulator through an infrared camera, extracting mass center pixel coordinates of each image, obtaining displacement of movement points through changes of adjacent mass center pixel coordinates, marking the points of each displacement by a controller of the braiding machine to obtain a plurality of manipulator track points, connecting the manipulator track points according to time sequence, and finally forming a movement track of the manipulator;
the speed of the moving point is obtained by a speed sensor, and the speed sensor is arranged at the tail end of the manipulator actuator; the acceleration of the movement point is obtained by an acceleration sensor, and the acceleration sensor is arranged at the tail end of the manipulator actuator;
the noise processing module is connected with the controller, and performs noise filtering on an input signal to be input into the controller, and the processing process of the noise processing module on the input signal is as follows:
(1) The noise processing module receives an input signal set；
Wherein:output signal representing servo driver, +.>Output signal representing an infrared camera, +.>Output signal representing a speed sensor, +.>An output signal representing the acceleration sensor; />Representing other signals which need to be collected by the multi-manipulator cooperative control system according to actual conditions, and the signals are +.>Representing the input signal;
(2) The input signal is normalized:
for input signal setXEach input signal inThe signal equalization processing is carried out,
wherein,representing the equalized input signal, +.>Mean value representing the set of input signals,/->Represent the firstnAverage value of the individual input signals>Denoted as the firstnA plurality of input signals;
wherein,representing normalized secondnThe input signal is at the firsttValue of time of day->Indicating the post-equalization processing thnThe input signal is at the firsttValue of time of day->Representing the minimum value of the same type of signal in the set of input signals>Representing the maximum value of the same type of signal in the input signal set;
(3) Normalized firstnThe input signal is at the firsttMedian filtering is carried out on the time value to obtain a filtered input signal；
Wherein,express input signal +.>Is measured by a spectrometer which is connected with a controller.
2. The multi-robot cooperative control method of claim 1, wherein a servo motor mounted on the robot receives an execution instruction to perform synchronous start;
after the servo motors are synchronously started, the controller collects current running track parameters of each manipulator.
3. The multi-manipulator cooperative control method of claim 1, wherein the servo driver realizes continuous operation of the servo driver by measuring the operating temperature of the electrolytic capacitor, and controlling the opening and closing of the electric switch to connect the capacitor as a backup capacitor of the electrolytic capacitor when detecting that the operating temperature of the electrolytic capacitor exceeds a preset threshold.
4. The multi-robot cooperative control method of claim 1, wherein the operation command includes a current operation track parameter and a predetermined operation track parameter; if the error value is not greater than the preset threshold value of the controller, the manipulator operates according to the current operation track parameter, and if the error value is greater than the preset threshold value, the manipulator operates according to the preset operation track parameter.
5. A multi-robot cooperative control system, comprising: the device comprises a controller, a servo motor, a servo driver, a manipulator, an infrared camera, a speed sensor and an acceleration sensor;
the controller is connected with the servo driver through a data line, the servo driver is connected with the servo motor, the infrared camera, the speed sensor and the acceleration sensor are arranged on the manipulator, and the infrared camera, the speed sensor and the acceleration sensor are all connected with the controller through the data line;
the servo driver is provided with a capacitance control module, the capacitance control module comprises a first capacitance, a second capacitance and a third capacitance, the capacitance control module is connected with a temperature sensor for measuring the temperature of an electrolytic capacitor in the servo driver, when the temperature of the electrolytic capacitor exceeds a threshold value, the capacitance control module performs an action to control the opening and closing of the electric switch, the first capacitance is switched to replace the electrolytic capacitor, when the temperature of the first capacitance exceeds the threshold value, the capacitance control module performs an action to control the opening and closing of the electric switch, the second capacitance is switched to replace the first capacitance, when the temperature of the second capacitance exceeds the threshold value, the capacitance control module performs an action to control the opening and closing of the electric switch, and when the temperature exceeding the third capacitance exceeds the threshold value, the capacitance control module performs an action to control the opening and closing of the electric switch, and the switching to the electrolytic capacitor;
a fan is arranged on one side of the electrolytic capacitor, one side of the first capacitor, one side of the second capacitor and one side of the third capacitor, the fan is connected with a temperature sensor, a PID controller is integrated on the fan, and the PID controller controls the rotating speed of the fan according to the temperature value of the temperature sensor so as to realize heat dissipation of the electrolytic capacitor, the first capacitor, the second capacitor or the third capacitor which are working;
the noise processing module is connected with the controller, and performs noise filtering on an input signal to be input into the controller, and the processing process of the noise processing module on the input signal is as follows:
(1) The noise processing module receives an input signal set；
Wherein:output signal representing servo driver, +.>Output signal representing an infrared camera, +.>Representing the output signal of the speed sensor,/>an output signal representing the acceleration sensor; />Representing other signals which need to be collected by the multi-manipulator cooperative control system according to actual conditions, and the signals are +.>Representing the input signal;
(2) The input signal is normalized:
for input signal setXEach input signal inThe signal equalization processing is carried out,
wherein,representing the equalized input signal, +.>Mean value representing the set of input signals,/->Represent the firstnAverage value of the individual input signals>Denoted as the firstnA plurality of input signals;
wherein,representing normalized secondnThe input signal is at the firsttValue of time of day->Indicating the post-equalization processing thnThe input signal is at the firsttValue of time of day->Representing the minimum value of the same type of signal in the set of input signals>Representing the maximum value of the same type of signal in the input signal set;
(3) Normalized firstnThe input signal is at the firsttMedian filtering is carried out on the time value to obtain a filtered input signal；
Wherein,express input signal +.>Is measured by a spectrometer which is connected with a controller.
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