CN117182898A - Automatic path correction method for industrial robot - Google Patents
Automatic path correction method for industrial robot Download PDFInfo
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Abstract
The invention discloses an automatic path correction method for an industrial robot, which relates to the technical field of industrial robots and comprises the following steps of S1, establishing model coordinates: establishing a three-dimensional model of the industrial robot through three-dimensional software, and then completing the layout of the industrial robot working environment on the three-dimensional software; s2, inputting path parameters: inputting parameters of the industrial robot path into a computer, and conveying the parameters of the industrial robot path to a control system of the industrial robot; s3, comparing parameters; s4, correcting: the motion parameters of all joints of the industrial robot are input into a control system, and errors of the position and the speed of the industrial robot are obtained through the control system. The invention completes the layout of the industrial robot working environment on the three-dimensional software, can effectively improve the efficiency of the operator for correcting the robot path, and avoids the human error generated by the operator for correcting the path points in the robot path one by one, thereby meeting the requirement in actual production.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a method for automatically correcting an industrial robot path.
Background
The industrial robot has the characteristics of large working range, multiple degrees of freedom, easy integration and the like, and has wide application in modern industrial manufacturing. However, industrial robots have low kinematic accuracy (mainly represented by low accuracy of end positions and attitudes), and are limited in application in some industrial scenes where high accuracy of motion is required. On the other hand, the industrial robot has high motion repeatability, the actual position and the gesture of the tail end of the industrial robot are accurately measured, the gesture error of the industrial robot is compensated through an algorithm, the kinematic accuracy of the industrial robot is expected to be remarkably improved, the industrial robot is applied to the field of industrial production and manufacturing, the robot moves according to a preset robot path, path points contained in the robot path are generally generated by referring to the geometric surface of a part to be processed, and the path points are generally stored in a target list of a robot controller in a coordinate mode. When an operator wants to change the position of one or more path points on a robot path, the operator usually needs to input corresponding absolute coordinate values for each path point one by one or drag each path point to a preset position one by one through a visual interface, so that the efficiency is low, the production is affected, and the invention provides an automatic industrial robot path correction method for improving the production efficiency. The following problems exist in the prior art:
1. the existing automatic correction method for the industrial robot path is time-consuming in the correction process and low in precision;
2. the existing automatic path correction method for the industrial robot has the disadvantages of expensive measuring equipment, low measuring precision and inconvenience for wide application in error analysis.
Disclosure of Invention
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for automatically correcting the path of an industrial robot comprises the following steps,
s1, establishing model coordinates: establishing a three-dimensional model of the industrial robot through three-dimensional software, and then completing the layout of the industrial robot working environment on the three-dimensional software;
s2, inputting path parameters: inputting parameters of the industrial robot path into a computer, and conveying the parameters of the industrial robot path to a control system of the industrial robot;
s3, parameter comparison: the control system inputs the parameters into the industrial robot, the industrial robot completes a group of path movements according to the parameters to obtain parameters of an actual path, and the parameters of the actual path are compared with parameters of a preset path to obtain an error value;
s4, correcting: the motion parameters of all joints of the industrial robot are input into a control system, and errors of the position and the speed of the industrial robot are obtained through the control system.
The technical scheme of the invention is further improved as follows: s1, utilizing three-dimensional software secondary development to obtain positions, normal vectors, auxiliary normal vectors and points in tangential directions of processing points of a workpiece, establishing a processing point coordinate system, obtaining three non-collinear points on a part to be processed according to the coordinate system, and establishing the part to be processed coordinate system according to the three points.
The technical scheme of the invention is further improved as follows: according to the data information obtained after the processing of the step coordinate system, robot motion data corresponding to the industrial robot processing motion is generated through an inverse kinematics algorithm, and according to the industrial robot processing motion data, the robot motion data is imported into three-dimensional software to generate a robot motion track.
The technical scheme of the invention is further improved as follows: s2, the control system of the industrial robot drives the industrial robot to move according to the parameters of the path, and the industrial robot collects the information of the moving position, speed and track of the industrial robot after the movement and transmits the information to a computer.
The technical scheme of the invention is further improved as follows: s4, comparing the position error good speed error with a given value and a feedback value to obtain a corresponding control command, and finishing motion control and position and speed adjustment of the industrial robot through a control system to finish correction of the motion path of the industrial robot.
The technical scheme of the invention is further improved as follows: and after correction, the industrial robot is inspected to judge whether the industrial robot is successfully corrected, and if the correction still has errors, the robot to be processed is further corrected until the correction is successful.
By adopting the technical scheme, compared with the prior art, the invention has the following technical progress:
1. the invention provides an automatic correction method for an industrial robot path, which comprises the steps of establishing a three-dimensional model of the industrial robot through three-dimensional software under the action of model coordinates, completing the layout of the industrial robot working environment on the three-dimensional software, effectively improving the efficiency of correcting the robot path by an operator, avoiding human errors caused by the fact that the operator modifies path points in the robot path one by one, meeting the requirement of correcting the robot path in actual production, setting path information, respectively collecting the position, speed and track information of the industrial robot and the industrial robot to be corrected, comparing the position, speed and track information of the industrial robot to be corrected, obtaining error information, correcting the error information through a correction module, and checking the correction result until the correction is successful, wherein the correction process is simple, time-consuming and high in precision.
2. The invention provides an automatic correction method for an industrial robot path, which is characterized in that under the correction action, motion parameters of all joints of the industrial robot are input into a control system, errors of the position and the speed of the industrial robot are obtained through the control system, the efficiency of correcting the robot path by an operator can be effectively improved, human errors generated when the operator modifies path points in the robot path one by one are avoided, the requirement of correcting the industrial robot path in actual production is met, the method has practicability, an industrial robot program applied to complex workpieces can be quickly generated, meanwhile, the uniformity of processing is improved, a measuring mechanism is not in direct contact with the industrial robot, potential measurement errors and possible mechanical damages possibly caused by material deformation are avoided, nonlinear kinematic errors caused by weak rigidity of the industrial robot are effectively reduced, and the precision of the industrial robot kinematic model is improved.
Drawings
FIG. 1 is a schematic diagram of the overall flow structure of a method for automatically correcting an industrial robot path according to the present invention;
fig. 2 is a schematic flow structure diagram of the correction according to the present invention.
Detailed Description
The invention is further illustrated by the following examples:
example 1
As shown in fig. 1-2, the present invention provides a method for automatically correcting an industrial robot path, comprising the steps of,
s1, establishing model coordinates: establishing a three-dimensional model of the industrial robot through three-dimensional software, and then completing the layout of the industrial robot working environment on the three-dimensional software;
s2, inputting path parameters: inputting parameters of the industrial robot path into a computer, and conveying the parameters of the industrial robot path to a control system of the industrial robot;
s3, parameter comparison: the control system inputs the parameters into the industrial robot, the industrial robot completes a group of path movements according to the parameters to obtain parameters of an actual path, and the parameters of the actual path are compared with parameters of a preset path to obtain an error value;
s4, correcting: the motion parameters of all joints of the industrial robot are input into a control system, and errors of the position and the speed of the industrial robot are obtained through the control system.
In the embodiment, the layout of the industrial robot working environment is completed on the three-dimensional software, the efficiency of correcting the robot path by an operator can be effectively improved, human errors caused by the fact that the operator modifies path points in the robot path one by one are avoided, the requirement of correcting the robot path in actual production is met, the path information is set, the position, speed and track information of the industrial robot and the industrial robot to be corrected are respectively collected, the position, speed and track information of the industrial robot to be corrected are respectively compared, error information is obtained, the error information is corrected through a correction module, the correction result is checked until the correction is successful, the correction process is simple, time consumption is short, and accuracy is high.
Example 2
As shown in fig. 1-2, on the basis of embodiment 1, the present invention provides a technical solution: preferably, S1 utilizes three-dimensional software secondary development to obtain points in the positions, normal vectors, auxiliary normal vectors and tangential directions of a workpiece processing point, a processing point coordinate system is established, three non-collinear points on a part to be processed are obtained according to the coordinate system, a part to be processed coordinate system is established according to the three points, robot motion data corresponding to industrial robot processing motion are generated through an inverse kinematics algorithm according to data information obtained after processing of a step coordinate system, the robot motion data are imported into the three-dimensional software to generate a robot motion track according to the industrial robot processing motion data, a control system of the industrial robot drives the industrial robot to move according to parameters of a path, the industrial robot after the movement collects position, speed and track information of the industrial robot, the information is transmitted to a computer, and S4 compares a position error with a given value and a feedback value to obtain corresponding control commands, the industrial robot motion control and position and speed are completed through a control system, the industrial robot motion path is corrected, the industrial robot is checked after the industrial robot is corrected, and if the industrial robot is corrected successfully, and the industrial robot is corrected successfully.
In the embodiment, human errors caused by the fact that operators modify path points in a robot path one by one are avoided, the requirement of correcting an industrial robot path in actual production is met, the method is practical, an industrial robot program applied to complex workpieces can be generated rapidly, meanwhile, machining uniformity is improved, a measuring mechanism is not in direct contact with the industrial robot, potential measuring errors and possible mechanical damages possibly caused by material deformation are avoided, nonlinear kinematic errors caused by weak rigidity of the industrial robot are effectively reduced, and the kinematic model precision of the industrial robot is improved.
The following specifically describes the working principle of the method for automatically correcting the path of the industrial robot.
As shown in fig. 1-2, a three-dimensional model of an industrial robot is built through three-dimensional software, then the layout of the industrial robot working environment is completed on the three-dimensional software, the positions, normal vectors, auxiliary normal vectors and points in tangential direction of a workpiece processing point are obtained through secondary development of the three-dimensional software, a processing point coordinate system is built, three non-collinear points on a part to be processed are obtained according to the coordinate system, a part to be processed coordinate system is built according to the three points, the robot motion data corresponding to the industrial robot processing motion is generated through an inverse kinematics algorithm, the robot motion track is generated by importing the industrial robot processing motion data into the three-dimensional software, the layout of the industrial robot working environment is completed on the three-dimensional software, the efficiency of an operator for correcting a robot path can be effectively improved, the method avoids human errors caused by the fact that operators modify path points in a robot path one by one, meets the requirement of correcting the robot path in actual production, sets path information, collects position, speed and track information of an industrial robot and the industrial robot to be corrected respectively, compares the position, speed and track information of the industrial robot to be corrected to obtain error information, corrects the error information through a correction module, checks correction results until correction is successful, has simple correction process, short time consumption and high precision, inputs parameters of the industrial robot path in a computer, conveys the parameters of the industrial robot path to a control system of the industrial robot, the control system of the industrial robot drives the industrial robot to move according to the parameters of the path, the industrial robot collects the position, speed and track information of the motion of the industrial robot, transmits the information to a computer, a control system inputs parameters into the industrial robot, the industrial robot completes a group of path motions according to the parameters to obtain parameters of an actual path, the parameters of the actual path are compared with the parameters of a preset path to obtain error values, the motion parameters of all joints of the industrial robot are input into the control system, the control system obtains errors of the position and the speed of the industrial robot, the position error and the speed error are compared with given values and feedback values to obtain corresponding control commands, the control system completes the motion control and the position and the speed adjustment of the industrial robot to complete the correction of the motion path of the industrial robot, the industrial robot is inspected after the correction, the industrial robot checks to judge whether the industrial robot is successfully corrected, if the correction is still in error, the robot to be processed is further corrected until the correction is successful, the error of the position and the speed of the industrial robot is obtained through the control system, the efficiency of correcting the robot path by an operator can be effectively improved, human errors generated when the operator modifies the path points in the robot path one by one are avoided, the requirement of correcting the industrial robot path in actual production is met, the industrial robot system has practicability, the industrial robot program applied to complex workpieces can be quickly generated, the uniformity of processing is improved, the measuring mechanism is not in direct contact with the industrial robot, the potential measuring error and the possible mechanical damage caused by material deformation are avoided, the nonlinear kinematic error caused by weak rigidity of the industrial robot is effectively reduced, and the precision of the kinematic model of the industrial robot is improved.
The foregoing invention has been generally described in great detail, but it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, it is intended to cover modifications or improvements within the spirit of the inventive concepts.
Claims (6)
1. A method for automatically correcting an industrial robot path, comprising the steps of:
s1, establishing model coordinates: establishing a three-dimensional model of the industrial robot through three-dimensional software, and then completing the layout of the industrial robot working environment on the three-dimensional software;
s2, inputting path parameters: inputting parameters of the industrial robot path into a computer, and conveying the parameters of the industrial robot path to a control system of the industrial robot;
s3, parameter comparison: the control system inputs the parameters into the industrial robot, the industrial robot completes a group of path movements according to the parameters to obtain parameters of an actual path, and the parameters of the actual path are compared with parameters of a preset path to obtain an error value;
s4, correcting: the motion parameters of all joints of the industrial robot are input into a control system, and errors of the position and the speed of the industrial robot are obtained through the control system.
2. The method for automatically correcting an industrial robot path according to claim 1, wherein: s1, utilizing three-dimensional software secondary development to obtain positions, normal vectors, auxiliary normal vectors and points in tangential directions of processing points of a workpiece, establishing a processing point coordinate system, obtaining three non-collinear points on a part to be processed according to the coordinate system, and establishing the part to be processed coordinate system according to the three points.
3. A method for automatic path correction of an industrial robot according to claim 2, characterized in that: according to the data information obtained after the processing of the step coordinate system, robot motion data corresponding to the industrial robot processing motion is generated through an inverse kinematics algorithm, and according to the industrial robot processing motion data, the robot motion data is imported into three-dimensional software to generate a robot motion track.
4. The method for automatically correcting an industrial robot path according to claim 1, wherein: s2, the control system of the industrial robot drives the industrial robot to move according to the parameters of the path, and the industrial robot collects the information of the moving position, speed and track of the industrial robot after the movement and transmits the information to a computer.
5. The method for automatically correcting an industrial robot path according to claim 1, wherein: s4, comparing the position error good speed error with a given value and a feedback value to obtain a corresponding control command, and finishing motion control and position and speed adjustment of the industrial robot through a control system to finish correction of the motion path of the industrial robot.
6. The method for automatically correcting an industrial robot path according to claim 5, wherein: and after correction, the industrial robot is inspected to judge whether the industrial robot is successfully corrected, and if the correction still has errors, the robot to be processed is further corrected until the correction is successful.
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| CN202311166601.5A CN117182898A (en) | 2023-09-11 | 2023-09-11 | Automatic path correction method for industrial robot |
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