CN117644507A - Cooperative robot motion method, apparatus and storage medium - Google Patents
Cooperative robot motion method, apparatus and storage medium Download PDFInfo
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- CN117644507A CN117644507A CN202311589656.7A CN202311589656A CN117644507A CN 117644507 A CN117644507 A CN 117644507A CN 202311589656 A CN202311589656 A CN 202311589656A CN 117644507 A CN117644507 A CN 117644507A
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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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- 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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Abstract
The application relates to a cooperative robot motion method, a cooperative robot motion device and a storage medium. The method is applied to a scene that a robot flange plate carries a workpiece to contact with a fixing tool, and comprises the following steps: acquiring coordinates of a teaching point position on a workpiece under a robot flange coordinate system when the teaching point position contacts with a tool tail end point position; according to the teaching point position planning transition points, determining coordinates of each transition point position under a robot flange coordinate system; converting coordinates of teaching points and transition points in a robot flange coordinate system into coordinates in a robot base coordinate system to obtain motion data; and adjusting the pose of the robot according to the motion data. According to the method and the device, on the premise that the original robot motion planning framework is not affected, the motion requirements of fixed TCP are met by introducing a plurality of conversion modules, and the method and the device are simple and efficient, and meanwhile have higher applicability and expandability.
Description
Technical Field
The present application relates to the field of industrial automation, and in particular, to a method and apparatus for collaborative robot motion, and a storage medium.
Background
With the continuous development of robotics and the continuous advancement of industrial automation targets, the mechanical arm has been widely applied to production lines of various industries and is in charge of increasingly diversified and complicated processing tasks. In order to expand the working space of the industrial robot so that the position and the posture of the industrial robot can be achieved, external shafts are usually connected with the robot as peripheral devices, and the additional shafts can be matched with the joint shafts of the robot to achieve more complex motion and posture control. The conventional robot motion is generally in a moving TCP mode, wherein a tool is mounted on a flange at the tail end of a cooperative robot, and then the robot performs machining operation on a fixed workpiece along a taught point position or an imported machining path, so that the pose and the position need to be frequently adjusted. When the machining device is large, the robot's own movement space may not be able to accommodate the machining device, and thus cannot clamp and operate, resulting in a low machining efficiency and a robot having a rated load capacity, i.e. a maximum allowed load weight, and if the quality of the machining device exceeds the rated load limit of the mechanical arm, the mechanical arm will not clamp and operate the machining device safely.
The fixed TCP mode is another mode relative to the mobile TCP mode, namely, the tail end of the cooperative robot carries a workpiece to contact and fix a tool for processing, but in the current application, a single-running daemon program is often used for planning and processing the fixed TCP, so that the problems of large code repetition amount, difficult later maintenance, low stability and the like exist, and the fixed TCP is not suitable for introducing the motion state of an external shaft.
Therefore, the motion control method of the cooperative robot, which is more intelligent and higher in reliability, is provided, so that the application of the robot is more convenient and efficient, and the problem to be solved is urgent.
Disclosure of Invention
The application provides a cooperative robot motion method, a cooperative robot motion device and a storage medium, which can meet the motion requirement of a fixed TCP by introducing a plurality of conversion modules on the premise of not influencing the original robot motion planning framework.
According to a first aspect of the present application, there is provided a cooperative robot motion method applied to a scenario in which a robot flange carries a workpiece contact fixing tool, the cooperative robot motion method comprising:
acquiring coordinates of a teaching point position on a workpiece under a robot flange coordinate system when the teaching point position contacts with a tool tail end point position;
according to the teaching point position planning transition points, determining coordinates of each transition point position under a robot flange coordinate system;
converting coordinates of teaching points and transition points in a robot flange coordinate system into coordinates in a robot base coordinate system to obtain motion data;
and adjusting the pose of the robot according to the motion data.
Optionally, when the teaching point on the workpiece contacts with the point on the tool end, the acquiring the coordinates of the teaching point under the robot flange coordinate system includes:
acquiring coordinates of a point position of the tail end of the tool under a robot base standard system;
acquiring coordinates of the flange plate under a robot base standard system when each teaching point position on the workpiece is contacted with a tool tail end point position;
and determining the coordinates of the teaching points under the robot flange coordinate system according to the coordinates of the tool end point positions under the robot base coordinate system and the coordinates of the flange plate under the robot base coordinate system.
Optionally, the determining coordinates of each transition point in the robot flange coordinate system according to the teaching point planning transition point includes:
planning a motion path among the teaching points according to a preset motion planning rule, and determining a transition point through which the motion path passes;
and performing interpolation operation on the coordinates of each teaching point in the robot flange coordinate system to obtain the coordinates of each transition point in the robot flange coordinate system.
Optionally, the interpolating operation is performed on coordinates of each teaching point in the robot flange coordinate system to obtain coordinates of each transition point in the robot flange coordinate system, including:
for each transition point, determining the coordinates of the previous point of the transition point under a robot flange coordinate system, wherein the previous point is the transition point or the teaching point;
obtaining interpolation increment;
converting the interpolation increment into an increment of the end flange;
and determining the coordinates of the transition point under the robot flange coordinate system based on the increment of the end flange and the coordinates of the previous point under the robot flange coordinate system.
Optionally, when no external axis is introduced into the cooperative robot, the converting coordinates of the teaching point location and the transition point location in the robot flange coordinate system into coordinates in the robot base coordinate system to obtain motion data includes:
calculating conversion data between coordinates of the tool end point position under the robot base coordinate system and coordinates of the tool end point position under the robot flange coordinate system;
and converting the teaching point positions and the transition point positions into coordinates under a robot base coordinate system according to the conversion data.
Optionally, when an external axis is introduced into the cooperative robot, the converting coordinates of the teaching point location and the transition point location in the robot flange coordinate system into coordinates in the robot base coordinate system to obtain motion data includes:
calculating conversion data between coordinates of the tool end point position under the robot base coordinate system and coordinates of the tool end point position under the robot flange coordinate system;
teaching out the relation between an external axis coordinate system and a robot base coordinate system, and determining the movement direction of an external axis under the base coordinate system;
and changing the conversion data along the running direction of the external shaft, and converting the teaching point positions and the transition point positions into coordinates of a robot base coordinate system under the state of matching with the external shaft motion by using a robot flange coordinate system.
A second aspect of the present disclosure provides a cooperative robot motion device applied to a scenario in which a robot flange carries a workpiece contact fixing tool, comprising:
the point position conversion module is used for acquiring coordinates of teaching points on the workpiece under a robot flange coordinate system when the teaching points contact with the points at the tail end of the tool;
the planning module is used for planning transition points according to the teaching points and determining coordinates of the transition points under a robot flange coordinate system;
the pose conversion module is used for converting coordinates of the teaching points and the transition points in the robot flange coordinate system into coordinates in the robot base coordinate system to obtain motion data;
and the pose adjusting module is used for adjusting the pose of the robot according to the motion data.
Optionally, the point location conversion module includes:
the first teaching unit is used for acquiring coordinates of the point position of the tool tail end under the robot base standard system;
the second teaching unit is used for acquiring the coordinates of the flange plate under the robot base standard system when each teaching point position on the workpiece is contacted with the point position of the tail end of the tool;
and the point position conversion unit is used for determining the coordinates of the teaching point position under the robot flange coordinate system according to the coordinates of the tool end point position under the robot base coordinate system and the coordinates of the flange plate under the robot base coordinate system.
Optionally, the planning module includes:
the planning unit is used for planning the motion path among the teaching points according to a preset motion planning rule and determining the transition point positions of the motion path;
the interpolation unit is used for carrying out interpolation operation on the coordinates of each teaching point in the robot flange coordinate system to obtain the coordinates of each transition point in the robot flange coordinate system;
the pose conversion module comprises:
the conversion data determining unit is used for calculating conversion data between coordinates of the tool end point position under the robot base coordinate system and coordinates of the tool end point position under the robot flange coordinate system;
and the coordinate conversion unit is used for converting the teaching point positions and the transition point positions in the robot flange coordinate system into coordinates in the robot base coordinate system according to the conversion data.
A third aspect of the present disclosure provides a computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method of the first aspect.
The technical scheme provided by the embodiment of the application at least brings the following beneficial effects:
under the scene that the robot flange plate carries a workpiece contact fixing tool, a transition point is planned on the basis of the coordinates of the teaching point on the workpiece under the robot flange plate coordinate system by acquiring the coordinates of the teaching point on the workpiece under the robot flange plate coordinate system, then the coordinates of the teaching point and the transition point under the robot flange plate coordinate system are converted into the coordinates under the robot base coordinate system, motion data are obtained, and further the motion of the robot is controlled on the basis of the motion data. The method can be integrated with the original planning framework (namely the mobile TCP mode) of the robot movement, and the movement requirement of the fixed TCP can be met by adding the data conversion function on the original planning framework. The method does not influence the use logic of the original robot, is simple and efficient, and improves the usability and reliability of the functions. In addition, the cooperation of the robot and the external shaft is realized, more complex operation tasks can be completed, and the robot has higher applicability and expandability
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application and do not constitute an undue limitation on the application.
Fig. 1 is an application environment of a cooperative robot motion method according to an exemplary embodiment.
FIG. 2 is a schematic diagram illustrating a robot carrying a workpiece to contact a stationary tool, according to an exemplary embodiment.
Fig. 3 is a flow diagram illustrating a method of collaborative robot motion according to an exemplary embodiment.
Fig. 4 is a block diagram illustrating a collaborative robotic exercise device, according to an example embodiment.
Fig. 5 is a block diagram of an electronic device, according to an example embodiment.
Detailed Description
In order to enable those skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. 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.
Fig. 1 shows an application environment of a cooperative robot motion method, including a cooperative robot 101, a control system 103, and a terminal 105. The collaborative robot 101 includes at least one robotic arm, which may be a multi-joint robotic arm and/or a six-axis robotic arm. Each mechanical arm comprises a mechanical arm body, a motor and a driver, wherein a plurality of sensors are arranged at the tail end of the mechanical arm body and used for acquiring external force information, joint angles, speed information and the like, the control system 103 comprises a force tracking controller, an impedance controller, a motion controller and other controllers, and the control system 103 can be integrated with the cooperative robot 101 into a whole or can be arranged separately. The terminal 105 may display contents such as a virtual mechanical arm and a control thereof, and may receive an input operation of a user, and the user may interact with the terminal 105 through a touch control manner or a mouse and keyboard input manner. The terminal 105 responds to the operation of the user on the virtual mechanical arm and the control thereof, determines mechanical arm movement control data, then sends the movement control data to the control system 103, and the control system 103 controls the mechanical arm action of the cooperative robot 101 according to the movement control data and feeds back the movement result to the terminal 105 in real time. The end of the mechanical arm of the cooperative robot 101 is provided with a flange plate, a workpiece to be processed is loaded on the flange plate, and the cooperative robot 101 can be driven to move through the operation terminal 105, so that the position and the posture of the workpiece to be processed are changed. The application scenario of this embodiment is: the co-robot 101 carries the workpiece to contact the stationary tool to process the moving workpiece with the stationary tool, as shown in fig. 2.
Referring to fig. 2, in fig. 2, a robot base coordinate system is set on a robot base 204, a robot flange coordinate system is set on a flange 203, and the flange 203 loads a workpiece 202 to contact a fixing tool 201. When the workpiece 202 contacts with the fixed tool 201, the contact point on the fixed tool 201 is the tool end point, and the contact point on the workpiece 202 is the teaching point or the transition point.
The conventional mobile TCP mode is a robot with a tool to touch a fixed workpiece, while the fixed TCP mode is a robot with a workpiece to touch a fixed tool. The conventional control architecture for realizing the motion of the mobile TCP cannot realize the motion function of the fixed TCP, and the aim of the present disclosure is to realize the motion function of the fixed TCP by adding a function module on the basis of not changing the original controller software architecture and the original controller software function of the mobile TCP.
The fixed TCP function implementation step includes the following steps S11 to S14, wherein step S11 and step S12 may be performed by the control system 103, and step S13 and step S14 may be performed by the terminal 105.
S11, teaching a fixed TCP coordinate system of the fixed tool 201 under the robot base standard system through a newly added functional module
S12, mounting the workpiece 202 to be processed to the position of the robot flange 203, and operating the mechanical arm to move so that the point to be processed on the workpiece 202 and the point of the tool tail end pointAnd (3) contacting, and recording the expression of the point position in the current contact state relative to the coordinate system of the robot flange 203. The recorded points are processed to obtain the desired result, and the representation of the contact points in the coordinate system of the flange 203 is calculated in combination with the known representation of the tool 201 in the robot base coordinate systemThe representation of the current flange 203 in the robot-based coordinate system is easily known by the basic teaching function of the robot>Then the expression of the contact point under the robot flange coordinate system can be obtained through matrix calculationTypical movements teach several points to meet the corresponding process requirements.
And S13, during automatic operation, the teaching result is required to be transmitted to a lower computer system to carry out Cartesian space motion planning, and then real-time interpolation calculation is carried out to realize motion. The input needed by the motion planning is a motion point and a motion parameter, whether the motion is a mobile TCP motion or a fixed TCP motion, and the input is the same input for the motion planning, wherein the point input calculated by the matrix in the step S12 is planned, so that the linear motion planning between two points, the circular arc motion planning between three points or the planning of a loading file on a continuous dense point string can be performed.
S14, according to the planning result, an interpolation result is transmitted to the outside every other interpolation period (1 ms), the space attitude of the fixed TCP is converted, and the conversion logic is as follows: and converting each interpolation increment into a new increment of the end flange plate, and obtaining the position increment of the joint through inverse kinematics calculation of the robot to realize the movement of the robot.
Referring to fig. 3, the cooperative robot motion method provided by the application is applied to a scene that a robot flange plate carries a workpiece contact fixing tool. The cooperative robot motion method includes steps S301 to S307.
Step S301: and when the teaching point position on the workpiece is contacted with the point position at the tail end of the tool, the coordinates of the teaching point position under the robot flange coordinate system are obtained.
In one possible implementation, step S301 may include:
s3011, acquiring coordinates of a point position of the tail end of the tool under a robot base standard system;
s3012, acquiring coordinates of the flange plate under a robot base standard system when each teaching point position on the workpiece is contacted with a tool tail end point position;
s3013, determining the coordinates of the teaching points in the robot flange coordinate system according to the coordinates of the tool end points in the robot base coordinate system and the coordinates of the flange in the robot base coordinate system.
Because the workpiece is loaded on the manipulator flange, namely the pose of the workpiece relative to the manipulator flange is fixed, the pose of the manipulator needs to be adjusted to drive the workpiece to move, so that different teaching points on the workpiece are contacted with the tool. When the teaching point position on the workpiece is contacted with the point position of the tail end of the fixed tool, the teaching point position on the workpiece is overlapped with the point position of the tail end of the tool and is called a contact point position, and each contact point position has a corresponding robot pose.
When a workpiece is in contact with a tool, the coordinates of the point positions of the flange plate and the tool end are located under the base standard system, the coordinates of the contact point position under the robot flange plate coordinate system can be determined through difference value calculation, the point positions of the tool end and the teaching point are identical to the contact point position, and therefore the coordinates of the point positions of the tool end and the teaching point under the robot flange plate coordinate system can be known.
Step S303: and determining coordinates of each transition point in a robot flange coordinate system according to the teaching point position planning transition points.
In one possible implementation, step S303 may include:
s3031, planning a motion path among teaching points according to a preset motion planning rule, and determining a transition point through which the motion path passes;
s3032, performing interpolation operation on the coordinates of each teaching point in the robot flange coordinate system to obtain the coordinates of each transition point in the robot flange coordinate system.
In one possible implementation, step S3032 may include: for each transition point, determining the coordinates of the previous point of the transition point under a robot flange coordinate system, wherein the previous point is the transition point or the teaching point; obtaining interpolation increment; converting the interpolation increment into an increment of the end flange; and determining the coordinates of the transition point under the robot flange coordinate system based on the increment of the end flange and the coordinates of the previous point under the robot flange coordinate system.
The teaching points in step S301 are points that must be in contact with the tool when the workpiece is processed, and how to transition between teaching points is required according to specific processing requirements, and may be a straight line transition, a curve transition, or a nonlinear dense point transition. The motion planning modes corresponding to different processing requirements are different, the motion planning rules can be preset based on the processing requirements, the preset motion planning rules are called to plan the motion paths among the teaching points, and the motion paths are determined. And then determining the coordinates of each transition point on the motion path under the robot flange coordinate system through interpolation operation.
Step S305: and converting coordinates of the teaching point positions and the transition point positions under the robot flange coordinate system into coordinates under the robot base coordinate system to obtain motion data.
In one possible implementation, when no external axis is introduced in the collaborative robot, step S305 may include:
s3051, calculating conversion data between coordinates of the tool end point position under a robot base coordinate system and coordinates of the tool end point position under a robot flange coordinate system;
s3052, converting the teaching points and the transition points into coordinates in a robot flange coordinate system according to the conversion data.
The motion path consists of teaching points and transition points, and the teaching points and the transition points are converted into coordinate expressions under a robot base coordinate system, so that the robot can be controlled to move based on the coordinate data, and a workpiece is driven to contact with a tool according to the motion path. Of course, the interpolation increment can be converted into a new increment of the end flange, and then the position increment of the joint is obtained through inverse kinematics calculation of the robot, so that the robot motion is realized, and all points on the motion path are not necessarily expressed by a robot base coordinate system.
In one possible implementation, when an external axis is introduced in the collaborative robot, step S305 may include:
s3053, calculating conversion data between coordinates of the tool end point position under a robot base coordinate system and coordinates of the tool end point position under a robot flange coordinate system;
s3054, teaching out the relation between an external axis coordinate system and a robot base coordinate system, and determining the movement direction of an external axis under the base coordinate system;
s3055, changing the conversion data along the running direction of the external shaft, and converting the teaching point position and the transition point position into coordinates of the robot base coordinate system under the state of matching with the external shaft motion by the robot flange coordinate system.
The introduction of an external shaft generally refers to the introduction of an additional shaft or motion control unit in the robot system for extending the degrees of freedom and range of motion of the robot. These additional axes can interact with the robot's own joint axes to achieve more complex motion and attitude control. Specifically, introducing the external shaft includes introducing an external linear shaft, such as a linear guide, a slider, etc., so that the robot can perform linear motion in a wider space, not limited to the range of its own joints; introducing an external rotation shaft: the robot can realize richer rotary motion in space by introducing an additional rotary shaft or rotary table, so that the working range and applicability of the robot are increased.
In step S3054, a relation between the external axis coordinate system and the robot base coordinate system is taught, and the movement direction of the external axis in the base coordinate system is determined. The external axis coordinate system is set relative to the robot base coordinate system, firstly, the positions of three characteristic points on the external axis are determined through a coordinate system calibration method of the robot, the positions are respectively an origin, an x-axis positive direction and an xy-plane positive direction, and then the corresponding coordinate system is obtained through calculation, so that the movement direction of the external axis under the base coordinate system is determined. In the currently selected coordinate system, if the external axis is an external linear axis, the translation along a certain direction of the current coordinate system can be expressed, and the optional directions include an x positive direction, an x negative direction, a y positive direction, a y negative direction, a z positive direction and a z negative direction; if the external axis is the rotation axis, it can be expressed as the positive direction along z of the current coordinate system. In practical applications, the relationship between the direction of motion of the external axis and the robot-based coordinate system may be defined and adjusted according to specific requirements. By flexibly defining the relation between the motion direction of the external shaft and the robot base coordinate system, the robot can adapt to different application scenes and work tasks, and the operation flexibility and efficiency of the robot are improved.
In step S3055, changing the running direction of the conversion data along the external axis refers to performing translational change or rotational change on the conversion data along the running direction of the external axis, so as to ensure that the robot can perform corresponding adjustment along the movement direction of the external axis when cooperating with the external axis, so as to achieve more flexible and precise cooperative movement. The translation change or the rotation change can be used for acquiring data through the sensor equipment carried by the external shaft. If x is moved along the selected translation direction at a certain moment, translating the conversion data along the selected direction by x to obtain coordinates of the teaching point and the transition point under a robot flange coordinate system under a state of matching with external axis motion; similarly, if the rotation axis rotates x at a certain moment, the conversion data is rotated x around the z direction, so that the coordinate system of the robot flange can be converted into the coordinate of the robot base coordinate system under the state of matching with the external axis motion. Step S307: and adjusting the pose of the robot according to the motion data.
By way of example, assume a workpiece surface to be machined at A, B, C three points. Processing using the mobile TCP mode and the fixed TCP mode is as follows. Moving the machining in TCP mode, the robot will make the robot end tool walk through A, B, C three points in sequence based on the motion planning result. In a fixed TCP mode, the robot brings a workpiece to approach a fixed tool, and the conversion logic is to perform normal motion planning on three A, B, C points in Cartesian space, wherein the planned reference point is in a grabbing state, the pose corresponding to the flange plate is used as the reference pose, then the pose is changed in the A, B, C three-point planning process, the pose of the fixed TCP is attached, the pose corresponding to the flange plate can be obtained, and the pose of the flange plate is the running point of the robot. The space pose of the fixed TCP is known, the transitional point positions among A, B, C point positions are planned on the basis of the flange plate range center, and finally the flange plate range pose in each contact state is obtained through matrix conversion, namely the motion path of the robot. Expression of flange plate under base standard system in robot movement processAs a function of movement.
In the embodiment, in a scene that a robot flange plate carries a workpiece contact fixing tool, a transition point is planned on the basis of the coordinates of a teaching point on the workpiece in a robot flange plate coordinate system by acquiring the coordinates of the teaching point on the workpiece in the robot flange plate coordinate system, then the coordinates of the teaching point and the transition point in the robot flange plate coordinate system are converted into the coordinates of the teaching point and the transition point in the robot flange plate coordinate system, motion data are obtained, and further the motion of the robot is controlled on the basis of the motion data. The method can be integrated with the original planning framework (namely the mobile TCP mode) of the robot movement, and the movement requirement of the fixed TCP can be met by adding the data conversion function on the original planning framework. The method does not influence the use logic of the original robot, is simple and efficient, and improves the usability and reliability of the functions. In addition, the cooperation of the robot and the external shaft is realized, more complex operation tasks can be completed, and the robot has higher applicability and expandability.
Fig. 4 is a block diagram illustrating a collaborative robotic exercise device, according to an example embodiment. Referring to fig. 4, the cooperative robot motion device includes a point position conversion module 410, a planning module 420, a pose conversion module 430, and a pose adjustment module 440.
The point position conversion module 410 is configured to obtain coordinates of a teaching point position on the workpiece in a robot flange coordinate system when the teaching point position contacts with a tool end point position. And the planning module 420 is configured to plan transition points according to the teaching points, and determine coordinates of each transition point in a robot flange coordinate system. The pose conversion module 430 is configured to convert coordinates of the teaching point and the transition point in the robot flange coordinate system into coordinates in the robot base coordinate system, and obtain motion data. And the pose adjusting module 440 is configured to adjust the pose of the robot according to the motion data.
In one possible implementation, the point position conversion module includes a first teaching unit 411, a second teaching unit 412, and a point position conversion unit 413. Wherein, the first teaching unit 411 is used for obtaining coordinates of the point location of the tool end point under the robot base frame. The second teaching unit 412 is configured to obtain coordinates of the flange under the robot base standard when each teaching point on the workpiece contacts with the tool end point. The point position conversion unit 413 is configured to determine the coordinates of the teaching point position in the robot flange coordinate system according to the coordinates of the tool end point position in the robot base coordinate system and the coordinates of the flange in the robot base coordinate system.
In one possible implementation, the planning module 420 includes a planning unit 421 and an interpolation unit 422. The planning unit 421 is configured to plan a motion path between the teaching points according to a preset motion planning rule, and determine a transition point where the motion path passes. The interpolation unit 422 is configured to perform interpolation operation on coordinates of each teaching point in the robot flange coordinate system, so as to obtain coordinates of each transition point in the robot flange coordinate system;
in one possible implementation, the pose conversion module 430 includes a conversion data determination unit 431 and a coordinate conversion unit 432. Wherein the conversion data determining unit 431 is used for calculating conversion data between coordinates of the tool end point position in the robot base coordinate system and coordinates of the tool end point position in the robot flange coordinate system. The coordinate conversion unit 432 is configured to convert the teaching point location and the transition point location in the robot flange coordinate system into coordinates in the robot base coordinate system according to the conversion data.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
In an exemplary embodiment, the present application also provides a computer readable storage medium storing a computer program, such as a memory storing a computer program executable by a processor to perform a collaborative robot motion method. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
In an exemplary embodiment, the present application also provides an electronic device including a memory and a processor, the memory storing a computer program; the processor is configured to execute the computer program in the memory to implement the steps of the above-described cooperative robot motion method.
Referring to fig. 5, in some embodiments, an electronic device 500 may include a processor 510, a memory 520, input/output components 530, and a communication port 540. Processor (e.g., CPU) 510 may execute program instructions in the form of one or more processors. Memory 520 includes various forms of program memory and data storage, such as hard disk, read Only Memory (ROM), random Access Memory (RAM), etc., for storing a wide variety of data files for processing and/or transmission by the computer. Input/output component 530 may be used to support input/output between the processing device and other components. Communication port 540 may be connected to a network for enabling data communication. An exemplary processing device may include program instructions stored in read-only memory (ROM), random Access Memory (RAM), and/or other types of non-transitory storage media for execution by processor 510. The methods and/or processes of the embodiments of the present description may be implemented in the form of program instructions.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. The cooperative robot motion method is applied to a scene that a robot flange carries a workpiece contact fixing tool, and is characterized by comprising the following steps:
acquiring coordinates of a teaching point position on a workpiece under a robot flange coordinate system when the teaching point position contacts with a tool tail end point position;
according to the teaching point position planning transition points, determining coordinates of each transition point position under a robot flange coordinate system;
converting coordinates of teaching points and transition points in a robot flange coordinate system into coordinates in a robot base coordinate system to obtain motion data;
and adjusting the pose of the robot according to the motion data.
2. The method according to claim 1, wherein the acquiring coordinates of the teaching point on the workpiece in the robot flange coordinate system when the teaching point contacts the tool end point comprises:
acquiring coordinates of a point position of the tail end of the tool under a robot base standard system;
acquiring coordinates of the flange plate under a robot base standard system when each teaching point position on the workpiece is contacted with a tool tail end point position;
and determining the coordinates of the teaching points under the robot flange coordinate system according to the coordinates of the tool end point positions under the robot base coordinate system and the coordinates of the flange plate under the robot base coordinate system.
3. The method of claim 1, wherein determining coordinates of each transition point in a robotic flange coordinate system according to the teaching point planning transition point comprises:
planning a motion path among the teaching points according to a preset motion planning rule, and determining a transition point through which the motion path passes;
and performing interpolation operation on the coordinates of each teaching point in the robot flange coordinate system to obtain the coordinates of each transition point in the robot flange coordinate system.
4. A method according to claim 3, wherein the interpolating operation is performed on coordinates of each teaching point in a robot flange coordinate system to obtain coordinates of each transition point in the robot flange coordinate system, and the method comprises:
for each transition point, determining the coordinates of the previous point of the transition point under a robot flange coordinate system, wherein the previous point is the transition point or the teaching point;
obtaining interpolation increment;
converting the interpolation increment into an increment of the end flange;
and determining the coordinates of the transition point under the robot flange coordinate system based on the increment of the end flange and the coordinates of the previous point under the robot flange coordinate system.
5. The method according to claim 1, wherein when no external axis is introduced into the collaborative robot, the converting coordinates of the teach point and the transition point in the robot flange coordinate system into coordinates in the robot base coordinate system, to obtain motion data, comprises:
calculating conversion data between coordinates of the tool end point position under the robot base coordinate system and coordinates of the tool end point position under the robot flange coordinate system;
and converting the teaching point positions and the transition point positions into coordinates under a robot base coordinate system according to the conversion data.
6. The method according to claim 1, wherein said converting coordinates of the teaching points and the transition points in the robot flange coordinate system to coordinates in the robot base coordinate system when an external axis is introduced in the cooperative robot, to obtain motion data, comprises:
calculating conversion data between coordinates of the tool end point position under the robot base coordinate system and coordinates of the tool end point position under the robot flange coordinate system;
teaching out the relation between an external axis coordinate system and a robot base coordinate system, and determining the movement direction of an external axis under the base coordinate system;
and changing the conversion data along the running direction of the external shaft, and converting the teaching point positions and the transition point positions into coordinates of a robot base coordinate system under the state of matching with the external shaft motion by using a robot flange coordinate system.
7. A cooperative robot motion device applied to a scene where a robot flange plate carries a workpiece contact fixing tool, comprising:
the point position conversion module is used for acquiring coordinates of teaching points on the workpiece under a robot flange coordinate system when the teaching points contact with the points at the tail end of the tool;
the planning module is used for planning transition points according to the teaching points and determining coordinates of the transition points under a robot flange coordinate system;
the pose conversion module is used for converting coordinates of the teaching points and the transition points in the robot flange coordinate system into coordinates in the robot base coordinate system to obtain motion data;
and the pose adjusting module is used for adjusting the pose of the robot according to the motion data.
8. The apparatus of claim 7, wherein the point location conversion module comprises:
the first teaching unit is used for acquiring coordinates of the point position of the tool tail end under the robot base standard system;
the second teaching unit is used for acquiring the coordinates of the flange plate under the robot base standard system when each teaching point position on the workpiece is contacted with the point position of the tail end of the tool;
and the point position conversion unit is used for determining the coordinates of the teaching point position under the robot flange coordinate system according to the coordinates of the tool end point position under the robot base coordinate system and the coordinates of the flange plate under the robot base coordinate system.
9. The apparatus of claim 7, wherein the device comprises a plurality of sensors,
the planning module comprises:
the planning unit is used for planning the motion path among the teaching points according to a preset motion planning rule and determining the transition point positions of the motion path;
the interpolation unit is used for carrying out interpolation operation on the coordinates of each teaching point in the robot flange coordinate system to obtain the coordinates of each transition point in the robot flange coordinate system;
the pose conversion module comprises:
the conversion data determining unit is used for calculating conversion data between coordinates of the tool end point position under the robot base coordinate system and coordinates of the tool end point position under the robot flange coordinate system;
and the coordinate conversion unit is used for converting the teaching point positions and the transition point positions in the robot flange coordinate system into coordinates in the robot base coordinate system according to the conversion data.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method of any one of claims 1 to 6.
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