TW201529259A - End effector control method - Google Patents
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Abstract
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本發明與端效器之控制方法有關，尤指一種判斷端效器對物體之吸取點的控制方法。 The invention relates to a control method of a terminal effect device, in particular to a method for determining a suction point of an end effector to an object.
近年來隨著人力成本上升，工廠自動化之需求日益增加，機器人需要執行的任務不再侷限於產線上固定零件之取放與簡易組裝，而逐漸面對多樣少量、組裝形狀多樣之零件的生產需求，因此更高自由度的端效器及其相對應之控制方法日漸重要。目前已有一些習知技術提出演算法來進行高自由度端效器的控制演算，惟物體外觀上形成特殊曲線造型時，由於無法在資料庫中找到適當的吸取方法，現行技術僅能進行人工教導；然而此法耗時費力，不適合應用於多樣少量的生產線上。因此，必須研發一套適用於高自由度端效器之智慧化控制演算法，以符合產業需求。 In recent years, with the increase of labor costs, the demand for factory automation is increasing. The tasks that robots need to perform are no longer limited to the pick-and-place and easy assembly of fixed parts on the production line, but gradually face the production needs of a variety of small and assembled parts. Therefore, the higher degree of freedom of the end effector and its corresponding control methods are increasingly important. At present, some prior art techniques have been proposed to perform the control calculus of high-degree-of-freedom effector. However, when a special curve shape is formed on the appearance of an object, the current technology can only be artificially processed because an appropriate suction method cannot be found in the database. Teaching; however, this method is time consuming and laborious and is not suitable for use on a variety of small production lines. Therefore, a set of intelligent control algorithms for high-degree-of-freedom end effects must be developed to meet industry needs.
有鑑於此，故如何改進上述問題即為本發明所欲解決之首要課題。 In view of this, how to improve the above problems is the primary problem to be solved by the present invention.
本發明之目的在於提供一種端效器控制方法，利用數種判斷物體吸取位置的方法找出最佳的吸取位置，藉以順利吸取物體。 The object of the present invention is to provide a method for controlling the end effector, which uses several methods for judging the suction position of an object to find an optimal suction position, thereby smoothly sucking the object.
為達前述目的，本發明提供一種端效器控制方法，其透過一軟體執行，而應用於一具有至少二個手指，各手指 分別具有至少二軸之自由度，且各手指之末端設有吸附裝置的端效器；此控制方法之步驟至少包括有：取得物體之三維物理資訊；以向量規劃方法找出適合吸取的位置；以及產生控制命令控制端效器依上述位置吸取物體。 To achieve the foregoing objective, the present invention provides a method for controlling a terminal effect, which is applied by a software, and is applied to a finger having at least two fingers. Each having at least two degrees of freedom, and each end of the finger is provided with an end effector of the adsorption device; the steps of the control method include at least: obtaining three-dimensional physical information of the object; and finding a position suitable for suction by a vector planning method; And generating a control command to control the effector to pick up the object according to the above position.
其中該向量規劃方法之步驟包括有：建立一虛擬平台，並將所取得之物體三維物理資訊建構為一虛擬物體置於虛擬平台上；於虛擬物體上設定一點為基準點，且離該基準點一適當距離之位置設定為端效器之工作位置；取通過該基準點且垂直於該虛擬平台之平面，其中該平面之數量對應於端效器之手指的數量，且各平面與相鄰平面之間的夾角相等；計算各平面與該虛擬物體之表面交集的曲線；於各曲線上依端效器之手指可及之範圍分別搜尋出一吸取位置，其中端效器之手指須可沿該吸取位置於該曲線上之法向量方向靠近該吸取位置。 The steps of the vector planning method include: establishing a virtual platform, and constructing the obtained three-dimensional physical information into a virtual object on the virtual platform; setting a point on the virtual object as a reference point, and separating from the reference point The position of an appropriate distance is set as the working position of the end effector; the plane passing through the reference point and perpendicular to the virtual platform, wherein the number of the plane corresponds to the number of fingers of the end effector, and each plane and the adjacent plane The angle between the two is equal; the curve of the intersection of each plane and the surface of the virtual object is calculated; and each of the curves is searched for a suction position according to the reachable range of the finger of the end effector, wherein the finger of the end effector can be along the The direction of the normal vector of the suction position on the curve is close to the suction position.
上述之向量規劃方法中，該基準點為該虛擬物體之質心或形心，而該適當距離為端效器之手指所能及之範圍內。 In the above vector planning method, the reference point is the centroid or centroid of the virtual object, and the appropriate distance is within the range of the finger of the end effector.
而該向量規劃方法更包括有，若於該曲線上搜尋不到適當的吸取位置，則於該曲線所對應之平面附近再取一通過該基準點且垂直於該虛擬平台之第二平面，計算該第二平面與虛擬物體之表面交集的第二曲線，並於該第二曲線上依前述方法搜尋吸取位置。 The vector planning method further includes: if a suitable suction position is not found on the curve, calculating a second plane passing through the reference point and perpendicular to the second plane of the virtual platform near the plane corresponding to the curve a second curve intersecting the surface of the second object with the surface of the virtual object, and searching for the suction position on the second curve according to the foregoing method.
此外，該控制方法更包括有一典型規劃方法及一教導式規劃方法。該典型規劃方法之步驟包括有：分析物體之 三維物理資訊，並與軟體內建之簡單幾何形狀模型進行比對；確認該物體之表面形狀相似於其中一種軟體內建的簡單幾何形狀模型；計算軟體內建對於上述模型之典型吸取位置，對照該物體之三維物理資訊找出位於該物體表面之吸取位置。而該教導式規劃方法之步驟包括有：操作人員以人為方式直接控制端效器移動至該物體附近；操作人員以人為方式直接控制端效器之手指接觸於該物體表面之一適當位置；確認端效器之手指可於上述適當位置吸取物體；記錄前述端效器之移動路徑及手指之吸取位置。 In addition, the control method further includes a typical planning method and a teaching planning method. The steps of the typical planning method include: analyzing the object 3D physical information, and compared with the simple geometric model built in the soft body; confirm that the surface shape of the object is similar to the simple geometric shape model built into one of the soft bodies; calculate the typical suction position of the soft body built for the above model, The three-dimensional physical information of the object finds the picking position on the surface of the object. The steps of the teaching method include: the operator directly controls the end effector to move to the vicinity of the object in an artificial manner; the operator directly controls the finger of the end effector to contact the appropriate position of the surface of the object in an artificial manner; The finger of the end effector can pick up the object at the appropriate position; record the moving path of the end effector and the suction position of the finger.
更進一步地，該控制方法之步驟依序為：a.取得物體之三維物理資訊；b.以典型規劃方法找出適合吸取的位置；c.若無法以典型規劃方法找出適合吸取的位置，則以向量規劃方法找出適合吸取的位置；d.若無法以向量規劃方法找出適合吸取的位置，則以教導式規劃方法找出適合吸取的位置；e.產生控制命令控制端效器依上述位置吸取物體。 Further, the steps of the control method are: a. obtaining three-dimensional physical information of the object; b. finding a position suitable for suction by a typical planning method; c. if a typical planning method cannot be used to find a position suitable for suction, Then use the vector planning method to find the position suitable for sucking; d. If it is impossible to find the position suitable for sucking by the vector planning method, use the teaching method to find the position suitable for sucking; e. Generate the control command to control the end effector. The above position picks up the object.
再者，以上述步驟找出適合吸取之位置後，此控制方法更包括有：以軟體計算吸取位置之法向量；計算吸取位置上自其法向量延伸而出之預備位置；計算端效器之工作位置及端效器手指吸取物體之動作姿態以產生控制命令；執行控制命令使端效器吸取物體。 Furthermore, after the above steps are used to find the position suitable for the suction, the control method further comprises: calculating the normal vector of the suction position by the software; calculating the preliminary position extended from the normal vector at the suction position; calculating the final effect device The working position and the end effector finger draw the action posture of the object to generate a control command; execute a control command to cause the end effector to suck the object.
而本發明之上述目的與優點，不難從下述所選用實施例之詳細說明與附圖中獲得深入了解。 The above objects and advantages of the present invention will be readily understood from the following detailed description of the embodiments of the invention.
1‧‧‧手指 1‧‧‧ finger
11‧‧‧指節 11‧‧‧ knuckles
11A‧‧‧頂端指節 11A‧‧‧Top knuckles
11B‧‧‧末端指節 11B‧‧‧End knuckles
12‧‧‧吸附裝置 12‧‧‧Adsorption device
2‧‧‧物體 2‧‧‧ objects
P‧‧‧位置 P‧‧‧ position
N‧‧‧方向 N‧‧‧ direction
第1圖為本發明之流程圖 Figure 1 is a flow chart of the present invention
第2圖為本發明之典型規劃方法的流程圖 Figure 2 is a flow chart of a typical planning method of the present invention
第3圖為本發明之向量規劃方法的流程圖 Figure 3 is a flow chart of the vector planning method of the present invention
第4圖為本發明之教導式規劃方法的流程圖 Figure 4 is a flow chart of the teaching method of the teaching method of the present invention
第5圖為本發明於找出吸取位置後之控制方法流程圖 Figure 5 is a flow chart of the control method after the invention finds the suction position
第6圖為本發明所應用之端效器使用狀態示意圖 Figure 6 is a schematic view showing the state of use of the effector used in the present invention.
本發明所提供之端效器控制方法，其透過一軟體執行，而應用於一具有至少二個手指，各手指分別具有至少二軸之自由度，且各手指之末端設有吸附裝置的端效器。而該端效器之最佳實施例如第6圖所示，其具有三個手指1，且各手指1分別具有四軸之自由度，其中各手指1分別具有三個指節11，各指節11可相對於相鄰指節樞擺，且頂端指節11A可帶動其他指節一起自轉地樞轉，據此形成四軸之自由度，且可透過設於末端指節11B之吸附裝置12沿物體2表面一位置P上之N方向吸取物體2。本發明之控制方法的步驟如第1圖所示，其包括有：a.取得物體之三維物理資訊；b.以典型規劃方法找出適合吸取的位置；c.若無法以典型規劃方法找出適合吸取的位置，則以向量規劃方法找出適合吸取的位置；d.若無法以向量規劃方法找出適合吸取的位置，則以教導式規劃方法找出適合吸取的位置； e.產生控制命令控制端效器依上述位置吸取物體。 The end effector control method provided by the present invention is implemented by a software, and is applied to an end effect having at least two fingers, each finger having at least two axes of freedom, and each end of the finger is provided with an adsorption device. Device. The best implementation of the effector is shown in Fig. 6, which has three fingers 1, and each finger 1 has four degrees of freedom, wherein each finger 1 has three knuckles 11, respectively, each knuckle 11 can pivot relative to the adjacent knuckles, and the distal knuckle 11A can drive the other knuckles to pivot together, thereby forming a four-axis degree of freedom, and permeable to the adsorption device 12 disposed at the end knuckle 11B The object 2 picks up the object 2 in the N direction on the surface P. The steps of the control method of the present invention are as shown in Fig. 1, which includes: a. obtaining three-dimensional physical information of the object; b. finding a position suitable for suction by a typical planning method; c. if it is impossible to find out by a typical planning method For the position suitable for suction, the position suitable for suction is found by the vector planning method; d. If the position suitable for suction is not found by the vector planning method, the position suitable for suction is found by the teaching method; e. Generate a control command to control the end effector to pick up the object according to the above position.
其中於上述之控制方法中，先將所欲吸取之物體的圖形或模型檔案輸入軟體，或另以其他方式，例如透過三維雷射掃瞄或立體視覺等，以取得物體之三維物理資訊。接著依序以典型規劃方法及向量規劃方法搜尋物體上適合吸取的位置，若皆無法找出適合吸取的位置，則以教導式規劃方法作為最後決定吸取位置的手段。以下即介紹各種規劃方法。 In the above control method, the graphic or model file of the object to be sucked is first input into the software, or otherwise, for example, through three-dimensional laser scanning or stereoscopic vision, to obtain the three-dimensional physical information of the object. Then, the typical planning method and the vector planning method are used to search for the position suitable for the object to be sucked. If it is impossible to find the position suitable for the suction, the teaching method is used as the final means for determining the position. The various planning methods are described below.
首先，該典型規劃方法之步驟如第2圖所示，其包括有：分析物體之三維物理資訊，並與軟體內建之簡單幾何形狀模型進行比對；確認該物體之表面形狀相似於其中一種軟體內建的簡單幾何形狀模型；計算軟體內建對於上述模型之典型吸取位置，對照該物體之三維物理資訊找出位於該物體表面之吸取位置。 First, the steps of the typical planning method are as shown in FIG. 2, which includes: analyzing three-dimensional physical information of the object, and comparing with a simple geometric model built in the soft body; confirming that the surface shape of the object is similar to one of the A simple geometric shape model built in the soft body; calculating the typical suction position of the soft body built in the above model, and finding the suction position on the surface of the object against the three-dimensional physical information of the object.
上述之典型規劃方法，簡言之，乃將所欲吸取的物體與軟體內建之各種簡單幾何形狀之模型進行比對，例如球形體、平板或矩形體等，藉由判斷手段分析物體接近於何種簡單幾何形狀模型，即可進而套用軟體內建對於此簡單幾何形狀模型的演算法公式，並對照該物體之三維物理資訊，計算出吸取位置。而該判斷手段，舉例而言，乃透過各種內建簡單幾何形狀模型之縮放，找到與目標物體外形最接近之內切及外切包覆體體積，計算出二者之體積差量 ，並透過門檻值分析上述三組數據，藉以判斷該物體是否近似於某種內建之簡單幾何形狀模型。由於典型規劃方法已於軟體內建置有對應於特定幾何形狀之演算法，只要確認目標物體與特定之幾何形狀近似，即可套用內建之公式而快速規劃出吸取位置。 The above-mentioned typical planning method, in short, compares the object to be absorbed with a model of various simple geometric shapes built in the soft body, such as a spherical body, a flat plate or a rectangular body, etc., by means of judgment means that the object is close to What kind of simple geometric shape model can be used to apply the algorithm formula for the simple geometric shape model in the soft body, and calculate the suction position against the three-dimensional physical information of the object. The judging means, for example, finds the volume of the inscribed and excised coatings closest to the shape of the target object through the scaling of various built-in simple geometric shapes, and calculates the volume difference between the two. And analyzing the above three sets of data through the threshold value to determine whether the object approximates a certain built-in simple geometric shape model. Since the typical planning method has built an algorithm corresponding to a specific geometry in the soft body, as long as the target object is confirmed to be similar to a specific geometric shape, the built-in formula can be used to quickly plan the suction position.
當所欲吸取之物體並不近似於任何軟體內建之簡單幾何形狀模型，則接著以向量規劃方法搜尋吸取位置。該向量規劃方法之步驟如第3圖所示，其包括有：建立一虛擬平台，將物體之三維物理資訊建構為一虛擬物體置於虛擬平台上；於虛擬物體上設定一點為基準點，且離該基準點一適當距離之位置設定為端效器之工作位置；取通過該基準點且垂直於該虛擬平台之平面；計算各平面與該虛擬物體之表面交集的曲線；以及於各曲線上依端效器之手指可及之範圍分別搜尋出一吸取位置。 When the object to be absorbed does not approximate a simple geometric model built in any soft body, then the vectoring method is used to search for the suction position. The step of the vector planning method is as shown in FIG. 3, which includes: establishing a virtual platform, constructing a three-dimensional physical information of the object into a virtual object and placing the virtual object on the virtual platform; setting a point on the virtual object as a reference point, and Setting a suitable distance from the reference point as a working position of the end effector; taking a plane passing through the reference point and perpendicular to the virtual platform; calculating a curve of intersection of each plane and the surface of the virtual object; and on each curve Search for a suction position according to the reach of the finger of the end effector.
於此規劃方法中，該基準點可為該虛擬物體之質心或形心，可經由軟體計算分析而得；而端效器之工作位置乃取於距離該基準點一適當距離之處，其中該適當距離為端效器之手指所能及之範圍。據此，該端效器即能以該工作位置為規劃吸取位置之立基點。接著，對應於端效器之手指的數量，取數個通過該基準點且垂直於該虛擬平台之平面，其中各平面與相鄰平面之間的夾角相等，而這些平面與該虛擬物體之表面會分別交集出一個曲線，再藉由軟體 之計算，於各曲線上從端效器之手指可及之最遠位置開始以至最近位置依序搜尋出一吸取位置。細言之，該曲線乃由多數個點連接而成，透過軟體計算出各點之法向量，若端效器之手指可沿其中某點之法向量靠近者，則此點即為適合的吸取位置。 In the planning method, the reference point may be the centroid or centroid of the virtual object, which may be obtained through software calculation and analysis; and the working position of the end effector is taken at an appropriate distance from the reference point, wherein The appropriate distance is the range of the finger of the end effector. According to this, the end effector can take the working position as the base point of the planned suction position. Then, corresponding to the number of fingers of the effector, take a plurality of planes passing through the reference point and perpendicular to the virtual platform, wherein the angle between each plane and the adjacent plane is equal, and the planes and the surface of the virtual object Will separate a curve and then use software In the calculation, a suction position is sequentially searched from the farthest position reachable by the finger of the end effector and the nearest position on each curve. In short, the curve is formed by connecting a large number of points, and the normal vector of each point is calculated by the software. If the finger of the end effector can approach the normal vector of a certain point, then this point is a suitable suction. position.
而若於上述之曲線上搜尋不到適當的吸取位置，則於該曲線所對應之平面附近再取一通過該基準點且垂直於該虛擬平台之第二平面，計算該第二平面與虛擬物體之表面交集的第二曲線，並於該第二曲線上依前述方法搜尋吸取位置。於本實施例中，該第二平面與前次所取之平面相隔1度。若再搜尋不到，可再重複此步驟。 If the appropriate suction position is not found on the curve, the second plane and the virtual object are calculated by taking a reference point and perpendicular to the second plane of the virtual platform near the plane corresponding to the curve. The second curve of the intersection of the surfaces, and searching for the suction position on the second curve according to the foregoing method. In this embodiment, the second plane is 1 degree apart from the plane taken from the previous time. If you can't find it again, repeat this step.
藉由此向量規劃方法所完成之吸取位置規劃，在符合吸取特性及端效器手指可達範圍之邊界條件下，尚具有使各吸取位置相對於物體之基準點平均地分布於物體上，且各吸取位置皆遠離於物體之基準點的優點。據此，令端效器可以本法所規劃出之吸取位置穩固地吸取物體。 The suction position planning performed by the vector planning method has an average distribution of the suction points relative to the object on the object under the boundary conditions of the suction characteristic and the reachable range of the end effector, and Each suction position is far from the advantage of the reference point of the object. According to this, the end effector can firmly absorb the object by the suction position planned by the method.
然而，若以上述之典型規劃方法及向量規劃方法皆找不出適合之吸取位置時，則以教導式規劃方法進行最後的規劃手段。該教導式規劃方法如第4圖所示，其包括有：操作人員以人為方式直接控制端效器移動至該物體附近；操作人員以人為方式直接控制端效器之手指接觸於該物體表面之一適當位置；確認端效器之手指可於上述適當位置吸取物體； 以及記錄前述端效器之移動路徑及手指之吸取位置。 However, if the above-mentioned typical planning method and vector planning method cannot find a suitable suction position, the final planning method is carried out by the teaching method. The teaching method of the teaching method is as shown in FIG. 4, which includes: an operator manually controls the end effector to move to the vicinity of the object in an artificial manner; the operator directly controls the finger of the end effector to contact the surface of the object by an artificial manner. a suitable position; confirm that the finger of the end effector can pick up the object at the appropriate position; And recording the moving path of the aforementioned end effector and the suction position of the finger.
教導式規劃方法是在窮盡前述兩個利用軟體自動演算執行的規劃方法但無功而返時，而透過操作人員以人為且手動之方式直接控制端效器抓取物體，且所抓取的位置乃由操作人員以經驗及直覺自行判斷，而在確認手動控制抓取的位置可成功吸取物體後，令軟體記錄端效器之移動路徑及手指的吸取位置，以供後續由軟體自動控制端效器重複執行。 The teaching method is to use the operator's manual and manual method to directly control the end effector to grab the object and to capture the position when the two planning methods implemented by the software automatic calculus are exhausted. It is judged by the operator and the intuition, and after confirming that the position of the manual control can successfully pick up the object, the software records the moving path of the end effector and the suction position of the finger for subsequent automatic control by the software. Repeated execution.
綜合上述，本發明之控制方法乃依序藉由典型規劃方法、向量規劃方法及教導式規劃方法於物體上找到適合的吸取位置，而透過軟體產生控制端效器之控制命令。細言之，如第5圖所示，於找出吸取位置後，首先以軟體計算該吸取位置之法向量，並進而計算該吸取位置外沿該法向量延伸而出之預備位置，同時計算端效器之工作位置，其中該工作位置是端效器之本體的所在位置，而該預備位置是端效器之手指於開始吸取物體前之所在位置；接著計算端效器之手指吸取物體時須採取之動作姿態，並藉以產生控制命令，俾供執行時控制端效器之手指各指節產生動作以吸取物體。 In summary, the control method of the present invention sequentially finds a suitable picking position on an object by a typical planning method, a vector planning method, and a teaching method, and generates a control command for controlling the effector through the software. In detail, as shown in Fig. 5, after finding the suction position, the normal vector of the suction position is first calculated by the software, and then the preparatory position of the extraction position extending along the normal vector is calculated, and the calculation end is simultaneously calculated. The working position of the effect device, wherein the working position is the position of the body of the end effector, and the preparatory position is the position of the finger of the end effector before the object is started to be sucked; then the finger of the end effector is calculated when the object is sucked The action gesture is taken and a control command is generated to control the action of the finger knuckles of the end effector to extract the object.
惟，以上實施例之揭示乃用以說明本發明，並非用以限制本發明，故舉凡等效元件之置換仍應隸屬本發明之範疇。 The disclosure of the above embodiments is intended to be illustrative of the invention and is not intended to limit the invention.
綜上所述，可使熟知本項技藝者明瞭本發明的確可達成前述目的，實已符合專利法之規定，爰依法提出申請。 In summary, it will be apparent to those skilled in the art that the present invention can achieve the foregoing objectives and is in accordance with the provisions of the Patent Law.
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