TWI701122B - Multi-axis robot arm system and path planning method thereof - Google Patents
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Abstract
Description
本發明是有關於一種路徑規劃技術,且特別是有關於一種多軸機械手臂系統及其路徑規劃方法。 The present invention relates to a path planning technology, and particularly relates to a multi-axis robotic arm system and a path planning method thereof.
在自動化的趨勢下,機械手臂已實際被應用在自動化製程、倉儲管理等產業之中。特別是,多軸機械手臂的自由度高,能夠在空間中自由的移動,更是工業機器人領域中的潮流。為了維持機械手臂的移動效率,同時維持廠房的安全,路徑規劃是很重要的一環。然而,在自由度高的特性之下,相對地也會讓路徑規劃的過程變得複雜。基此,如何能夠提供路徑規劃的同時,也提供更有效率的路徑規劃流程為本領域技術人員所致力的課題。 Under the trend of automation, robotic arms have actually been used in industries such as automated manufacturing and warehouse management. In particular, the multi-axis robot arm has a high degree of freedom and can move freely in space, which is a trend in the field of industrial robots. In order to maintain the mobile efficiency of the robotic arm and maintain the safety of the plant, path planning is an important part. However, due to the high degree of freedom, the path planning process will be relatively complicated. Based on this, how to provide path planning while also providing a more efficient path planning process is a subject for those skilled in the art.
本發明提供一種多軸機械手臂系統及其路徑規劃方法,以提供更有效率的路徑規劃流程。 The invention provides a multi-axis mechanical arm system and a path planning method thereof to provide a more efficient path planning process.
本發明的一實施例提供多軸機械手臂系統,此系統具有 多軸機械手臂以及處理單元。多軸機械手臂具有至少一個前軸單元、至少一個後軸單元以及控制單元。處理單元電性連接至多軸機械手臂,處理單元依據起始姿態資訊、起始位置、目標姿態資訊及目標位置,計算前軸單元由起始位置至目標位置的最佳路徑資料及相應的最佳姿態資料。處理單元會依據最佳路徑資料及最佳姿態資料,計算後軸單元由起始位置至目標位置的第二姿態資料及相應的第二路徑資料。處理單元還分別整合最佳姿態資料及第二姿態資料,以及最佳路徑資料及第二路徑資料,以產生多軸機械手臂的一工作路徑。 An embodiment of the present invention provides a multi-axis robotic arm system, which has Multi-axis robotic arm and processing unit. The multi-axis robot arm has at least one front axle unit, at least one rear axle unit, and a control unit. The processing unit is electrically connected to the multi-axis robotic arm. The processing unit calculates the best path data and the corresponding best of the front axis unit from the start position to the target position based on the start posture information, start position, target posture information, and target position Posture information. The processing unit calculates the second posture data and corresponding second path data of the rear axle unit from the starting position to the target position based on the best path data and the best posture data. The processing unit further integrates the best posture data and the second posture data, as well as the best path data and the second path data respectively, to generate a working path of the multi-axis robotic arm.
本發明的一實施例提供一種多軸機械手臂路徑規劃方法,具有下列步驟。依據一起始姿態資訊、一起始位置、一目標姿態資訊及一目標位置,獲取多軸機械手臂的至少一個前軸單元由起始位置至目標位置的最佳路徑資料及最佳姿態資料;依據最佳路徑資料及最佳姿態資料,獲取多軸機械手臂的至少一個後軸單元由起始位置至目標位置的第二姿態資料及第二路徑資料;以及整合最佳姿態資料、第二姿態資料、最佳路徑資料及第二路徑資料,以產生多軸機械手臂的一工作路徑。 An embodiment of the present invention provides a path planning method for a multi-axis robotic arm, which has the following steps. According to a starting posture information, a starting position, a target posture information and a target position, the best path data and best posture data of at least one front axle unit of the multi-axis robot arm from the starting position to the target position are acquired; Best path data and best posture data, acquire second posture data and second path data of at least one rear axle unit of the multi-axis robotic arm from the starting position to the target position; and integrate the best posture data, second posture data, The best path data and the second path data are used to generate a working path of the multi-axis robotic arm.
基於上述,本發明的多軸機械手臂系統以及多軸機械手臂路徑規劃方法會分別依據機械手臂的前軸單元以及後軸單元分別計算最佳路徑。由於每次需要進行路徑規劃的軸單元自由度減少,因此能夠有效的降低路徑規劃的複雜性,加快路徑規劃的速 度。於此同時,多軸機械手臂系統以及多軸機械手臂路徑規劃方法所獲取的路徑是依據前軸單元的最佳路徑以及後軸單元的最佳路徑所組成。基此,而在路徑規劃的速度與最佳路徑之間取的權衡。 Based on the above, the multi-axis robotic arm system and the multi-axis robotic arm path planning method of the present invention respectively calculate the optimal path according to the front axis unit and the rear axis unit of the robot arm. Since the degree of freedom of the axis unit for path planning is reduced each time, it can effectively reduce the complexity of path planning and speed up path planning. degree. At the same time, the path obtained by the multi-axis robotic arm system and the multi-axis robotic arm path planning method is composed of the optimal path of the front axis unit and the optimal path of the rear axis unit. Based on this, it is a trade-off between the speed of path planning and the best path.
為讓本發明的上述特徵和優點能更明顯易懂,下文特舉實施例,並配合所附圖式作詳細說明如下。 In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.
110:多軸機械手臂 110: Multi-axis robotic arm
113~115:前軸單元 113~115: Front axle unit
116~118:後軸單元 116~118: Rear axle unit
120:處理單元 120: processing unit
S210~S230:步驟 S210~S230: steps
S:起始位置 S: starting position
D:目標位置 D: target location
圖1繪示本發明一實施例多軸機械手臂系統的系統示意圖。 Fig. 1 shows a system schematic diagram of a multi-axis robotic arm system according to an embodiment of the present invention.
圖2繪示本發明一實施例多軸機械手臂路徑規劃方法的流程示意圖。 2 is a schematic flowchart of a path planning method for a multi-axis robotic arm according to an embodiment of the present invention.
圖3繪示本發明一實施例虛擬空間的示意圖。 FIG. 3 is a schematic diagram of a virtual space according to an embodiment of the invention.
圖4繪示本發明一實施例位形空間的示意圖。 4 is a schematic diagram of a configuration space according to an embodiment of the present invention.
圖1繪示本發明一實施例多軸機械手臂系統的系統示意圖。請參照圖1,在本發明的實施例中,多軸機械手臂系統具有至少一前軸單元、至少一後軸單元與一控制單元多軸機械手臂110以及處理單元120。多軸機械手臂110具有多個軸單元(joint)113~118,以及安設於機械手臂內部的控制單元(未顯示)。並且,多軸機械手臂是串聯式機械手臂,也就是說,每一個軸單元都會
在一個軸向上位移、旋轉,並帶動其他軸一起移動。
Fig. 1 shows a system schematic diagram of a multi-axis robotic arm system according to an embodiment of the present invention. Please refer to FIG. 1, in the embodiment of the present invention, the multi-axis robot arm system has at least one front axle unit, at least one rear axle unit, and one control unit. The
在下述的描述中,軸單元在邏輯上會被區分為前軸單元及後軸單元,並且在路徑規劃時,會分別規劃前軸單元與後軸單元的路徑。以圖1實施例為例,設在基座內側的軸單元113以及靠近基座的軸單元114~115視為前軸單元,遠離基座的軸單元116~118為後軸單元。前軸單元113~115及後軸單元116~118的區分會依據實際路徑規劃的設計而有所調整。惟需注意的是,在本發明的一實施例中,路徑規劃會採用位形空間(Configuration Space)估算機械手臂在空間中的動作範圍和情形。因此,在本發明實施例中,包含但不限於,前軸單元的數量為三個,使前軸單元能夠在位形空間轉換並進行分析。
In the following description, the axle unit is logically divided into a front axle unit and a rear axle unit, and during path planning, the paths of the front axle unit and the rear axle unit are planned separately. Taking the embodiment of FIG. 1 as an example, the
控制單元電性連接至前軸單元113~115及後軸單元116~118,用以接收控制訊號,以控制多軸機械手臂110在各軸向的移動。控制單元可以採用任意型號的控制晶片進行實作,本發明不限於此。
The control unit is electrically connected to the
在本發明的實施例中,機器手臂是由基座所支撐的。軸單元113~118設置於基座上,用以通過自身的移動而使機械手臂在各軸向旋轉、位移。並且,每一個軸單元113~118分別在不同的軸向運動。在本發明的實施例中,每一個軸單元113~118分別以一個馬達所實現。
In the embodiment of the present invention, the robot arm is supported by the base. The
處理單元120電性連接於機械手臂110,用以執行各類邏
輯運算,並進行路徑規劃。處理單元120例如為,中央處理單元(Central Processing Unit,CPU),或是其他可程式化之一般用途或特殊用途的微處理器(Microprocessor)、數位信號處理器(Digital Signal Processor,DSP)、可程式化控制器、特殊應用積體電路(Application Specific Integrated Circuit,ASIC)或其他類似元件或上述元件的組合,本發明不限於此。
The
圖2繪示本發明一實施例多軸機械手臂路徑規劃方法的流程示意圖。圖2的實施例至少適用於圖1實施例所繪示的多軸機械手臂系統。因此,以下將通過圖1與圖2說明以多軸機械手臂系統運行多軸機械手臂路徑規劃方法的過程。 2 is a schematic flowchart of a path planning method for a multi-axis robotic arm according to an embodiment of the present invention. The embodiment of FIG. 2 is at least applicable to the multi-axis robotic arm system depicted in the embodiment of FIG. 1. Therefore, the process of running the multi-axis robotic arm path planning method with the multi-axis robotic arm system will be described below with reference to FIGS. 1 and 2.
在運行機械手臂路徑規劃方法時,操作人員會選擇機械手臂的目標位置及姿態。 When running the robot arm path planning method, the operator will select the target position and posture of the robot arm.
在步驟S210,處理單元120依據起始姿態資訊、起始位置、目標姿態資訊及目標位置,計算前軸單元113~115由起始位置至目標位置的最佳路徑資料及相應的最佳姿態資料。具體來說,在本發明的一實施例中,由於起始位置、起始姿態資訊、目標位置以及目標姿態資訊皆為已知。也就是說,每一個前軸單元113~115的具體起始位置以及最終位置為已知的。基此,處理單元120能夠依據已知的起始位置及目標位置安排在空間中的路徑。
In step S210, the
在本揭露的一實施例中,處理單元120是依據一路徑搜尋法,例如A*搜尋演算法、D*搜尋演算法或戴克斯特拉演算法
(Dijkstra’s algorithm),藉此以搜尋至少一個計算前軸單元113~115由起始位置至目標位置的最佳姿態資料,以及相應的最佳路徑資料。舉例來說,倘若前軸單元113~115的起始位置被設置為(0,0,0),目標位置被設置為(-70,-30,20),則處理單元120獲取前軸單元113~115的最佳目標位置以及最佳目標姿態的路徑例如為表一:
需說明的是,在本實施例中,最佳路徑、最佳姿態所述的「最佳」是在處理單元120所運行的方式下所產生最佳的路徑與最佳姿態。舉例來說,A*搜尋演算法會以移動代價最小的路徑作為最佳路徑。此時,倘若處理單元120採用A*搜尋演算法,最佳路徑及最佳姿態即為移動代價最小的路徑及其相應的姿態。也就是說,最佳路徑、最佳姿態會依據處理單元120所採用的演算
方式而使結果有所不同,本發明並不以此為限。
It should be noted that, in this embodiment, the “best” mentioned in the best path and best posture is the best path and best posture generated in the way the
在步驟S220,處理單元120會依據最佳路徑資料及最佳姿態資料,計算後軸單元116~118由起始位置至目標位置的第二姿態資料及相應的第二路徑資料。也就是說,處理單元120會在前軸單元113~115的最佳路徑和最佳姿態的限制下,使得多軸機械手臂110的移動範圍(自由度)僅剩相應後軸單元116~118三軸的狀態。基此,再進一步計算相應後軸單元116~118最佳的第二路徑。若從路徑的角度來說明,也就是說,處理單元120會依據前軸單元113~115在第t步時的姿態資料進行運算,以產生第t+1步時的第二姿態資料。六軸的第二步伐資料和第二姿態資料如表二:
在步驟S220的最後一步時,前軸單元113~115的姿態分別是落於(-70,-30,20)。因此,處理單元120會以前軸單元113~115的姿態為(-70,-30,20)為基礎,進而獲取後軸單元116~118的路徑。並且,在本發明的實施例中,處理單元120是以相應於步驟S220計算前軸單元113~115由起始位置至目標位置的最佳姿態資料及相應的最佳路徑資料的方式來計算後軸單元116~118由起始位置至目標位置的最佳姿態資料及相應的最佳路徑資料。也就是說,處理單元120是依據起始位置中以及起始姿態資訊中相應後軸單元的部分、最佳路徑資料與最佳姿態資料中的最後一個路徑與姿態以及目標位置,獲取後軸單元由起始位置至目標位置的第二姿態資料及第二路徑資料。
In the last step of step S220, the postures of the
在步驟S230,處理單元120還分別整合最佳姿態資料及
第二姿態資料,以及最佳路徑資料及第二路徑資料,以產生多軸機械手臂的工作路徑。整合的工作路徑例如為表三:
需說明的是,由於處理單元120並非直接由起始位置到目標位置的路徑與姿態規劃所有軸單元的整體路徑與姿態。因此,工作路徑並不一定是在所有可能產生的路徑中最短的路徑。然而通過將前軸單元113~115以及後軸單元116~118分開規劃路徑,能夠大幅的降低路徑規劃耗費的時間,以在最佳工作路徑及工作路徑規劃時間之間取得權衡。
It should be noted that the
值得一提的是,為了確保多軸機械手臂在運行的過程中不會受到障礙物的干擾,在本發明的一實施例中,處理單元120還會事先依據環境影像資訊建立位形空間(Configuration Space)。圖3繪示本發明一實施例虛擬空間的示意圖。具體來說,處理單元120可以通過電性連接至攝影機而對環境進行拍攝,或者是接收來自操作人員輸入至處理單元120的影像建立三維虛擬空間。
It is worth mentioning that, in order to ensure that the multi-axis robot arm will not be interfered by obstacles during operation, in an embodiment of the present invention, the
藉由三為虛擬空間,處理單元120會進一步建立相應於每一個軸單元(joint)的位形空間。並且,處理單元120會在該位形空間中產生該前軸單元前軸路徑資訊與前軸姿態資訊。詳細來說,處理單元120會在位形空間中模擬多軸機械手臂110的前軸單元113~115所有的移動情形,以將多軸機械手臂110的移動區域分為干涉情形及非干涉情形。圖4繪示本發明一實施例位形空間的示意圖。請參照圖4,S代表的是起始位置,D代表的是目
標位置。而幾何圖案代表著是障礙物。基此,處理單元120能夠判斷前軸單元113~115所有的移動路徑中,哪些會使多軸機械手臂110撞到障礙物,哪些則會使多軸機械手臂110順利的到達目標位置。基此,處理單元120會將會撞到障礙物的路徑進行整合,以形成會撞到障礙物的移動區域,並將此移動區域標示為干涉情形,其餘的移動區域則屬於非干涉情形。基此,處理單元120在執行步驟S220的當下,能夠事先排除前軸單元落入干涉情形的移動區域,並據此產生前軸單元的前軸路徑資訊與前軸姿態資訊,以減少處理單元120執行不必要運算的負擔。
With three virtual spaces, the
值得一提的是,在本發明的實施例中,多軸機械手臂是以六軸機械手臂作為範例,然在其他實施例中,多軸機械手臂也可以是2軸、3軸,甚至是9軸、10軸,本發明不以此為限。惟需注意的是,倘若多軸機械手臂超過6軸時,軸單元可以被劃分成前軸單元以及多組後軸單元。舉例來說,處理單元120可以以前軸單元的最佳路徑資料及最佳姿態資料為基準,進而規劃第一組後軸單元的路徑。接著,處理單元120再以前軸單元與第一組後軸單元的路徑為基準,進而規劃第二組後軸單元的路徑。然本發明不限於此。
It is worth mentioning that in the embodiment of the present invention, the multi-axis robotic arm is a six-axis robotic arm as an example. However, in other embodiments, the multi-axis robotic arm can also be 2-axis, 3-axis, or even 9-axis. Axis, 10-axis, the present invention is not limited to this. The only thing to note is that if the multi-axis robot arm exceeds 6 axes, the axis unit can be divided into a front axis unit and multiple groups of rear axis units. For example, the
綜上所述,本發明的多軸機械手臂系統以及多軸機械手臂路徑規劃方法會分別依據機械手臂的前軸單元以及後軸單元分別計算最佳路徑。由於每次需要進行路徑規劃的軸單元自由度減 少,因此能夠有效的降低路徑規劃的複雜性,加快路徑規劃的速度。於此同時,多軸機械手臂系統以及多軸機械手臂路徑規劃方法所獲取的路徑是依據前軸單元的最佳路徑以及後軸單元的最佳路徑所組成。基此,而在路徑規劃的速度與最佳路徑之間取的權衡。 To sum up, the multi-axis robotic arm system and the multi-axis robotic arm path planning method of the present invention will respectively calculate the optimal path according to the front axis unit and the rear axis unit of the robot arm. Since the degree of freedom of the axis unit for path planning is reduced each time Therefore, it can effectively reduce the complexity of path planning and accelerate the speed of path planning. At the same time, the path obtained by the multi-axis robotic arm system and the multi-axis robotic arm path planning method is composed of the optimal path of the front axis unit and the optimal path of the rear axis unit. Based on this, it is a trade-off between the speed of path planning and the best path.
雖然本發明已以實施例揭露如上,然其並非用以限定本發明,任何所屬技術領域中具有通常知識者,在不脫離本發明的精神和範圍內,當可作些許的更動與潤飾,故本發明的保護範圍當視後附的申請專利範圍所界定者為準。 Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be determined by the scope of the attached patent application.
113~115:前軸單元 113~115: Front axle unit
116~118:後軸單元 116~118: Rear axle unit
120:處理單元 120: processing unit
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