WO2017128029A1

WO2017128029A1 - Robot control method, control device and system

Info

Publication number: WO2017128029A1
Application number: PCT/CN2016/072092
Authority: WO
Inventors: 刘子雨; 叶根; 陈晓颖
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2016-01-26
Filing date: 2016-01-26
Publication date: 2017-08-03
Also published as: CN107636418B; CN107636418A

Abstract

A robot control method, control device and system only requiring calibration of coordinates with a user tool, and thereby reducing user costs and operation difficulty. The method comprises: determining two original locating points of a robot in a first state, wherein the two original locating points are located in a same plane (101); switching the robot to a second state by means of a user tool and according to a posture identical to one for performing a first teaching operation with respect to the robot in the first state, (102); determining two target locating points of the robot in the second state, wherein the target locating points correspond to the original locating points (103); calculating conversion parameters according to the original locating points and the target locating points (104); according to the conversion parameters, converting each original coordinate point of the robot in the first state to a corresponding target coordinate point of the robot in the second state (105); and controlling the robot according to each target coordinate point (106).

Description

一种机器人控制方法、控制设备及***Robot control method, control device and system

技术领域Technical field

本发明实施例涉及数据处理领域，尤其涉及一种机器人控制方法、控制设备及***。Embodiments of the present invention relate to the field of data processing, and in particular, to a robot control method, a control device, and a system.

背景技术Background technique

随着工业智能化程度的不断提高，机器人参与的机械加工过程也越来越多，为了使得机器人能够按照用户的需求完成相应的工作，需要由用户对机器人进行编程配置。With the continuous improvement of industrial intelligence, robots participate in more and more mechanical processing. In order to enable the robot to complete the corresponding work according to the user's needs, the user needs to program the robot.

机器人通常使用示教的方式进行搬运、加工等操作，一般用户在编程时很少使用专用工具进行标定，而是直接使用用户的工具进行工件的加工操作。因此程序中很少有工件坐标系，遇到机器人搬运、移动或者工件移动等情况时，常常需要重新对所有的点位进行示教。Robots usually use teaching methods to carry out operations such as handling and machining. Generally, users rarely use special tools for calibration during programming, but directly use the user's tools to perform workpiece machining operations. Therefore, there are very few workpiece coordinate systems in the program. When encountering robot handling, moving or moving workpieces, it is often necessary to re-teach all the points.

为了解决该问题，各大厂家如fanuc、kuka、ABB，在软件程序中可以建立工件坐标系，即在示教前，需要标定工件坐标系，之后如果出现变动，只需要改变工件坐标系，就能够在不改变原程序时直接使用。In order to solve this problem, major manufacturers such as fanuc, kuka, ABB can establish the workpiece coordinate system in the software program, that is, before teaching, the workpiece coordinate system needs to be calibrated, and if there is a change, only the workpiece coordinate system needs to be changed. Can be used directly without changing the original program.

但是，工件坐标系的测量都是依赖于工具，必须在已知工具坐标系和工具中心点(英文缩写：TCP，英文全称：Tool Center Point)的情况下，才能够标定工件坐标系。然而一般用户很少有专用标定工具，所以增加了用户成本和操作难度。However, the measurement of the workpiece coordinate system is dependent on the tool, and the workpiece coordinate system must be calibrated in the case of the known tool coordinate system and the tool center point (English abbreviation: TCP, English full name: Tool Center Point). However, there are few dedicated calibration tools for general users, which increases user cost and operational difficulty.

发明内容Summary of the invention

本发明实施例提供了一种机器人控制方法、控制设备及***，能够降低用户成本和操作难度。Embodiments of the present invention provide a robot control method, a control device, and a system, which can reduce user cost and operation difficulty.

本发明实施例的第一方面提供一种机器人控制方法，包括：A first aspect of the embodiments of the present invention provides a robot control method, including:

确定机器人处于第一状态下的两个原始定位点，该两个原始定位点位于同一平面内；使用用户工具，按照对该机器人在该第一状态下进行首次示教时相同的姿态，将该机器人切换为第二状态；确定该机器人处于该第二状态下的两个目标定位点，该目标定位点与该原始定位点相对应；根据该原始定位点以及该目标定位点计算转换参数；根据该转换参数将该机器人处于该第一状态下的各原始坐标点转换为该机器人处于该第二状态下的各目标坐标点；按照各目标坐标点对该机器人进行控制。Determining two original positioning points of the robot in the first state, the two original positioning points are located in the same plane; using the user tool, according to the same posture when the robot first teaches in the first state, The robot switches to the second state; determining that the robot is in the second state, the target positioning point corresponding to the original positioning point; calculating the conversion parameter according to the original positioning point and the target positioning point; The conversion parameter is in the first state of the robot Each of the original coordinate points is converted into each target coordinate point of the robot in the second state; the robot is controlled according to each target coordinate point.

结合本发明实施例的第一方面，在本发明实施例的第一方面的第一种实现方式中，该原始定位点的坐标值为原始坐标值，该原始坐标值为该机器人处于该第一状态下时，该原始定位点在法兰坐标系中的坐标值；该目标定位点的坐标值为目标坐标值，该目标坐标值为该机器人处于该第二状态下时，该目标定位点在法兰坐标系中的坐标值。With reference to the first aspect of the embodiments of the present invention, in a first implementation manner of the first aspect of the embodiment, the coordinate value of the original positioning point is a original coordinate value, and the original coordinate value is that the robot is in the first In the state, the coordinate value of the original positioning point in the flange coordinate system; the coordinate value of the target positioning point is the target coordinate value, and the target coordinate value is when the robot is in the second state, the target positioning point is The coordinate value in the flange coordinate system.

结合本发明实施例的第一方面的第一种实现方式，本发明实施例的第一方面的第二种实现方式中，根据该原始定位点以及该目标定位点计算转换矩阵包括：With reference to the first implementation manner of the first aspect of the embodiment of the present invention, in a second implementation manner of the first aspect of the embodiment of the present invention, calculating a conversion matrix according to the original positioning point and the target positioning point includes:

确定第一原始定位点以及第二原始定位点、第一法向量、第一单位向量，并确定第一目标定位点以及第二目标定位点、第二法向量、第二单位向量；该第一法向量为该第一原始定位点与该第二原始定位点转化的原始齐次矩阵中的一组相同向量；该第二法向量为该第二目标定位点与该第二目标定位点转化的目标齐次矩阵中的一组相同向量；该第一单位向量为该第一原始定位点与该第二原始定位点确定的向量的单位向量；该第二单位向量为该第一目标定位点与该第二目标定位点确定的向量的单位向量；Determining a first original positioning point and a second original positioning point, a first normal vector, a first unit vector, and determining a first target positioning point and a second target positioning point, a second normal vector, and a second unit vector; The normal vector is a set of the same vector in the original homogeneous matrix transformed by the first original positioning point and the second original positioning point; the second normal vector is converted by the second target positioning point and the second target positioning point a set of identical vectors in the target homogeneous matrix; the first unit vector is a unit vector of the vector determined by the first original positioning point and the second original positioning point; the second unit vector is the first target positioning point and a unit vector of the vector determined by the second target positioning point;

根据第一法向量以及该第一单位向量确定第一齐次矩阵，根据该第二法向量以及该第二单位向量确定第二齐次矩阵；Determining a first homogeneous matrix according to the first normal vector and the first unit vector, and determining a second homogeneous matrix according to the second normal vector and the second unit vector;

根据该第一齐次矩阵以及该第二齐次矩阵按照第一关系式计算该转换矩阵。The conversion matrix is calculated according to the first relational equation according to the first homogeneous matrix and the second homogeneous matrix.

结合本发明实施例的第一方面的第二种实现方式，在本发明实施例的第一方面的第三种实现方式中，With reference to the second implementation manner of the first aspect of the embodiment of the present invention, in a third implementation manner of the first aspect of the embodiment of the present invention,

该第一关系式为：T_m＝B·A^-1；The first relation is: T _m = B · A ^-1 ;

该T_m为该转换矩阵，该B为该第二齐次矩阵，该A为该第一齐次矩阵。The T _{m is} the conversion matrix, and the B is the second homogeneous matrix, and the A is the first homogeneous matrix.

结合本发明实施例的第一方面，第一方面的第一种实现方式至第三种实现方式的中任一种实现方式，在本发明实施例的第一方面的第四种实现方式中，根据该转换矩阵将该机器人处于该第一状态下的各原始坐标点转换为该机器人处于该第二状态下的各目标坐标点之后，该方法还包括： With reference to the first aspect of the embodiments of the present invention, in any one of the first implementation manner to the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect of the embodiments of the present disclosure, After converting the original coordinate points of the robot in the first state to the target coordinate points of the robot in the second state, the method further includes:

根据各目标坐标点计算各目标坐标点的旋转角度集合。A set of rotation angles of each target coordinate point is calculated according to each target coordinate point.

结合本发明实施例的第一方面的第四种实现方式，在本发明实施例的第一方面的第五种实现方式中，按照各目标坐标点对该机器人进行控制包括：With reference to the fourth implementation manner of the first aspect of the embodiment of the present invention, in a fifth implementation manner of the first aspect of the embodiment of the present invention, controlling the robot according to each target coordinate point includes:

按照各目标坐标点以及各目标坐标点的旋转角度集合对该机器人进行控制。The robot is controlled according to each target coordinate point and a rotation angle set of each target coordinate point.

结合本发明实施例的第一方面，第一方面的第一种实现方式至第五种实现方式中，在本发明实施例的第六种实现方式中，该第一目标定位点与该第二目标定位点具有相同的俯仰和翻滚姿态。With reference to the first aspect of the embodiments of the present invention, in the first implementation manner to the fifth implementation manner of the first aspect, in a sixth implementation manner of the embodiment of the present disclosure, the first target positioning point and the second The target anchor points have the same pitch and roll attitude.

本发明实施例第二方面提供了一种控制设备，包括：A second aspect of the embodiments of the present invention provides a control device, including:

第一确定模块，用于确定机器人处于第一状态下的两个原始定位点，该两个原始定位点位于同一平面内；a first determining module, configured to determine two original positioning points of the robot in a first state, where the two original positioning points are located in the same plane;

切换模块，用于使用用户工具，按照对该机器人在该第一状态下进行首次示教时相同的姿态，将该机器人切换为第二状态；a switching module, configured to switch the robot to the second state by using a user tool in the same posture as when the robot first teaches in the first state;

第二确定模块，用于确定该机器人处于该第二状态下的两个目标定位点，该目标定位点与该第一确定模块确定的该原始定位点相对应；a second determining module, configured to determine two target positioning points of the robot in the second state, where the target positioning point corresponds to the original positioning point determined by the first determining module;

计算模块，用于根据该第一确定模块确定的该原始定位点以及该第二确定模块确定的该目标定位点计算转换参数；a calculation module, configured to calculate a conversion parameter according to the original positioning point determined by the first determining module and the target positioning point determined by the second determining module;

转换模块，用于根据该计算模块计算得到的该转换参数将该机器人处于该第一状态下的各原始坐标点转换为该机器人处于该第二状态下的各目标坐标点；a conversion module, configured to convert, according to the conversion parameter calculated by the calculation module, each original coordinate point of the robot in the first state into each target coordinate point of the robot in the second state;

控制模块，用于按照该转换模块转换得到的该各目标坐标点对该机器人进行控制。And a control module, configured to control the robot according to the target coordinate points converted by the conversion module.

结合本发明实施例的第二方面，在本发明实施例的第二方面的第一种实现方式中，该原始定位点的坐标值为原始坐标值，该原始坐标值为该机器人处于该第一状态下时，该原始定位点在法兰坐标系中的坐标值；With reference to the second aspect of the embodiments of the present invention, in a first implementation manner of the second aspect of the embodiment, the coordinate value of the original positioning point is a original coordinate value, and the original coordinate value is the first time of the robot. The coordinate value of the original positioning point in the flange coordinate system when the state is under;

该目标定位点的坐标值为目标坐标值，该目标坐标值为该机器人处于该第二状态下时，该目标定位点在法兰坐标系中的坐标值。The coordinate value of the target positioning point is a target coordinate value, and the target coordinate value is a coordinate value of the target positioning point in the flange coordinate system when the robot is in the second state.

结合本发明实施例的第二方面的第一种实现方式，在本发明实施例的第二方面的第二种实现方式中，该计算模块包括： With reference to the first implementation manner of the second aspect of the embodiment of the present invention, in a second implementation manner of the second aspect of the embodiment, the computing module includes:

第一确定单元，用于确定第一原始定位点以及第二原始定位点、第一法向量、第一单位向量，并确定第一目标定位点以及第二目标定位点、第二法向量、第二单位向量；该第一法向量为该第一原始定位点与该第二原始定位点转化的原始齐次矩阵中的一组相同向量；该第二法向量为该第二目标定位点与该第二目标定位点转化的目标齐次矩阵中的一组相同向量；该第一单位向量为该第一原始定位点与该第二原始定位点确定的向量的单位向量；该第二单位向量为该第一目标定位点与该第二目标定位点确定的向量的单位向量；a first determining unit, configured to determine a first original positioning point and a second original positioning point, a first normal vector, a first unit vector, and determine a first target positioning point and a second target positioning point, a second normal vector, a second unit vector; the first normal vector is a set of the same vector in the original homogeneous matrix transformed by the first original positioning point and the second original positioning point; the second normal vector is the second target positioning point and the a set of identical vectors in the target homogeneous matrix transformed by the second target locating point; the first unit vector is a unit vector of the vector determined by the first original locating point and the second original locating point; the second unit vector is a unit vector of the vector determined by the first target positioning point and the second target positioning point;

第二确定单元，用于根据该第一确定单元确定的该第一法向量以及该第一单位向量确定第一齐次矩阵，根据该第一确定单元确定的该第二法向量以及该第二单位向量确定第二齐次矩阵；a second determining unit, configured to determine, according to the first normal vector determined by the first determining unit and the first unit vector, a first homogeneous matrix, the second normal vector determined according to the first determining unit, and the second The unit vector determines the second homogeneous matrix;

计算单元，用于根据该第二确定单元确定的该第一齐次矩阵以及该第二齐次矩阵按照第一关系式计算该转换矩阵。And a calculating unit, configured to calculate the conversion matrix according to the first relational matrix according to the first homogeneous matrix determined by the second determining unit and the second homogeneous matrix.

结合本发明实施例的第二方面的第二种实现方式，在本发明实施的第三种实现方式中，该第一关系式为：T_m＝B·A^-1；With reference to the second implementation manner of the second aspect of the embodiment of the present invention, in the third implementation manner of the implementation of the present invention, the first relationship is: T _m =B·A ^-1 ;

结合本发明实施例的第二方面，第二方面的第一种实现方式至第三种实现方式中的任一面实现方式，在本发明实施例的第四种实现方式中，该控制设备还包括：With reference to the second aspect of the embodiments of the present invention, any one of the first implementation manner to the third implementation manner of the second aspect, in the fourth implementation manner of the embodiment of the present invention, the control device further includes :

处理模块，用于根据该计算模块计算得到的各目标坐标点计算该各目标坐标点的旋转角度集合。And a processing module, configured to calculate a rotation angle set of each target coordinate point according to each target coordinate point calculated by the calculation module.

结合本发明实施例的第二方面的第四种实现方式，在本发明实施例的第五种实现方式中，该控制模块包括：With reference to the fourth implementation manner of the second aspect of the embodiment of the present invention, in a fifth implementation manner of the embodiment of the present invention, the control module includes:

控制单元，用于按照该转换模块得到的该各目标坐标点以及该处理模块得到的各目标坐标点的旋转角度集合对该机器人进行控制。The control unit is configured to control the robot according to the target coordinate points obtained by the conversion module and the rotation angle set of each target coordinate point obtained by the processing module.

本发明第三方面提供一种控制设备，包括处理器和存储器，该处理器用于执行如下控制方法：A third aspect of the present invention provides a control device including a processor and a memory for performing the following control method:

确定机器人处于第一状态下的两个原始定位点；Determining two original positioning points of the robot in the first state;

使用用户工具，按照对该机器人在该第一状态下进行首次示教时相同的姿态，将该机器人切换为第二状态； Using the user tool, switching the robot to the second state in the same posture as when the robot first teaches in the first state;

确定该机器人处于该第二状态下的目标定位点，该目标定位点与该原始定位点相对应；Determining that the robot is in a target positioning point in the second state, the target positioning point corresponding to the original positioning point;

根据该原始定位点以及该目标定位点计算转换参数；Calculating a conversion parameter according to the original positioning point and the target positioning point;

根据该转换参数将该机器人处于该第一状态下的各原始坐标点转换为该机器人处于该第二状态下的各目标坐标点；Converting, according to the conversion parameter, each original coordinate point of the robot in the first state to each target coordinate point of the robot in the second state;

按照该各目标坐标点对该机器人进行控制。The robot is controlled in accordance with the target coordinate points.

本发明第四方面提供一种机器人***，包括机器人和用于控制所述机器人的控制设备，其中，所述控制设备包括：A fourth aspect of the present invention provides a robot system including a robot and a control device for controlling the robot, wherein the control device includes:

第一确定模块，用于确定机器人处于第一状态下的两个原始定位点，所述两个原始定位点位于同一平面内；a first determining module, configured to determine two original positioning points of the robot in a first state, where the two original positioning points are located in the same plane;

切换模块，用于使用用户工具，按照对所述机器人在所述第一状态下进行首次示教时相同的姿态，将所述机器人切换为第二状态；a switching module, configured to switch the robot to a second state by using a user tool in the same posture as when the robot performs the first teaching in the first state;

第二确定模块，用于确定所述机器人处于所述第二状态下的两个目标定位点，所述目标定位点与所述第一确定模块确定的所述原始定位点相对应；a second determining module, configured to determine that the robot is in two target positioning points in the second state, where the target positioning point corresponds to the original positioning point determined by the first determining module;

计算模块，用于根据所述第一确定模块确定的所述原始定位点以及所述第二确定模块确定的所述目标定位点计算转换参数；a calculation module, configured to calculate a conversion parameter according to the original positioning point determined by the first determining module and the target positioning point determined by the second determining module;

转换模块，用于根据所述计算模块计算得到的所述转换参数将所述机器人处于所述第一状态下的各原始坐标点转换为所述机器人处于所述第二状态下的各目标坐标点；a conversion module, configured to convert, according to the conversion parameter calculated by the calculation module, each original coordinate point of the robot in the first state into each target coordinate point of the robot in the second state ;

控制模块，用于按照所述转换模块转换得到的所述各目标坐标点对所述机器人进行控制。And a control module, configured to control the robot according to the target coordinate points converted by the conversion module.

在本发明实施例的第四方面的第一种实现方式中，所述机器人为六轴工业机器人。In a first implementation of the fourth aspect of the embodiments of the present invention, the robot is a six-axis industrial robot.

本发明实施例提供的技术方案中，当需要对机器人进行搬运或加工，或是工件发生变化时，机器人会从第一状态变为第二状态，此时控制设备可以使用用户工具，按照对该机器人在该第一状态下进行首次示教时相同的姿态，将该机器人切换为第二状态，由此确定第一状态下的两个原始定位点对应的第二状态下的两个目标定位点，并根据这些点确定原始工件坐标系和目标工件坐标系，并计算转换矩阵，从而使用转换矩阵确定机器人在第二状态下的各目标坐标点，由于本发明实施例无需借助专用标定工具，而可以使用用户工具进行坐标点的标定，因此可以降低用户成本和操作难度。In the technical solution provided by the embodiment of the present invention, when the robot needs to be transported or processed, or the workpiece changes, the robot changes from the first state to the second state, and the control device can use the user tool according to the The robot performs the same posture for the first teaching in the first state, and switches the robot to the second state, thereby determining two target positioning points in the second state corresponding to the two original positioning points in the first state. And determining the original workpiece coordinate system and the target workpiece coordinate system according to these points, and calculating a transformation matrix, thereby using the transformation matrix to determine the robot's target sitting in the second state Punctuation, since the embodiment of the present invention can perform calibration of coordinate points using a user tool without using a dedicated calibration tool, the user cost and operation difficulty can be reduced.

附图说明DRAWINGS

图1为本发明实施例中机器人控制方法的一个实施例示意图；1 is a schematic diagram of an embodiment of a robot control method according to an embodiment of the present invention;

图2为本发明实施例中控制设备的一个实施例示意图。FIG. 2 is a schematic diagram of an embodiment of a control device according to an embodiment of the present invention.

具体实施方式detailed description

为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is an embodiment of the invention, but not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.

本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、***、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。The terms "first", "second", "third", "fourth", etc. (if present) in the specification and claims of the present invention and the above figures are used to distinguish similar objects without having to use To describe a specific order or order. It is to be understood that the data so used may be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than what is illustrated or described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

目前机器人通常使用示教的方式进行搬运、加工等操作，一般用户在编程时很少使用专用工具进行标定，而是直接使用用户的工具进行工件的加工操作。因此程序中很少有工件坐标系，遇到机器人搬运、移动或者工件移动等情况时，常常需要重新对所有的点位进行示教。At present, robots usually use teaching methods to carry out operations such as handling and machining. Generally, users rarely use special tools for calibration during programming, but directly use the user's tools to perform workpiece machining operations. Therefore, there are very few workpiece coordinate systems in the program. When encountering robot handling, moving or moving workpieces, it is often necessary to re-teach all the points.

但是，工件坐标系的测量都是依赖于工具，必须在已知工具坐标系和工具中心点的情况下，才能够标定工件坐标系。然而一般用户很少有专用标定工具，所以增加了用户成本和操作难度。However, the measurement of the workpiece coordinate system is dependent on the tool and must be in the known tool coordinate system and tools. In the case of a center point, the workpiece coordinate system can be calibrated. However, there are few dedicated calibration tools for general users, which increases user cost and operational difficulty.

为了解决用户成本高和操作难的问题，本发明实施例提供了如下方法：当需要对机器人进行搬运或加工，或是工件发生变化时，机器人会从第一状态变为第二状态，此时控制设备可以使用用户工具，按照对所述机器人在所述第一状态下进行首次示教时相同的姿态，将所述机器人切换为第二状态，由此确定第一状态下的两个原始定位点对应的第二状态下的两个目标定位点，并根据这些点确定原始工件坐标系和目标工件坐标系，并计算转换矩阵，从而使用转换矩阵确定机器人在第二状态下的各目标坐标点，由于本发明实施例无需借助专用标定工具，而可以使用用户工具进行坐标点的标定，因此可以降低用户成本和操作难度。In order to solve the problem of high user cost and difficulty in operation, the embodiment of the present invention provides a method for changing the robot from the first state to the second state when the robot needs to be transported or processed, or when the workpiece changes. The control device may use the user tool to switch the robot to the second state in the same posture as when the robot first teaches in the first state, thereby determining two original positioning in the first state. Point corresponding two target positioning points in the second state, and determine the original workpiece coordinate system and the target workpiece coordinate system according to the points, and calculate a conversion matrix, thereby using the conversion matrix to determine each target coordinate point of the robot in the second state Since the embodiment of the present invention does not require a dedicated calibration tool, the user tool can be used to perform calibration of the coordinate points, thereby reducing user cost and operation difficulty.

为便于理解，下面对本发明实施例中的具体流程进行描述，请参阅图1，本发明实施例中机器人控制方法的一个实施例包括：For ease of understanding, the specific process in the embodiment of the present invention is described below. Referring to FIG. 1, an embodiment of the robot control method in the embodiment of the present invention includes:

101、控制设备确定机器人处于第一状态下的两个原始定位点。101. The control device determines two original positioning points of the robot in the first state.

控制设备确定机器人在第一状态下的两个原始定位点P₁、P₂且该两点的俯仰和翻滚动作应一致，并确定该两点在法兰坐标系中的坐标值。The control device determines the two original positioning points P ₁ , P _{2 of the} robot in the first state and the pitch and roll of the two points should be consistent, and determine the coordinate values of the two points in the flange coordinate system.

可选的，该原始定位点可以选择两个姿态要求较高的点，比如机器人在该点动作中需要各轴进行多次的旋转，具体情况此处不做限定。Optionally, the original positioning point may select two points with higher posture requirements. For example, the robot needs to perform multiple rotations of the axes in the point operation, and the specific situation is not limited herein.

102、控制设备使用用户工具将机器人切换为第二状态。102. The control device switches the robot to the second state using a user tool.

控制设备在机器人进行移动或者是工件位置发生变化之后，该控制设备按照对该机器人在该第一状态下进行首次示教时相同的姿态，将该机器人切换为第二状态。After the robot moves or the position of the workpiece changes, the control device switches the robot to the second state in the same posture as when the robot first teaches in the first state.

103、控制设备确定机器人处于第二状态下的目标定位点。103. The control device determines a target positioning point of the robot in the second state.

控制设备确定该机器人在第二状态下的目标定位点P₁'、P₂'，并确定该点在法兰坐标系中的坐标值以及该机器人在该点的各轴的第二旋转角度集合，同时该目标定位点与该原始定位点为相互对应的关系。The control device determines the target positioning point P ₁ ', P ₂ ' of the robot in the second state, and determines the coordinate value of the point in the flange coordinate system and the second rotation angle set of the robot at each point of the point At the same time, the target positioning point and the original positioning point are in a corresponding relationship.

104、控制设备根据原始定位点以及目标定位点计算转换参数。104. The control device calculates a conversion parameter according to the original positioning point and the target positioning point.

该控制设备确定第一原始定位点以及第二原始定位点、第一法向量、第一单位向量，该第一法向量为该第一原始定位点与该第二原始定位点转化的原始齐次矩阵中的一组相同向量，该第一单位向量为该第一原始定位点与该第二原始定位点确定的向量的单位向量。同时该控制设备确定第一目标定位点以及第二目标定位点、第二法向量、第二单位向量，该第二法向量为该第二目标定位点与该第二目标定位点转化的目标齐次矩阵中的一组相同向量，该第二单位向量为该第一目标定位点与该第二目标定位点确定的向量的单位向量。该控制设备根据第一法向量以及该第一单位向量确定第一齐次矩阵，根据该第二法向量以及该第二单位向量确定第二齐次矩阵；该控制设备根据该第一齐次矩阵以及该第二齐次矩阵按照第一关系式计算该转换矩阵。假设The control device determines a first original positioning point and a second original positioning point, a first normal vector, and a first unit vector, where the first normal vector is the original transformed by the first original positioning point and the second original positioning point A set of identical vectors in the homogeneous matrix, the first unit vector being a unit vector of the vector determined by the first original anchor point and the second original anchor point. At the same time, the control device determines a first target positioning point and a second target positioning point, a second normal vector, and a second unit vector, where the second normal vector is the target of the second target positioning point and the second target positioning point A set of identical vectors in the sub-matrix, the second unit vector being a unit vector of the vector determined by the first target anchor point and the second target anchor point. The control device determines a first homogeneous matrix according to the first normal vector and the first unit vector, and determines a second homogeneous matrix according to the second normal vector and the second unit vector; the control device is configured according to the first homogeneous matrix And the second homogeneous matrix calculates the conversion matrix according to the first relationship. Hypothesis

原始齐次矩阵为：

其中所述第一法向量为：

The original homogeneous matrix is:

Wherein the first normal vector is:

目标齐次矩阵为：

其中所述第二法向量为:

The target homogeneous matrix is:

Wherein the second normal vector is:

第一单位向量为：

The first unit vector is:

第二单位向量为：

The second unit vector is:

则得到Then get

第一齐次矩阵为：

The first homogeneous matrix is:

第二齐次矩阵为：

The second homogeneous matrix is:

其中

among them

而转换矩阵T_m＝B·A^-1。The conversion matrix T _m =B·A ^-1 .

其中，F为原始定位点转换的齐次矩阵，F'为目标定位点转换的齐次矩阵X_x，X_y，X_z，Y_x，Y_y，Y_z，Z_x，Z_y，Z_z，X₁，Y₁，以及Z₁为原始定位点转换的齐次矩阵的各向量值；X'_x，X'_y，X'_z，Y_x'，Y_y'，Y_z'，Z'_x，Z'_y，Z'_z，X₁'， Y₁'，Z₁'为目标定位点转换的齐次矩阵的各向量值；a_x，a_y，a_z为第一原始定位点与该第二原始定位点确定的向量的单位向量的向量值；b_x，b_y，b_z为该第一目标定位点与该第二目标定位点确定的向量的单位向量的向量值。Where F is the homogeneous matrix of the original anchor point transformation, and F' is the homogeneous matrix X _x , X _y , X _z , Y _x , Y _y , Y _z , Z _x , Z _y , Z _z of the target anchor point transformation , X ₁ , Y ₁ , and Z ₁ are the vector values of the homogeneous matrix of the original anchor point transformation; X' _x , X' _y , X' _z , Y _x ', Y _y ', Y _z ', Z' _x , Z' _y , Z' _z , X ₁ ', Y ₁ ', Z ₁ ' are the vector values of the homogeneous matrix of the target anchor point transformation; a _x , a _y , a _z are the first original anchor points and The vector value of the unit vector of the vector determined by the second original positioning point; b _x , b _y , b _{z is} a vector value of a unit vector of the vector determined by the first target positioning point and the second target positioning point.

105、控制设备根据转换矩阵将各原始坐标点转换各目标坐标点。105. The control device converts each original coordinate point into each target coordinate point according to the conversion matrix.

控制设备根据关系式P_n'＝T_m·P_n以及转换矩阵T_m将第一状态下的各原始坐标点转换为第二状态下的各目标坐标点。The control device converts each of the original coordinate points in the first state into the respective target coordinate points in the second state according to the relationship P _n '=T _m ·P _n and the transformation matrix T _m .

106、控制设备按照各目标坐标点对机器人进行控制。106. The control device controls the robot according to each target coordinate point.

该控制设备在得到各目标坐标点的法兰系坐标值之后，利用已知公式计算出该各目标坐标点的旋转角度集合，并根据该各目标坐标点的法兰系坐标值和该旋转角度集合对该机器人进行控制。After obtaining the flange coordinate values of the target coordinate points, the control device calculates a rotation angle set of the target coordinate points by using a known formula, and according to the flange coordinate values of the target coordinate points and the rotation angle The collection controls the robot.

为了便于理解，下面提供实际应用场景对本发明实施例提供的控制方法进行描述。For the sake of understanding, the following describes the control method provided by the embodiment of the present invention.

假设工具在P₁点的法兰坐标值为(10,10,10,-0.0866,0.1509,-1.0405)，在P₂点的法兰坐标值为(-65.69,52.47,59.68,-1.1338,0.1509,-1.0405)，工具在P₁'点的法兰坐标值为(-50,-50,0,-1.3011,-0.8748,-0.7984)，在P₂'点的法兰坐标值为(-113.7472,-112.1271,45.5717,-2.9138,-0.8748,-0.7984)，根据欧拉角转齐次矩阵得到各点的齐次矩阵如下：Assume that the flange coordinate value of the tool at point P ₁ is (10,10,10,-0.0866,0.1509,-1.0405), and the flange coordinate value at point P ₂ is (-65.69, 52.47, 59.68, -1.1338, 0.1509 , -1.0405), the flange coordinate value of the tool at P ₁ 'point is (-50, -50, 0, -1.3011, -0.8748, -0.7984), and the flange coordinate value at point P ₂ ' is (-113.7472). , -112.1271, 45.5717, -2.9138, -0.8748, -0.7984), according to the Euler angle to the homogeneous matrix to obtain the homogeneous matrix of each point is as follows:

P₁点的齐次矩阵为：

The homogeneous matrix of point P ₁ is:

P₂点的齐次矩阵为：

The homogeneous matrix of P ₂ points is:

P₁'点的齐次矩阵为：

The homogeneous matrix of the P ₁ 'point is:

P₂'点的齐次矩阵为：

The homogeneous matrix of the P ₂ 'point is:

由此对比得到第一法向量为

第二法向量为

The first normal vector is obtained by comparison

The second normal vector is

第一单位向量为

第二单位向量为

The first unit vector is

The second unit vector is

其中

among them

构建的第一齐次矩阵为

The first homogeneous matrix constructed is

构建的第二齐次矩阵为

The second homogeneous matrix constructed is

根据关系式T_m＝B·A^-1可得到

According to the relationship T _m =B·A ^-1

再根据关系式P_n'＝T_m·P_n得到P₁'点的实际法兰坐标值为(-50,-50,0,-0.8927,-0.8748,-0.7984)，P₂'点的实际法兰坐标值为(-113.7472,-112.1271,45.5717,-1.9399,-0.8748,-0.7984)。Then according to the relationship P _n '=T _m ·P _n , the actual flange coordinate value of the P ₁ ' point is (-50, -50, 0, -0.8927, -0.8748, -0.7984), and the actual P ₂ ' point The flange coordinate values are (-113.7472, -112.1271, 45.5717, -1.9399, -0.8748, -0.7984).

本发明实施例提供的技术方案中，当需要对机器人进行搬运或加工，或是工件发生变化时，机器人会从第一状态变为第二状态，此时控制设备可以使用用户工具，按照对所述机器人在所述第一状态下进行首次示教时相同的姿态，将所述机器人切换为第二状态，由此确定第一状态下的两个原始定位点对应的第二状态下的两个目标定位点，并根据这些点确定原始工件坐标系和目标工件坐标系，并计算转换矩阵，从而使用转换矩阵确定机器人在第二状态下的各目标坐标点，由于本发明实施例无需借助专用标定工具，而可以使用用户工具进行坐标点的标定，因此可以降低用户成本和操作难度。In the technical solution provided by the embodiment of the present invention, when the robot needs to be transported or processed, or the workpiece changes, the robot changes from the first state to the second state, and the control device can use the user tool according to the The robot performs the same posture in the first state when teaching for the first time, and switches the robot to the second state, thereby determining two of the second states corresponding to the two original positioning points in the first state. Target positioning points and determine the original workpiece coordinate system and target workpiece based on these points Coordinate system, and calculate the transformation matrix, so as to use the transformation matrix to determine the target coordinate points of the robot in the second state, since the embodiment of the present invention can use the user tool to perform coordinate point calibration without using a dedicated calibration tool, thereby reducing User cost and operational difficulty.

上面对本发明实施例中的机器人控制方法进行了描述，下面对本发明实施例中的控制设备进行描述，请参阅图2，本发明实施例中控制设备的一个实施例包括：The robot control method in the embodiment of the present invention is described above. The following describes the control device in the embodiment of the present invention. Referring to FIG. 2, an embodiment of the control device in the embodiment of the present invention includes:

第一确定模块201，用于确定机器人处于第一状态下的两个原始定位点；a first determining module 201, configured to determine two original positioning points of the robot in the first state;

切换模块202，用于使用用户工具，按照对该机器人在该第一状态下进行首次示教时相同的姿态，将该机器人切换为第二状态；The switching module 202 is configured to switch the robot to the second state by using a user tool in the same posture as when the robot first teaches in the first state;

第二确定模块203，用于确定该机器人处于该切换模块切换得到的该第二状态下的两个目标定位点，该目标定位点与该第一确定模块确定的该原始定位点相对应；a second determining module 203, configured to determine that the robot is in the second state in the second state obtained by the switching of the switching module, where the target positioning point corresponds to the original positioning point determined by the first determining module;

计算模块204，用于根据该第一确定模块确定的该原始定位点，该第二确定模块确定的该目标定位点计算转换参数；a calculation module 204, configured to calculate, according to the original positioning point determined by the first determining module, the target positioning point determined by the second determining module to calculate a conversion parameter;

转换模块205，用于根据该计算模块计算得到的该转换参数将该机器人处于该第一状态下的各原始坐标点转换为该机器人处于该第二状态下的各目标坐标点；The conversion module 205 is configured to convert, according to the conversion parameter calculated by the calculation module, the original coordinate points of the robot in the first state into the target coordinate points of the robot in the second state;

控制模块206，用于按照该转换模块得到的该各目标坐标点对该机器人进行控制。The control module 206 is configured to control the robot according to the target coordinate points obtained by the conversion module.

可选的，该计算模块204包括：Optionally, the calculation module 204 includes:

第二确定单元，用于根据该第一确定单元确定的该第一法向量以及该第一单位向量确定第一齐次矩阵，根据该第一确定单元确定的该第二法向量以及该第二单位向量确定第二齐次矩阵；a second determining unit, configured to determine, according to the first normal vector determined by the first determining unit and the first unit vector, a first homogeneous matrix, the second normal vector determined according to the first determining unit, and the The second unit vector determines a second homogeneous matrix;

可选的，该控制设备还包括：Optionally, the control device further includes:

处理模块207，用于根据该计算模块计算得到的各目标坐标点计算该各目标坐标点的旋转角度集合。The processing module 207 is configured to calculate a rotation angle set of each target coordinate point according to each target coordinate point calculated by the calculation module.

可选的，该控制模块206包括：Optionally, the control module 206 includes:

本发明实施例提供的技术方案中，当需要对机器人进行搬运或加工，或是工件发生变化时，机器人会从第一状态变为第二状态，此时通过切换模块202可以使用用户工具，按照对所述机器人在所述第一状态下进行首次示教时相同的姿态，将所述机器人切换为第二状态，由此第二确定模块203确定与由第一确定模块201确定得到的第一状态下的两个原始定位点对应的第二状态下的两个目标定位点，计算模块204根据第一确定模块201确定的原始定位点以及第二确定模块确定203确定的目标定位点计算转换矩阵，从而使得转换模块205利用计算模块204计算得到的转换矩阵确定机器人在第二状态下的各目标坐标点，由于本发明实施例无需借助专用标定工具，而可以使用用户工具进行坐标点的标定，因此可以降低用户成本和操作难度。In the technical solution provided by the embodiment of the present invention, when the robot needs to be transported or processed, or the workpiece changes, the robot changes from the first state to the second state. At this time, the switching module 202 can use the user tool to follow And performing the same posture when the robot performs the first teaching in the first state, switching the robot to the second state, whereby the second determining module 203 determines the first determined by the first determining module 201 The two target positioning points in the second state corresponding to the two original positioning points in the state, the calculation module 204 calculates the conversion matrix according to the original positioning point determined by the first determining module 201 and the target positioning point determined by the second determining module determining 203. Therefore, the conversion module 205 determines the target coordinate points of the robot in the second state by using the conversion matrix calculated by the calculation module 204. Since the embodiment of the present invention does not need a special calibration tool, the user tool can be used for calibration of the coordinate points. Therefore, the user cost and the operation difficulty can be reduced.

本发明还提供一种控制设备，该控制设备包括处理器和存储器，处理器和存储器可通过总线连接，该存储器存储有可执行程序，该处理器用于执行存储器存储的程序以运行如下控制方法：The present invention also provides a control device comprising a processor and a memory, the processor and the memory being connectable via a bus, the memory storing an executable program for executing a program stored in the memory to run the following control method:

使用用户工具，按照对该机器人在该第一状态下进行首次示教时相同的姿态，将该机器人切换为第二状态；Using the user tool, switching the robot to the second state in the same posture as when the robot first teaches in the first state;

根据该转换参数将该机器人处于该第一状态下的各原始坐标点转换为该机器人处于该第二状态下的各目标坐标点；Converting each original coordinate point of the robot in the first state into the conversion parameter according to the conversion parameter The robot is in each target coordinate point in the second state;

本发明还提供一种机器人***，包括机器人和用于控制所述机器人的控制设备，其中，所述控制设备可以是前述实施例所描述的控制设备，该控制设备的具体结构和运行原理可参考前述实施例的描述，在此不再赘述。The present invention also provides a robot system including a robot and a control device for controlling the robot, wherein the control device may be the control device described in the foregoing embodiment, and the specific structure and operation principle of the control device may be referred to The description of the foregoing embodiments is not described herein again.

举例来说，该机器人可以是六轴工业机器人。For example, the robot can be a six-axis industrial robot.

所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的***，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

在本申请所提供的几个实施例中，应该理解到，所揭露的***，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided by the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. , including a number of instructions to make a computer device (which can be a personal computer, a server, Or a network device or the like) performing all or part of the steps of the method of the various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

以上所述，以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。 The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the embodiments are modified, or the equivalents of the technical features are replaced by the equivalents of the technical solutions of the embodiments of the present invention.

Claims

一种机器人控制方法，其特征在于，包括：A robot control method, comprising:

确定机器人处于第一状态下的两个原始定位点，所述两个原始定位点位于同一平面内；Determining two original positioning points of the robot in the first state, the two original positioning points being in the same plane;

使用用户工具，按照对所述机器人在所述第一状态下进行首次示教时相同的姿态，将所述机器人切换为第二状态；Using the user tool, switching the robot to the second state according to the same posture when the robot performs the first teaching in the first state;

确定所述机器人处于所述第二状态下的两个目标定位点，所述目标定位点与所述原始定位点相对应；Determining that the robot is in two target positioning points in the second state, the target positioning points corresponding to the original positioning points;

根据所述原始定位点以及所述目标定位点计算转换参数；Calculating a conversion parameter according to the original positioning point and the target positioning point;

根据所述转换参数将所述机器人处于所述第一状态下的各原始坐标点转换为所述机器人处于所述第二状态下的各目标坐标点；Converting, according to the conversion parameter, each original coordinate point of the robot in the first state to each target coordinate point of the robot in the second state;

按照所述各目标坐标点对所述机器人进行控制。The robot is controlled in accordance with the respective target coordinate points.
根据权利要求1所述的机器人控制方法，其特征在于，所述原始定位点的坐标值为原始坐标值，所述原始坐标值为所述机器人处于所述第一状态下时，所述原始定位点在法兰坐标系中的坐标值；The robot control method according to claim 1, wherein the coordinate value of the original positioning point is an original coordinate value, and the original coordinate value is the original positioning when the robot is in the first state. The coordinate value of the point in the flange coordinate system;

所述目标定位点的坐标值为目标坐标值，所述目标坐标值为所述机器人处于所述第二状态下时，所述目标定位点在法兰坐标系中的坐标值。The coordinate value of the target positioning point is a target coordinate value, and the target coordinate value is a coordinate value of the target positioning point in a flange coordinate system when the robot is in the second state.
根据权利要求2所述的机器人控制方法，其特征在于，根据所述原始定位点以及所述目标定位点计算转换参数包括：The robot control method according to claim 2, wherein calculating the conversion parameters according to the original positioning point and the target positioning point comprises:

确定第一原始定位点以及第二原始定位点、第一法向量、第一单位向量，并确定第一目标定位点以及第二目标定位点、第二法向量、第二单位向量；所述第一法向量为所述第一原始定位点与所述第二原始定位点转化的原始齐次矩阵中的一组相同向量；所述第二法向量为所述第二目标定位点与所述第二目标定位点转化的目标齐次矩阵中的一组相同向量；所述第一单位向量为所述第一原始定位点与所述第二原始定位点确定的向量的单位向量；所述第二单位向量为所述第一目标定位点与所述第二目标定位点确定的向量的单位向量；Determining a first original positioning point and a second original positioning point, a first normal vector, a first unit vector, and determining a first target positioning point and a second target positioning point, a second normal vector, and a second unit vector; a normal vector is a set of the same vector in the original homogeneous matrix transformed by the first original positioning point and the second original positioning point; the second normal vector is the second target positioning point and the first a set of identical vectors in the target homogeneous matrix transformed by the two target anchor points; the first unit vector is a unit vector of the vector determined by the first original anchor point and the second original anchor point; a unit vector is a unit vector of a vector determined by the first target positioning point and the second target positioning point;

根据第一法向量以及所述第一单位向量确定第一齐次矩阵，根据所述第二法向量以及所述第二单位向量确定第二齐次矩阵；Determining, by the first normal vector and the first unit vector, a first homogeneous matrix, and determining, according to the second normal vector and the second unit vector, a second homogeneous matrix;

根据所述第一齐次矩阵以及所述第二齐次矩阵按照第一关系式计算转换矩阵。Calculating the conversion according to the first relational matrix according to the first homogeneous matrix and the second homogeneous matrix matrix.
根据权利要求3所述的机器人控制方法，其特征在于，The robot control method according to claim 3, wherein

所述第一关系式为：T_m＝B·A^-1；The first relation is: T _m =B·A ^-1 ;

所述T_m为所述转换矩阵，所述B为所述第二齐次矩阵，所述A为所述第一齐次矩阵。The T _m is the conversion matrix, the B is the second homogeneous matrix, and the A is the first homogeneous matrix.
根据权利要求1至4中任一项所述的机器人控制方法，其特征在于，根据所述转换矩阵将所述机器人处于所述第一状态下的各原始坐标点转换为所述机器人处于所述第二状态下的各目标坐标点之后，所述方法还包括：The robot control method according to any one of claims 1 to 4, wherein each of the original coordinate points of the robot in the first state is converted into the robot according to the conversion matrix After each target coordinate point in the second state, the method further includes:

根据所述各目标坐标点计算所述各目标坐标点的旋转角度集合。Calculating a rotation angle set of each of the target coordinate points according to the target coordinate points.
根据权利要求5所述的机器人控制方法，其特征在于，按照所述各目标坐标点对所述机器人进行控制包括：The robot control method according to claim 5, wherein controlling the robot according to the target coordinate points comprises:

按照所述各目标坐标点以及各目标坐标点的旋转角度集合对所述机器人进行控制。The robot is controlled according to each of the target coordinate points and the rotation angle set of each target coordinate point.
根据权利要求1至4中任一项所述的机器人控制方法，其特征在于，所述第一目标定位点与所述第二目标定位点具有相同的俯仰和翻滚姿态。The robot control method according to any one of claims 1 to 4, wherein the first target positioning point and the second target positioning point have the same pitch and roll attitude.
一种控制设备，其特征在于，包括：A control device, comprising:

第一确定模块，用于确定机器人处于第一状态下的两个原始定位点，所述两个原始定位点位于同一平面内；a first determining module, configured to determine two original positioning points of the robot in a first state, where the two original positioning points are located in the same plane;

切换模块，用于使用用户工具，按照对所述机器人在所述第一状态下进行首次示教时相同的姿态，将所述机器人切换为第二状态；a switching module, configured to switch the robot to a second state by using a user tool in the same posture as when the robot performs the first teaching in the first state;

第二确定模块，用于确定所述机器人处于所述第二状态下的两个目标定位点，所述目标定位点与所述第一确定模块确定的所述原始定位点相对应；a second determining module, configured to determine that the robot is in two target positioning points in the second state, where the target positioning point corresponds to the original positioning point determined by the first determining module;

计算模块，用于根据所述第一确定模块确定的所述原始定位点以及所述第二确定模块确定的所述目标定位点计算转换参数；a calculation module, configured to calculate a conversion parameter according to the original positioning point determined by the first determining module and the target positioning point determined by the second determining module;

转换模块，用于根据所述计算模块计算得到的所述转换参数将所述机器人处于所述第一状态下的各原始坐标点转换为所述机器人处于所述第二状态下的各目标坐标点；a conversion module, configured to convert, according to the conversion parameter calculated by the calculation module, each original coordinate point of the robot in the first state into each target coordinate point of the robot in the second state ;

控制模块，用于按照所述转换模块转换得到的所述各目标坐标点对所述机器人进行控制。And a control module, configured to control the robot according to the target coordinate points converted by the conversion module.
根据权利要求8所述的控制设备，其特征在于，所述原始定位点的坐标值为原始坐标值，所述原始坐标值为所述机器人处于所述第一状态下时，所述原始定位点在法兰坐标系中的坐标值；The control device according to claim 8, wherein said original positioning point is seated The value is the original coordinate value, and the original coordinate value is a coordinate value of the original positioning point in the flange coordinate system when the robot is in the first state;

所述目标定位点的坐标值为目标坐标值，所述目标坐标值为所述机器人处于所述第二状态下时，所述目标定位点在法兰坐标系中的坐标值。The coordinate value of the target positioning point is a target coordinate value, and the target coordinate value is a coordinate value of the target positioning point in a flange coordinate system when the robot is in the second state.
根据权利要求9所述的控制设备，其特征在于，所述计算模块包括：The control device according to claim 9, wherein the calculation module comprises:

第一确定单元，用于确定第一原始定位点以及第二原始定位点、第一法向量、第一单位向量，并确定第一目标定位点以及第二目标定位点、第二法向量、第二单位向量；所述第一法向量为所述第一原始定位点与所述第二原始定位点转化的原始齐次矩阵中的一组相同向量；所述第二法向量为所述第二目标定位点与所述第二目标定位点转化的目标齐次矩阵中的一组相同向量；所述第一单位向量为所述第一原始定位点与所述第二原始定位点确定的向量的单位向量；所述第二单位向量为所述第一目标定位点与所述第二目标定位点确定的向量的单位向量；a first determining unit, configured to determine a first original positioning point and a second original positioning point, a first normal vector, a first unit vector, and determine a first target positioning point and a second target positioning point, a second normal vector, a second unit vector; the first normal vector is a set of identical vectors in the original homogeneous matrix transformed by the first original positioning point and the second original positioning point; the second normal vector is the second a set of the same vector in the target homogeneous matrix transformed by the second target positioning point; the first unit vector is a vector determined by the first original positioning point and the second original positioning point a unit vector; the second unit vector is a unit vector of a vector determined by the first target positioning point and the second target positioning point;

第二确定单元，用于根据所述第一确定单元确定的所述第一法向量以及所述第一单位向量确定第一齐次矩阵，根据所述第一确定单元确定的所述第二法向量以及所述第二单位向量确定第二齐次矩阵；a second determining unit, configured to determine, according to the first normal vector determined by the first determining unit and the first unit vector, a first homogeneous matrix, and the second method determined according to the first determining unit a vector and the second unit vector determine a second homogeneous matrix;

计算单元，用于根据所述第二确定单元确定的所述第一齐次矩阵以及所述第二齐次矩阵按照第一关系式计算所述转换矩阵。And a calculating unit, configured to calculate the conversion matrix according to the first relationship according to the first homogeneous matrix determined by the second determining unit and the second homogeneous matrix.
根据权利要求10所述的控制设备，其特征在于，The control device according to claim 10, characterized in that

所述第一关系式为：T_m＝B·A^-1；The first relation is: T _m =B·A ^-1 ;

所述T_m为所述转换矩阵，所述B为所述第二齐次矩阵，所述A为所述第一齐次矩阵。The T _m is the conversion matrix, the B is the second homogeneous matrix, and the A is the first homogeneous matrix.
根据权利要求8至11所述的控制设备，其特征在于，所述控制设备还包括：The control device according to any one of claims 8 to 11, wherein the control device further comprises:

处理模块，用于根据所述计算模块计算得到的各目标坐标点计算所述各目标坐标点的旋转角度集合。And a processing module, configured to calculate a rotation angle set of each target coordinate point according to each target coordinate point calculated by the calculation module.
根据权利要求12所述的控制设备，其特征在于，所述控制模块包括：The control device according to claim 12, wherein the control module comprises:

控制单元，用于按照所述转换模块得到的所述各目标坐标点以及所述处理模块得到的各目标坐标点的旋转角度集合对所述机器人进行控制。And a control unit, configured to control the robot according to the target coordinate points obtained by the conversion module and a rotation angle set of each target coordinate point obtained by the processing module.
一种控制设备，其特征在于，包括： A control device, comprising:

处理器和存储器，所述处理器用于执行如下控制方法：a processor and a memory, the processor being configured to perform the following control methods:

确定机器人处于第一状态下的两个原始定位点；Determining two original positioning points of the robot in the first state;

使用用户工具，按照对所述机器人在所述第一状态下进行首次示教时相同的姿态，将所述机器人切换为第二状态；Using the user tool, switching the robot to the second state according to the same posture when the robot performs the first teaching in the first state;

确定所述机器人处于所述第二状态下的目标定位点，所述目标定位点与所述原始定位点相对应；Determining that the robot is in a target positioning point in the second state, the target positioning point corresponding to the original positioning point;

根据所述原始定位点以及所述目标定位点计算转换参数；Calculating a conversion parameter according to the original positioning point and the target positioning point;

根据所述转换参数将所述机器人处于所述第一状态下的各原始坐标点转换为所述机器人处于所述第二状态下的各目标坐标点；Converting, according to the conversion parameter, each original coordinate point of the robot in the first state to each target coordinate point of the robot in the second state;

按照所述各目标坐标点对所述机器人进行控制。The robot is controlled in accordance with the respective target coordinate points.
一种机器人***，其特征在于，包括机器人和用于控制所述机器人的控制设备，其中，所述控制设备包括：A robot system, comprising: a robot and a control device for controlling the robot, wherein the control device comprises:

第一确定模块，用于确定机器人处于第一状态下的两个原始定位点，所述两个原始定位点位于同一平面内；a first determining module, configured to determine two original positioning points of the robot in a first state, where the two original positioning points are located in the same plane;

切换模块，用于使用用户工具，按照对所述机器人在所述第一状态下进行首次示教时相同的姿态，将所述机器人切换为第二状态；a switching module, configured to switch the robot to a second state by using a user tool in the same posture as when the robot performs the first teaching in the first state;

第二确定模块，用于确定所述机器人处于所述第二状态下的两个目标定位点，所述目标定位点与所述第一确定模块确定的所述原始定位点相对应；a second determining module, configured to determine that the robot is in two target positioning points in the second state, where the target positioning point corresponds to the original positioning point determined by the first determining module;

计算模块，用于根据所述第一确定模块确定的所述原始定位点以及所述第二确定模块确定的所述目标定位点计算转换参数；a calculation module, configured to calculate a conversion parameter according to the original positioning point determined by the first determining module and the target positioning point determined by the second determining module;

转换模块，用于根据所述计算模块计算得到的所述转换参数将所述机器人处于所述第一状态下的各原始坐标点转换为所述机器人处于所述第二状态下的各目标坐标点；a conversion module, configured to convert, according to the conversion parameter calculated by the calculation module, each original coordinate point of the robot in the first state into each target coordinate point of the robot in the second state ;

控制模块，用于按照所述转换模块转换得到的所述各目标坐标点对所述机器人进行控制。And a control module, configured to control the robot according to the target coordinate points converted by the conversion module.
根据权利要求15所述的***，其特征在于，所述机器人为六轴工业机器人。 The system of claim 15 wherein said robot is a six-axis industrial robot.