WO2021062694A1 - 控制机器人的方法、装置、***、存储介质和终端 - Google Patents
控制机器人的方法、装置、***、存储介质和终端 Download PDFInfo
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- WO2021062694A1 WO2021062694A1 PCT/CN2019/109586 CN2019109586W WO2021062694A1 WO 2021062694 A1 WO2021062694 A1 WO 2021062694A1 CN 2019109586 W CN2019109586 W CN 2019109586W WO 2021062694 A1 WO2021062694 A1 WO 2021062694A1
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- robot
- tool
- path
- predetermined
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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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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36087—Edit, modify program for position errors, moving path, use conversion matrix
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49087—Adjust parameter to compensate path deviation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50391—Robot
Definitions
- This application relates to the field of robot control. Specifically, this application relates to methods, devices, systems, storage media, and terminals for controlling robots.
- Industrial robots have good repeatability and can be used for high-volume repetitive production. In common robot usage scenarios, the operator can move the industrial robot, and set the robot to reach the designated processing position, and then make the robot repeat the processing path to complete the production task.
- the absolute accuracy of industrial robots is relatively low, which may cause problems in low-volume machine applications (such as surveying, probing drilling, and precise assembly) that require high accuracy.
- Teach-in robots are usually time-consuming for low-volume applications and face problems in achieving the required accuracy, especially when the robot needs to accurately track the path to complete the task.
- Offline programming can significantly reduce the workload of robot teaching, but the path of the robot generated in this way is based on the standardized CAD model and the size of the robot, and errors are not considered in the absolute positioning. In other words, offline programming based on standardized models cannot solve the problems caused by the low absolute accuracy of industrial robots.
- the embodiments of the present application provide methods, devices, systems, storage media, and terminals for controlling robots, so as to at least solve the problem of low absolute accuracy of robots in the prior art.
- a method for controlling a robot is provided.
- the robot is provided with a tool, the tool travels along a path while being carried by the robot, and the tool has predetermined path points at multiple path points of the path.
- the method includes: at multiple path points on the path, controlling the robot according to a predetermined angle of each of the multiple joints of the robot at the path point; acquiring the robot according to the When the tool is carried along the path at a predetermined angle, the actual position and actual direction of the tool at multiple path points; according to the actual position and actual direction of the tool at multiple path points, it is determined The actual motion parameters of the robot at the path point; according to the actual motion parameters, determine whether the actual position and actual direction of the tool at multiple path points are consistent with the predetermined position and predetermined direction.
- the robot carries the tool along the path according to the preset control mode.
- the actual accuracy of the robot is low and the error is caused.
- the technical solution of the present application monitors the actual position and direction of the tool and adjusts the angle of the robot’s joints. Enables the robot to carry the tool and travel along the path accurately.
- the method further includes: obtaining predetermined positions and predetermined directions at a plurality of the waypoints of the tool traveling on the path; according to the predetermined positions and predetermined directions of the tool at each of the waypoints. Determine the predetermined motion parameter of the robot at each path point and determine the predetermined motion parameter of the robot at each path point; and determine each of the multiple joints of the robot at each path point The predetermined angle.
- the predetermined angle for controlling the joint of the robot according to a preset control method is determined according to the travel path of the tool.
- a mark is provided on the tool, and the actual position and actual direction of the tool are determined by measuring the mark by a dynamic tracking system.
- determining the motion parameters of the robot includes: acquiring the dynamic tracking system, each of the multiple joints of the robot, and the respective coordinate systems of the base of the robot; and according to the tool The relationship between the position and direction and the coordinate system is based on the inverse motion algorithm to determine the motion parameters of the robot.
- the motion parameters of the corresponding robot can be calculated according to the posture of the tool.
- the path is the path that the tool travels during the machining operation.
- a device for controlling a robot the robot is provided with a tool, the tool travels along a path while being carried by the robot, and the tool has a plurality of path points on the path A predetermined position and a predetermined direction
- the device includes: an initial control module configured to be at a plurality of path points on the path, according to a predetermined angle of each of the plurality of joints of the robot at the path point Control the robot; a tracking module configured to obtain the actual position and actual direction of the tool at multiple path points when the robot is carrying the tool along the path according to the predetermined angle;
- the actual motion parameter calculation module Is configured to determine the actual motion parameter of the robot at the path point according to the actual position and actual direction of the tool at the multiple path points;
- the adjustment angle calculation module is configured to be configured according to the actual motion parameter , Determine the actual position and actual direction of the tool at the multiple path points to coincide with the predetermined position and predetermined direction at each of the multiple joints of the robot at
- the robot carries the tool along the path according to the preset control mode.
- the actual accuracy of the robot is low and the error is caused.
- the technical solution of this application monitors the actual position and direction of the tool and adjusts the angle of the robot’s joints. Enables the robot to carry the tool and travel along the path accurately.
- the device further includes: a predetermined posture acquisition module configured to acquire predetermined positions and predetermined directions at a plurality of path points of the tool traveling on the path; predetermined motion parameter calculation Module configured to determine the predetermined motion parameter of the robot at each path point according to the predetermined position and predetermined direction of the tool at each path point; and a predetermined angle calculation module configured to determine the predetermined motion parameter of the robot at each path point according to The predetermined motion parameter determines the predetermined angle of each of the multiple joints of the robot at each of the path points.
- a predetermined posture acquisition module configured to acquire predetermined positions and predetermined directions at a plurality of path points of the tool traveling on the path
- predetermined motion parameter calculation Module configured to determine the predetermined motion parameter of the robot at each path point according to the predetermined position and predetermined direction of the tool at each path point
- a predetermined angle calculation module configured to determine the predetermined motion parameter of the robot at each path point according to The predetermined motion parameter determines the predetermined angle of each of the multiple joints of the robot at each of the path
- the predetermined angle for controlling the joint of the robot according to a preset control method is determined according to the travel path of the tool.
- a mark is provided on the tool, and the actual position and actual direction of the tool are determined by measuring the mark by a dynamic tracking system.
- determining the motion parameters of the robot includes: acquiring the dynamic tracking system, each of the multiple joints of the robot, and the respective coordinate systems of the base of the robot; and according to the tool The relationship between the position and direction and the coordinate system is based on the inverse motion algorithm to determine the motion parameters of the robot.
- the motion parameters of the corresponding robot can be calculated according to the posture of the tool.
- the path is the path that the tool travels during the machining operation.
- a system for controlling a robot the robot is provided with a tool, the tool travels along a path while being carried by the robot, and the tool has a plurality of path points on the path A predetermined position and a predetermined direction.
- the system includes: a dynamic tracking system for measuring the actual position and actual direction of the tool; and a device for controlling the robot.
- the device includes: an initial control module configured to move on the path The robot is controlled according to the predetermined angle of each of the multiple joints of the robot at the multiple path points on the path point; the tracking module is configured to obtain from the dynamic tracking system the robot according to the predetermined angle When the tool is carried along the path, the actual position and actual direction of the tool at multiple path points; the actual motion parameter calculation module is configured to be based on the actual position of the tool at multiple path points And the actual direction to determine the actual motion parameters of the robot at the path point; the adjustment angle calculation module is configured to determine the actual position and position of the tool at multiple path points based on the actual motion parameters The actual direction is the adjusted angle of each of the multiple joints of the robot at each path point that is consistent with the predetermined position and the predetermined direction; and the adjustment control module is configured to be based on the adjusted angle Control the robot to make the tool follow the path.
- the robot carries the tool along the path according to the preset control mode.
- the actual accuracy of the robot is low and the error is caused.
- the technical solution of the present application monitors the actual position and direction of the tool and adjusts the angle of the robot’s joints. Enables the robot to carry the tool and travel along the path accurately.
- the device further includes: a predetermined posture acquisition module configured to acquire predetermined positions and predetermined directions at a plurality of path points of the tool traveling on the path; predetermined motion parameter calculation Module configured to determine the predetermined motion parameter of the robot at each path point according to the predetermined position and predetermined direction of the tool at each path point; and a predetermined angle calculation module configured to determine the predetermined motion parameter of the robot at each path point according to The predetermined motion parameter determines the predetermined angle of each of the multiple joints of the robot at each of the path points.
- a predetermined posture acquisition module configured to acquire predetermined positions and predetermined directions at a plurality of path points of the tool traveling on the path
- predetermined motion parameter calculation Module configured to determine the predetermined motion parameter of the robot at each path point according to the predetermined position and predetermined direction of the tool at each path point
- a predetermined angle calculation module configured to determine the predetermined motion parameter of the robot at each path point according to The predetermined motion parameter determines the predetermined angle of each of the multiple joints of the robot at each of the path
- the predetermined angle for controlling the joint of the robot according to a preset control method is determined according to the travel path of the tool.
- a mark is provided on the tool, and the actual position and actual direction of the tool are determined by measuring the mark by a dynamic tracking system.
- a storage medium is further provided, the storage medium includes a stored program, wherein the program controls the device where the storage medium is located to execute the method according to any one of the foregoing when the program runs.
- a processor is also provided, the processor is configured to run a program, wherein the method according to any one of the above is executed when the program is running.
- a terminal including: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured Is executed by the one or more processors to perform the method according to any one of the above.
- the robot carries the tool along the path according to the preset control mode.
- the actual accuracy of the robot is low and the error is caused.
- the technical solution of this application monitors the actual position and direction of the tool and adjusts the angle of the robot’s joints. Enables the robot to carry the tool and travel along the path accurately.
- the robot carries the tool along the path based on the angle of the robot’s joints calculated according to the predetermined path, and performs real-time dynamic tracking. According to the actual posture of the tool, it is calculated that the tool can be on the path.
- Fig. 1 is a schematic diagram of controlling a robot to perform operations according to an embodiment of the present application
- Fig. 2 is a block diagram of a system for controlling a robot according to an embodiment of the present application
- Fig. 3 is a block diagram of a system for controlling a robot according to an exemplary embodiment of the present application
- Fig. 4 is a block diagram of an apparatus for controlling a robot according to an embodiment of the present application.
- Fig. 5 is a block diagram of an apparatus for controlling a robot according to an exemplary embodiment of the present application
- Fig. 6 is a flowchart of a method for controlling a robot according to an embodiment of the present application.
- Fig. 7 is a flowchart of a method of controlling a robot according to an exemplary embodiment of the present application.
- 212 a predetermined posture acquisition module
- a process, method, system, product or device that includes a series of steps or modules or units is not necessarily limited to clearly listed Instead, those steps or modules or units listed may include other steps or modules or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.
- the tools are set on the robot, where the robot is composed of multiple joints and arms, for example, and the motion of the robot’s joints can control the motion of the arm. Make the robot move with the tool.
- Fig. 1 is a schematic diagram of controlling a robot to perform operations according to an embodiment of the present application.
- a scene where the tool is used for chamfering operation is shown.
- the tool processes the workpiece along a predetermined path, thereby cutting the corners of the workpiece into a certain bevel.
- the embodiment of the present application only uses the "chamfering" operation as an example to illustrate the technical solution of the present application, and the technical solution of the present application is not limited to the chamfering operation.
- the tool 40 travels along a path (shown as a solid curve), and has different positions and directions at different path points of the path, thereby performing the chamfering operation.
- the tool 40 is provided on the robot 10. Specifically, the robot 10 is disposed on the base 104, and the tool 40 is driven to move by the movement of the plurality of joints 102, so that the tool 40 moves along a path to perform the chamfering operation.
- the arm of the robot 10 In order to move the tool 40 along the path, the arm of the robot 10 should perform a series of movements to carry the tool 40. After the path is determined, determine the angles of the multiple joints 102 of the robot 10 at each path point on the path. The change of the angles of the joints 102 of the robot drives the arm of the robot to move to keep the tool 40 on the path and face the correct direction. Direction for chamfering operation.
- the movement of the robot 10 is controlled by a device 20 for controlling the robot.
- the dynamic tracking system 30 is used to monitor the movement of the tool 40.
- a mark 42 is provided on the tool 40, and the dynamic tracking system 30 can monitor the movement of the tool 40 in a manner of monitoring the mark 42.
- the dynamic tracking system 30 sends the data obtained by the monitoring tool 40 to the device 20 for controlling the robot.
- the device 20 for controlling the robot can adjust the movement of the robot 10 according to the monitored data, so that the robot 10 can accurately carry the tool 40 along the path.
- the chamfering operation is completed with high precision.
- a system for controlling a robot is provided.
- a tool 40 is provided on the robot 10, and the tool 40 travels along a path while being carried by the robot 10, and the tool 40 has predetermined positions and predetermined directions at a plurality of path points of the path.
- Fig. 2 is a block diagram of a system for controlling a robot according to an embodiment of the present application.
- the system 1 includes: a device 20 for controlling a robot and a dynamic tracking system 30.
- the dynamic tracking system 30 is used to measure the actual position and the actual direction of the tool 40.
- the device 20 for controlling a robot includes an initial control module 202, a tracking module 204, an actual motion parameter calculation module 206, an adjustment angle calculation module 208, and an adjustment control module 210.
- the initial control module 202 is configured to control the robot 10 at a plurality of path points on the path according to a predetermined angle of each of the plurality of joints 102 of the robot 10 at the path point.
- the tracking module 204 is configured to obtain from the dynamic tracking system 30 the actual positions and actual directions of the tool 40 at multiple path points when the robot 10 carries the tool 40 along a path according to a predetermined angle. Due to the insufficient absolute accuracy of the robot 10, the actual position and actual direction of the tool 40 at multiple path points may be different from the predetermined position and the predetermined direction where the tool 40 travels along the path to complete processing.
- the actual motion parameter calculation module 206 is configured to determine the actual motion parameters of the robot 10 at the path points according to the actual positions and actual directions of the tool 40 at the multiple path points.
- the motion parameters include, for example, parameters indicating the direction and orientation of each arm (or axis) of the robot in space.
- the adjustment angle calculation module 208 is configured to determine the actual position and the actual direction of the tool 40 at the multiple path points according to the actual motion parameters to be consistent with the predetermined position and the predetermined direction at each path point of the robot 10 The adjusted angle of each joint of the plurality of joints 102.
- the adjustment control module 210 is configured to control the robot 10 to make the tool 40 travel along a path according to the adjusted angle.
- the robot 10 When the robot 10 carries the tool 40 along a path according to a preset control method, for example, when the robot 10 is controlled based on the angle of the joint 102 calculated according to the path, errors are caused due to the low actual accuracy of the robot 10 during the travel, which makes the robot 10
- the arm (or shaft) does not reach the predetermined position, and the tool 40 fails to reach the accurate processing position or face the accurate direction at the predetermined path point.
- the actual position and direction of the tool 40 are monitored, and the angle of the joint 102 of the robot 10 is adjusted according to the actual position and direction of the tool 40, so that the robot 10 can carry the tool 40 accurately along the path.
- Fig. 3 is a block diagram of a system for controlling a robot according to an exemplary embodiment of the present application.
- the device 20 in the system 1 further includes: a predetermined posture acquisition module 212, a predetermined motion parameter calculation module 214, and a predetermined angle calculation module 216.
- the predetermined posture acquisition module 212 is configured to acquire predetermined positions and predetermined directions at a plurality of path points on the path of the tool 40.
- the predetermined motion parameter calculation module 214 is configured to determine a predetermined motion parameter of the robot 10 at each path point according to a predetermined position and a predetermined direction of the tool 40 at each path point.
- the predetermined angle calculation module 216 is configured to determine the predetermined angle of each joint of the plurality of joints 102 of the robot 10 at each path point according to predetermined motion parameters. In this manner, a predetermined angle for controlling the joint 102 of the robot 10 according to a preset control method is determined according to the travel path of the tool 40. The initial movement of the robot 10 can be controlled according to a predetermined angle of the joint 102.
- a mark is provided on the tool, and the actual position and actual direction of the tool are determined by measuring the mark by a dynamic tracking system.
- the mark 42 is arranged on the tool 40.
- the dynamic tracking system 30 can capture an image of the mark 42 and measure the position and direction of the mark 42 to determine the position and direction of the tool 40. In this way, the posture of the tool 40 can be effectively measured.
- a device for controlling a robot is provided.
- Fig. 4 is a block diagram of an apparatus for controlling a robot according to an embodiment of the present application.
- the device 20 for controlling a robot includes: an initial control module 202, a tracking module 204, an actual motion parameter calculation module 206, an adjustment angle calculation module 208, and an adjustment control module 210.
- the initial control module 202 is configured to control the robot 10 at a plurality of path points on the path according to a predetermined angle of each of the plurality of joints 102 of the robot 10 at the path point.
- the tracking module 204 is configured to obtain from the dynamic tracking system 30 the actual positions and actual directions of the tool 40 at multiple path points when the robot 10 carries the tool 40 along a path according to a predetermined angle. Due to the insufficient absolute accuracy of the robot 10, the actual position and actual direction of the tool 40 at multiple path points may be different from the predetermined position and the predetermined direction where the tool 40 travels along the path to complete processing.
- the device 20 includes multiple modules, these modules can be combined with each other to form an integrated functional module, or they can be provided outside the device 20, as long as these modules can be implemented.
- the function can be.
- the initial control module 202 and the adjustment control module 210 may also be implemented by separate control modules, and the actual motion parameter calculation module 206 and the adjustment angle calculation module 208 may also be implemented by separate calculation modules.
- Fig. 5 is a block diagram of an apparatus for controlling a robot according to an exemplary embodiment of the present application.
- the device 20 further includes: a predetermined posture acquisition module 212, a predetermined motion parameter calculation module 214, and a predetermined angle calculation module 216.
- the device 20 includes multiple modules, these modules can be combined with each other to form an integrated functional module, or they can be provided outside the device 20. As long as the functions of these modules can be realized.
- the device 20 can obtain the respective coordinate systems of the dynamic tracking system 30, each of the joints 102 of the robot 10, and the base 104 of the robot 10, and according to the position and orientation of the tool 40 As well as the relationship between the coordinate systems, the motion parameters of the robot 10 are determined based on the inverse motion algorithm. In this way, the corresponding motion parameters of the robot can be calculated based on the posture of the tool 40. For example, based on a predetermined position and a predetermined direction in which the tool 40 travels on the path, the device 20 can calculate predetermined motion parameters of the robot 10. Based on the actual position and actual direction of the tool 40 traveling on the path, the device 20 can calculate the actual motion parameters of the robot 10.
- the path is a path that the tool 40 travels during a machining operation, for example, the tool 40 travels along the path to perform a chamfering operation.
- a method for controlling a robot is provided.
- Fig. 6 is a flowchart of a method for controlling a robot according to an embodiment of the present application.
- the method of controlling the movement of the robot includes: Step S101, at multiple path points on the path, according to the value of each of the multiple joints of the robot at the path point. Control the robot at a predetermined angle.
- Step S103 acquiring the actual position and actual direction of the tool at multiple path points when the robot is carrying the tool along the path according to a predetermined angle.
- Step S105 Determine the actual motion parameters of the robot at the path points according to the actual positions and actual directions of the tool at the multiple path points.
- Step S107 according to the actual motion parameters, determine each of the multiple joints of the robot at each path point that makes the actual position and actual direction of the tool at the multiple path points consistent with the predetermined position and predetermined direction.
- the adjusted angle of each joint In step S109, the robot is controlled to move the tool along the path according to the adjusted angle.
- Fig. 7 is a flowchart of a method of controlling a robot according to an exemplary embodiment of the present application.
- the method further includes: step S201, obtaining predetermined positions and predetermined directions at a plurality of path points on the path of the tool.
- Step S203 Determine the predetermined motion parameter of the robot at each path point according to the predetermined position and the predetermined direction of the tool at each path point.
- Step S205 Determine the predetermined angle of each of the multiple joints of the robot at each path point according to predetermined motion parameters.
- step 1 is first performed to define the path for completing the chamfering operation.
- a local coordinate system is established for the tool 40, and then a predetermined position and a predetermined direction (posture of the tool 40) of the coordinate system of the tool 40 can be determined along a given path.
- the predetermined position and predetermined direction of the tool 40 may be represented by a homogeneous matrix T from the coordinate system of the tool 40 to the measurement coordinate system of the dynamic tracking system 30.
- step 2 proceed to step 2 to establish a formula for the predetermined position and predetermined direction of the tool 40 installed on the robot 10.
- a measurement coordinate system is established for the dynamic tracking system 30, a basic coordinate system is established for the base 104 of the robot 10, and a local coordinate system is established at each joint 102. Then, the homogeneous matrix from the coordinate system of the tool 40 to the measurement coordinate system can be Expressed as:
- T MT T M0 T 01 T 12 T 23 T 34 T 45 T 56 T 6T .
- T M0 is a homogeneous matrix from the basic coordinate system to the measurement coordinate system
- T 6T is a homogeneous matrix from the coordinate system of the tool 40 to the local coordinate system of the last joint 102 (the end direction of the robot).
- the homogeneous matrix between two adjacent arms is the equation of the angle of the corresponding joint and the DH method motion parameter (Denavit-Hartenberg kinematic parameter):
- T i-1, i T i-1, i (p i, q i).
- T 0T is a homogeneous matrix from the coordinate system of the tool 40 to the basic coordinate system, which can be determined from the path defined in step 1.
- step 4 use the predetermined angle of the joint solved in step 3 to control the robot to move along the path, and along the path, measure the actual position and actual direction of the tool 40 at multiple path points through the dynamic tracking system 30 .
- step 5 the dynamic tracking system 30 sends the actual position and actual direction of the tool 40 to the device 20 controlling the robot.
- the dynamic tracking system 30 sends the actual position and actual direction of the tool 40 to the tracking module 204 of the device 20 that controls the robot.
- step 6 the device 20 for controlling the robot (the actual motion parameter calculation module 206) calculates the actual value of the motion parameter of the robot 10 according to the actual position and the actual direction of the tool 40.
- the actual position and actual direction of the tool 40 are measured at N path points along the path, and the actual position and actual direction of the tool 40 are expressed as a homogeneous matrix T MT,k , where k is 1.
- T MT,k a homogeneous matrix
- T MT,k T M0 T 01 T 12 T 23 T 34 T 45 T 56 T 6T (2).
- T i-1,i T i-1,i (p ai ,q i ), q i is the angle of the joint determined in step 3, and p ai is the DH motion obtained by solving equation (2) The actual value of the parameter.
- step 7 the device 20 for controlling the robot (adjustment angle calculation module 208) uses the actual value of the motion parameter obtained in step 6 to calculate the adjusted angle of the joint 102 of the robot 10 that causes the tool 40 to travel along the path.
- step 8 The device 20 for controlling the robot sends the angle of the joint obtained in step 7 to the robot 10, and uses the joint angle to control the joint 102 to move the tool 40 along the path.
- the robot may first complete the path along the path with the tool at a predetermined joint angle, and then perform the calculation of the adjusted joint angle for multiple path points on the complete path. It is also possible to make the robot carry the tool along the partial path at a predetermined joint angle, perform the calculation of the adjusted joint angle for the path points on the partial path, and adjust the joint angle when the robot travels on the entire path. As the robot travels along the path, the system that controls the robot can continuously adjust the motion of the robot by monitoring the posture of the tool to improve the accuracy of processing.
- a storage medium is further provided.
- the storage medium includes a stored program, where the program controls the device where the storage medium is located to execute the method according to any one of the foregoing when the program runs.
- a processor is further provided, and the processor is configured to run a program, wherein the method according to any one of the above is executed when the program is running.
- a terminal is also provided, including: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be configured by One or more processors execute to perform the method according to any of the above.
- the production cost can be reduced, the flexibility is improved, and it is easy to use by the robot user.
- the dynamic tracking system of the present application is relatively cheap, and the marking on the tool has better visibility compared with the laser tracker.
- the technical solution of this application does not require the user to update the motion parameters on the robot controller. Compared with updating the motion parameters directly on the robot controller, the technical solution of the present application uses a separate controller to recalculate the joint angle using the actual motion parameters, and then uses the recalculated joint angle to control the robot to complete the operation. Once the actual motion parameters are obtained, as long as the tool does not change, the values of these parameters can be used for other production tasks.
- the disclosed technical content can be implemented in other ways.
- the device embodiments described above are merely illustrative, for example, the division of the units or modules is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or modules or components. It can be combined or integrated into another system, or some features can be ignored or not implemented.
- the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, modules or units, and may be in electrical or other forms.
- the units or modules described as separate parts may or may not be physically separate, and the parts displayed as units or modules may or may not be physical units or modules, that is, they may be located in one place, or they may be distributed to Multiple network units or modules. Some or all of the units or modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
- each functional unit or module in each embodiment of the present application can be integrated into one processing unit or module, or each unit or module can exist alone physically, or two or more units or modules can be integrated into one. Unit or module.
- the above-mentioned integrated units or modules can be implemented in the form of hardware or software functional units or modules.
- the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
- the technical solution of the present application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application.
- the aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code .
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Abstract
一种控制机器人(10)的方法、装置(20)、***(1)、存储介质和终端,所述机器人上设有工具(40),工具(40)在机器人(10)的携带下沿路径行进,并且工具(40)在路径的多个路径点处具有预定的位置和预定的方向,方法包括:在路径上的多个路径点处,根据预定角度控制机器人(10);获取工具(40)的位置和实际的方向;根据工具(40)在多个路径点处的实际的位置和实际的方向,确定在路径点处机器人(10)的实际的运动参数;根据实际的运动参数,确定使工具(40)在多个路径点处的实际的位置和实际的方向与预定的位置和预定的方向一致的每个关节(102)的调整的角度;以及根据调整的角度控制机器人(10)使工具(40)沿路径行进。所述方法能够监控机器人(10)的行进路径并进行调整,使机器人(10)的运动精确。
Description
本申请涉及机器人控制领域。具体地,本申请涉及控制机器人的方法、装置、***、存储介质和终端。
工业机器人具有很好的重复性,能够用于高产量的重复生产。在常用的机器人使用场景中,操作员可以移动工业机器人,并且设置机器人到达指定的加工位置,然后,使机器人重复沿着加工的路径行进来完成生产任务。但是,与CNC设备相比,工业机器人的绝对准确性相对低,在需要高准确率的低量的机器应用(例如测量、探测钻探以及精准组装)中可能产生问题。
示教机器人对于低量的应用来说通常是耗时的,并且在实现需要的准确率时会面临问题,特别是当机器人需要精确跟踪路径来完成任务时。
线下编程能够显著降低机器人示教的工作量,但是这样生成的机器人的路径是基于标准化的CAD模型和机器人的尺寸的,而且在绝对定位中不考虑误差。换句话说,基于标准化模型的线下编程不能解决由于工业机器人的绝对正确性低所造成的问题。
发明内容
本申请实施例提供了控制机器人的方法、装置、***、存储介质和终端,以至少解决现有技术中机器人的绝对准确性低的问题。
根据本申请实施例的一个方面,提供了控制机器人的方法,该机器人上设有工具,该工具在该机器人的携带下沿路径行进,并且该工具在该路径的多个路径点处具有预定的位置和预定的方向,该方法包括:在该路径上的多个路径点处,根据在该路径点处该机器人的多个关节中的每个关节的预定角度控制该机器人;获取该机器人根据该预定角度携带该工具沿该路径行进时,该工具在多个该路径点处的实际的位置和实际的方向;根据该工具在多个该路径点处的实际的位置和实际的方向,确定在该路径点处该机器人的实际的运动参数;根据该实际的运动参数,确定使该工具在多个该路径点处的实际的位置和实际的方向与该预定的位置和预定的方向一致的在每个该路径点处该机器人的多个关节中的每个关节的调整的角度;以及根据该调整的角度控制该机 器人使该工具沿该路径行进。
以这样的方式,机器人按照预设的控制方式携带工具沿着路径行进,行进过程中由于机器人的实际精度低造成误差,本申请技术方案监控工具实际的位置和方向,调整机器人的关节的角度,使机器人能够携带工具精确地沿路径行进。
根据本申请的示例性实施例,该方法还包括:获取该工具在该路径上行进的多个该路径点处的预定的位置和预定的方向;根据该工具在每个该路径点处的预定的位置和预定的方向,确定在每个该路径点处该机器人的预定的运动参数;以及根据该预定的运动参数,确定在每个该路径点处该机器人的多个关节中的每个关节的预定角度。
以这样的方式,根据工具的行进路径确定根据预设的控制方式控制机器人的关节的预定角度。
根据本申请的示例性实施例,该工具上设置有标记,该工具的实际的位置和实际的方向是通过动态追踪***测量该标记确定的。
以这样的方式,能够有效测量工具的姿态。
根据本申请的示例性实施例,确定该机器人的运动参数包括:获取该动态追踪***、该机器人的多个关节中的每个关节和该机器人的基台各自的坐标系;以及根据该工具的位置和方向以及坐标系之间的关系,基于逆运动算法确定该机器人的运动参数。
以这样的方式,能够根据工具的姿态计算出对应的机器人的运动参数。
根据本申请的示例性实施例,该路径是该工具在加工操作时行进的路径。
以这样的方式,能够精确执行工具的加工操作。
根据本申请实施例的另一方面,还提供了控制机器人的装置,该机器人上设有工具,该工具在该机器人的携带下沿路径行进,并且该工具在该路径的多个路径点处具有预定的位置和预定的方向,该装置包括:初始控制模块,被配置为在该路径上的多个路径点处,根据在该路径点处该机器人的多个关节中的每个关节的预定角度控制该机器人;追踪模块,被配置为获取该机器人根据该预定角度携带该工具沿该路径行进时,该工具在多个该路径点处的实际的位置和实际的方向;实际运动参数计算模块,被配置为根据该工具在多个该路径点处的实际的位置和实际的方向,确定在该路径点处该机器人的实际的运动参数;调整角度计算模块,被配置为根据该实际的运动参数,确定使该工具在多个该路径点处的实际的位置和实际的方向与该预定的位置和预定的方向一致的在每个该路径点处该机器人的多个关节中的每个关节的调整的角度;以及调整控制模块,被配置为根据该调整的角度控制该机器人使该工具沿该路径行进。
以这样的方式,机器人按照预设的控制方式携带工具沿着路径行进,行进过程中由于机器人的实际精度低造成误差,本申请技术方案监控工具实际的位置和方向,调整机器人的关节的角度,使机器人能够携带工具精确地沿路径行进。
根据本申请的示例性实施例,该装置还包括:预定姿态获取模块,被配置为获取该工具在该路径上行进的多个该路径点处的预定的位置和预定的方向;预定运动参数计算模块,被配置为根据该工具在每个该路径点处的预定的位置和预定的方向,确定在每个该路径点处该机器人的预定的运动参数;以及预定角度计算模块,被配置为根据该预定的运动参数,确定在每个该路径点处该机器人的多个关节中的每个关节的预定角度。
以这样的方式,根据工具的行进路径确定根据预设的控制方式控制机器人的关节的预定角度。
根据本申请的示例性实施例,该工具上设置有标记,该工具的实际的位置和实际的方向是通过动态追踪***测量该标记确定的。
以这样的方式,能够有效测量工具的姿态。
根据本申请的示例性实施例,确定该机器人的运动参数包括:获取该动态追踪***、该机器人的多个关节中的每个关节和该机器人的基台各自的坐标系;以及根据该工具的位置和方向以及坐标系之间的关系,基于逆运动算法确定该机器人的运动参数。
以这样的方式,能够根据工具的姿态计算出对应的机器人的运动参数。
根据本申请的示例性实施例,该路径是该工具在加工操作时行进的路径。
以这样的方式,能够精确执行工具的加工操作。
根据本申请实施例的另一方面,还提供了控制机器人的***,该机器人上设有工具,该工具在该机器人的携带下沿路径行进,并且该工具在该路径的多个路径点处具有预定的位置和预定的方向,该***包括:动态追踪***,用于测量该工具的实际的位置和实际的方向;以及控制机器人的装置,该装置包括:初始控制模块,被配置为在该路径上的多个路径点处,根据在该路径点处该机器人的多个关节中的每个关节的预定角度控制该机器人;追踪模块,被配置为从该动态追踪***获取该机器人根据该预定角度携带该工具沿该路径行进时,该工具在多个该路径点处的实际的位置和实际的方向;实际运动参数计算模块,被配置为根据该工具在多个该路径点处的实际的位置和实际的方向,确定在该路径点处该机器人的实际的运动参数;调整角度计算模块,被配置为根据该实际的运动参数,确定使该工具在多个该路径点处的实际的位置和实 际的方向与该预定的位置和预定的方向一致的在每个该路径点处该机器人的多个关节中的每个关节的调整的角度;以及调整控制模块,被配置为根据该调整的角度控制该机器人使该工具沿该路径行进。
以这样的方式,机器人按照预设的控制方式携带工具沿着路径行进,行进过程中由于机器人的实际精度低造成误差,本申请技术方案监控工具实际的位置和方向,调整机器人的关节的角度,使机器人能够携带工具精确地沿路径行进。
根据本申请的示例性实施例,该装置还包括:预定姿态获取模块,被配置为获取该工具在该路径上行进的多个该路径点处的预定的位置和预定的方向;预定运动参数计算模块,被配置为根据该工具在每个该路径点处的预定的位置和预定的方向,确定在每个该路径点处该机器人的预定的运动参数;以及预定角度计算模块,被配置为根据该预定的运动参数,确定在每个该路径点处该机器人的多个关节中的每个关节的预定角度。
以这样的方式,根据工具的行进路径确定根据预设的控制方式控制机器人的关节的预定角度。
根据本申请的示例性实施例,该工具上设置有标记,该工具的实际的位置和实际的方向是通过动态追踪***测量该标记确定的。
以这样的方式,能够有效测量工具的姿态。
根据本申请实施例的另一方面,还提供了存储介质,该存储介质包括存储的程序,其中,该程序在运行时控制该存储介质所在的设备执行根据上述任一项该的方法。
根据本申请实施例的另一方面,还提供了处理器,该处理器用于运行程序,其中,该程序运行时执行根据上述任一项该的方法。
根据本申请实施例的另一方面,还提供了终端,包括:一个或多个处理器、存储器以及一个或多个程序,其中,该一个或多个程序被存储在该存储器中,并且被配置为由该一个或多个处理器执行以执行根据上述任一项该的方法。
以这样的方式,机器人按照预设的控制方式携带工具沿着路径行进,行进过程中由于机器人的实际精度低造成误差,本申请技术方案监控工具实际的位置和方向,调整机器人的关节的角度,使机器人能够携带工具精确地沿路径行进。
在本申请实施例中,提供了基于根据预定路径计算出的机器人的关节的角度控制机器人携带工具沿着路径行进,并进行实时的动态追踪,根据工具实际的姿态,计算出能够使工具在路径上保持预定的姿态的机器人的调整的关节角度,从而用调整的关 节角度控制机器人,使机器人以更加精确的方式运行的技术方案,以至少解决机器人的绝对准确度低的技术问题,实现了提高机器人操作加工设备时的准确性的技术效果。
此处所说明的附图用来提供对本申请的进一步理解,构成本申请的一部分,本申请的示意性实施例及其说明用于解释本申请,并不构成对本申请的不当限定。在附图中:
图1是根据本申请实施例的控制机器人执行操作的示意图;
图2是根据本申请实施例的控制机器人的***的框图;
图3是根据本申请示例性实施例的控制机器人的***的框图;
图4是根据本申请实施例的控制机器人的装置的框图;
图5是根据本申请示例性实施例的控制机器人的装置的框图;
图6是根据本申请实施例的控制机器人的方法的流程图;
图7是根据本申请示例性实施例的控制机器人的方法的流程图。
附图文字说明:
1:控制机器人的***;
10:机器人;
102:关节;
104:基台;
20:控制机器人的装置;
202:初始控制模块;
204:追踪模块;
206:实际运动参数计算模块;
208:调整角度计算模块;
210:调整控制模块;
212:预定姿态获取模块;
214:预定运动参数计算模块;
216:预定角度计算模块;
30:动态追踪***;
40:工具;
42:标记;
S101~S109:步骤;
S201~S205:步骤。
为了使本技术领域的人员更好地理解本申请方案,下面将结合本申请实施例中的附图,对本申请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申请一部分的实施例,而不是全部的实施例。基于本申请中的实施例,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,都应当属于本申请保护的范围。
需要说明的是,本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等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,以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。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模块或单元的过程、方法、***、产品或设备不必限于清楚地列出的那些步骤或模块或单元,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模块或单元。
在应用机器人的场景中,例如,在使用机器人携带工具用于加工的场景中,工具设置在机器人上,其中,机器人例如由多个关节和臂组成,机器人的关节的运动可以控制臂的运动从而使机器人携带工具运动。
图1是根据本申请实施例的控制机器人执行操作的示意图。在本申请实施例中示出了工具用于倒角的操作的场景。在倒角的操作中,工具沿着预定的路径加工工件,从而将工件的棱角切削成一定的斜面。应理解,本申请实施例仅利用“倒角”的操作作为示例,用于对本申请技术方案进行举例说明,本申请技术方案不限于倒角的操作。如图1所示,工具40沿着路径(以实曲线示出)行进,并且在路径的不同路径点处具 有不同的位置和方向,从而执行倒角的操作。为了使工具40运动,工具40设置在机器人10上。具体地,机器人10设置在基台104上,由多个关节102的运动驱动工具40运动,从而使工具40沿着路径运动以执行倒角的操作。
为了使工具40沿着路径运动,机器人10的臂应当执行一系列的运动以携带工具40运动。在路径确定后,确定在路径上的各个路径点处机器人10的多个关节102的角度,机器人的关节102的角度的改变带动机器人的臂进行运动使工具40保持在路径上,并朝向正确的方向以进行倒角的操作。机器人10的运动是通过控制机器人的装置20控制的。
此外,动态追踪***30用于监控工具40的运动。工具40上设置有标记42,动态追踪***30能够以监控标记42的方式监控工具40的运动。动态追踪***30将监控工具40得到的数据发送给控制机器人的装置20,控制机器人的装置20能够根据监控得到的数据调整机器人10的运动,从而使机器人10能够精确地携带工具40沿着路径运动从而以高精度完成倒角的操作。
根据本申请实施例,提供了控制机器人的***。如图1所示,机器人10上设有工具40,工具40在机器人10的携带下沿路径行进,并且工具40在路径的多个路径点处具有预定的位置和预定的方向。图2是根据本申请实施例的控制机器人的***的框图。如图2所示,***1包括:控制机器人的装置20和动态追踪***30。
动态追踪***30用于测量工具40的实际的位置和实际的方向。控制机器人的装置20包括:初始控制模块202、追踪模块204、实际运动参数计算模块206、调整角度计算模块208以及调整控制模块210。
初始控制模块202被配置为在路径上的多个路径点处,根据在路径点处机器人10的多个关节102中的每个关节的预定角度控制机器人10。追踪模块204被配置为从动态追踪***30获取机器人10根据预定角度携带工具40沿路径行进时,工具40在多个路径点处的实际的位置和实际的方向。由于机器人10的绝对精确度不足,工具40在多个路径点处的实际的位置和实际的方向可能与工具40沿着路径行进以完成加工的预定的位置和预定的方向不同。实际运动参数计算模块206被配置为根据工具40在多个路径点处的实际的位置和实际的方向,确定在路径点处机器人10的实际的运动参数。运动参数例如包括表示机器人的各个臂(或轴)在空间中的方向、方位的参数。调整角度计算模块208被配置为根据实际的运动参数,确定使工具40在多个路径点处的实际的位置和实际的方向与预定的位置和预定的方向一致的在每个路径点处机器人10的多个关节102中的每个关节的调整的角度。调整控制模块210被配置为根据调整的角度控制机器人10使工具40沿路径行进。
当机器人10按照预设的控制方式携带工具40沿着路径行进,例如基于根据路径计算的关节102的角度控制机器人10时,在行进过程中由于机器人10的实际精度低造成误差,使得机器人10的臂(或轴)没有到达预定位置,工具40在预定路径点处未能到达准确的加工位置、未能朝向准确的方向。本申请技术方案中监控工具40实际的位置和方向,根据工具40实际的位置和方向调整机器人10的关节102的角度,使机器人10能够携带工具40精确地沿路径行进。
图3是根据本申请示例性实施例的控制机器人的***的框图。根据本申请的示例性实施例,***1中的装置20还包括:预定姿态获取模块212、预定运动参数计算模块214和预定角度计算模块216。
预定姿态获取模块212被配置为获取工具40在路径上行进的多个路径点处的预定的位置和预定的方向。预定运动参数计算模块214被配置为根据工具40在每个路径点处的预定的位置和预定的方向,确定在每个路径点处机器人10的预定的运动参数。预定角度计算模块216被配置为根据预定的运动参数,确定在每个路径点处机器人10的多个关节102中的每个关节的预定角度。以这样的方式,根据工具40的行进路径确定根据预设的控制方式控制机器人10的关节102的预定角度。机器人10的最初的运动可以根据关节102的预定角度来控制。
根据本申请的示例性实施例,工具上设置有标记,工具的实际的位置和实际的方向是通过动态追踪***测量标记确定的。如图1所示,标记42设置在工具40上,动态追踪***30能够捕捉标记42的图像,并测量标记42的位置和方向,从而确定工具40的位置和方向。以这样的方式,能够有效测量工具40的姿态。
根据本申请实施例,提供了控制机器人的装置。图4是根据本申请实施例的控制机器人的装置的框图。如图4所示,控制机器人的装置20包括:初始控制模块202、追踪模块204、实际运动参数计算模块206、调整角度计算模块208以及调整控制模块210。
初始控制模块202被配置为在路径上的多个路径点处,根据在路径点处机器人10的多个关节102中的每个关节的预定角度控制机器人10。追踪模块204被配置为从动态追踪***30获取机器人10根据预定角度携带工具40沿路径行进时,工具40在多个路径点处的实际的位置和实际的方向。由于机器人10的绝对精确度不够,工具40在多个路径点处的实际的位置和实际的方向可能与工具40沿着路径行进以完成加工的预定的位置和预定的方向不同。实际运动参数计算模块206被配置为根据工具40在多个路径点处的实际的位置和实际的方向,确定在路径点处机器人10的实际的运动参数。运动参数例如包括表示机器人的各个臂(或轴)在空间中的方向、方位的参数。 调整角度计算模块208被配置为根据实际的运动参数,确定使工具40在多个路径点处的实际的位置和实际的方向与预定的位置和预定的方向一致的在每个路径点处机器人10的多个关节102中的每个关节的调整的角度。调整控制模块210被配置为根据调整的角度控制机器人10使工具40沿路径行进。
本领域技术人员应理解,虽然本申请实施例中示出了装置20包括多个模块,但是,这些模块可以互相结合为集成的功能模块,也可以设置在装置20之外,只要能够实现这些模块的功能即可。例如,初始控制模块202和调整控制模块210也可以由单独的控制模块来实现,实际运动参数计算模块206和调整角度计算模块208也可以由单独的计算模块来实现。
图5是根据本申请示例性实施例的控制机器人的装置的框图。根据本申请的示例性实施例,装置20还包括:预定姿态获取模块212、预定运动参数计算模块214和预定角度计算模块216。
预定姿态获取模块212被配置为获取工具40在路径上行进的多个路径点处的预定的位置和预定的方向。预定运动参数计算模块214被配置为根据工具40在每个路径点处的预定的位置和预定的方向,确定在每个路径点处机器人10的预定的运动参数。预定角度计算模块216被配置为根据预定的运动参数,确定在每个路径点处机器人10的多个关节102中的每个关节的预定角度。以这样的方式,根据工具40的行进路径确定根据预设的控制方式控制机器人10的关节102的预定角度。机器人10的最初的运动可以根据关节102的预定角度来控制。
与上文相同,本领域技术人员应理解,虽然本申请实施例中示出了装置20包括多个模块,但是,这些模块可以互相结合为集成的功能模块,也可以设置在装置20之外,只要能够实现这些模块的功能即可。
根据本申请的示例性实施例,装置20能够获取动态追踪***30、机器人10的多个关节102中的每个关节和机器人10的基台104各自的坐标系,以及根据工具40的位置和方向以及坐标系之间的关系,基于逆运动算法确定机器人10的运动参数。以这样的方式,能够根据工具40的姿态计算出对应的机器人的运动参数。例如,基于工具40在路径上行进的预定位置和预定方向,装置20能够计算出机器人10的预定的运动参数。而基于工具40在路径上行进的实际位置和实际方向,装置20能够计算出机器人10的实际的运动参数。
根据本申请的示例性实施例,路径是工具40在加工操作时行进的路径,例如,工具40沿着路径行进以进行倒角的操作。
根据本申请实施例,提供了控制机器人的方法。图6是根据本申请实施例的控制机器人的方法的流程图。如图6所示,在图1所示的场景中控制机器人运动,方法包括:步骤S101,在路径上的多个路径点处,根据在路径点处机器人的多个关节中的每个关节的预定角度控制机器人。步骤S103,获取机器人根据预定角度携带工具沿路径行进时,工具在多个路径点处的实际的位置和实际的方向。步骤S105,根据工具在多个路径点处的实际的位置和实际的方向,确定在路径点处机器人的实际的运动参数。步骤S107,根据实际的运动参数,确定使工具在多个路径点处的实际的位置和实际的方向与预定的位置和预定的方向一致的在每个路径点处机器人的多个关节中的每个关节的调整的角度。步骤S109,根据调整的角度控制机器人使工具沿路径行进。
图7是根据本申请示例性实施例的控制机器人的方法的流程图。根据本申请的示例性实施例,方法还包括:步骤S201,获取工具在路径上行进的多个路径点处的预定的位置和预定的方向。步骤S203,根据工具在每个路径点处的预定的位置和预定的方向,确定在每个路径点处机器人的预定的运动参数。步骤S205,根据预定的运动参数,确定在每个路径点处机器人的多个关节中的每个关节的预定角度。
例如,在图1所示的场景中,为了使工具40精确完成倒角的操作,首先执行步骤1,限定完成倒角操作的路径。为工具40建立局部坐标系,然后可以沿着给定的路径确定工具40的坐标系的预定的位置和预定的方向(工具40的姿态)。工具40的预定的位置和预定的方向可以通过从工具40的坐标系到动态追踪***30的测量坐标系的齐次矩阵T来表示。
接下来进行步骤2,为安装在机器人10上的工具40的预定的位置和预定的方向建立公式。为动态追踪***30建立测量坐标系,为机器人10的基台104建立基础坐标系,在每个关节102处建立局部坐标系,然后,从工具40的坐标系到测量坐标系的齐次矩阵可以表示为:
T
MT=T
M0T
01T
12T
23T
34T
45T
56T
6T。
其中,T
M0是从基础坐标系到测量坐标系的齐次矩阵,T
6T是从工具40的坐标系到最后的关节102(机器人的端部方向)的局部坐标系的齐次矩阵。两个临近的臂之间的齐次矩阵是相应的关节的角度和DH法运动参数(Denavit-Hartenberg kinematic parameter)的方程:
T
i-1,i=T
i-1,i(p
i,q
i)。
其中,q
i是第i个关节102的角度,i为1到6的整数,向量p
i=[α
i,d
i,a
i,Θ
i]表示第i个关节102的DH法运动参数。
接下来进行步骤3,获取机器人10的关节102的预定的角度,以使工具40沿着步骤1中获取的路径根据DH法运动参数的标称值移动。预定的角度通过解下面的关于逆运动算法的方程获得:
T
0T=T
01T
12T
23T
34T
45T
56T
6T……………………(1)。
其中,T
0T是从工具40的坐标系到基础坐标系的齐次矩阵,可以从步骤1中限定的路径确定。DH法运动参数p
ni的标称值用于计算矩阵T
i-1,i,例如:T
i-1,i=T
i-1,i(p
ni,q
i)。然后,根据方程(1)求解关节的角度q
i。
然后进行步骤4,利用步骤3中解出的关节的预定的角度控制机器人沿着路径移动,并沿着路径,通过动态追踪***30测量多个路径点处工具40的实际的位置和实际的方向。
在步骤5,动态追踪***30发送工具40的实际的位置和实际的方向到控制机器人的装置20。例如,动态追踪***30发送工具40的实际的位置和实际的方向到控制机器人的装置20的追踪模块204。
接下来在步骤6,控制机器人的装置20(实际运动参数计算模块206)根据工具40的实际的位置和实际的方向计算机器人10的运动参数的实际值。为此,在沿着路径的N个路径点处测量工具40的实际的位置和实际的方向,工具40的实际的位置和实际的方向表示为齐次矩阵T
MT,k,其中,k为1至N的整数,然后可以建立下面的方程:
T
MT,k=T
M0T
01T
12T
23T
34T
45T
56T
6T……………………(2)。
其中,T
i-1,i=T
i-1,i(p
ai,q
i),q
i是从步骤3中确定的关节的角度,p
ai是从方程(2)求解得到的DH法运动参数实际值。
接下来进行步骤7,控制机器人的装置20(调整角度计算模块208)使用步骤6中获得的运动参数的实际值,计算使工具40沿着路径行进的机器人10的关节102的调整的角度。为此,使用计算T
i-1,i(例如:T
i-1,i=T
i-1,i(p
ai,q
i))的DH法运动参数的实际值从方程(1)求解得出关节的角度q
i。
接下来进行步骤8,控制机器人的装置20发送步骤7中得出关节的角度到机器人10,使用该关节角度控制关节102,使工具40沿着路径移动。
在如上的根据本申请示例性实施例的方法中,可以首先使机器人按照预定的关节角度携带工具沿着路径完整行进一次,然后对完整路径上的多个路径点执行调整的关节的角度的计算,也可以使机器人按照预定的关节角度携带工具沿着部分路径行进,并对部分路径上的路径点执行调整的关节的角度的计算,并调整机器人在整条路径上 行进时的关节的角度。随着机器人沿着路径行进,控制机器人的***通过监控工具的姿态,能够不断调整机器人的运动,提高加工的准确性。
此外,根据本申请实施例的另一方面,还提供了存储介质,存储介质包括存储的程序,其中,程序在运行时控制存储介质所在的设备执行根据上述任一项的方法。根据本申请实施例的另一方面,还提供了处理器,处理器用于运行程序,其中,程序运行时执行根据上述任一项的方法。根据本申请实施例的另一方面,还提供了终端,包括:一个或多个处理器、存储器以及一个或多个程序,其中,一个或多个程序被存储在存储器中,并且被配置为由一个或多个处理器执行以执行根据上述任一项的方法。
采用本申请技术方案,可以降低生产的成本,提高灵活性,并且易于机器人的用户使用。本申请的动态追踪***相对便宜,并且工具上的标记与激光追踪器相比具有更好的能见性。本申请技术方案不需要用户更新机器人控制器上的运动参数。与直接在机器人控制器上更新运动参数相比,本申请技术方案利用单独的控制器,使用实际的运动参数重新计算关节角度,然后使用重新计算的关节角度控制机器人以完成操作。一旦获得了实际的运动参数,只要工具不改变,可以使用这些参数的值用于其他生产任务。
在本申请的上述实施例中,对各个实施例的描述都各有侧重,某个实施例中没有详述的部分,可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中,应该理解到,所揭露的技术内容,可通过其它的方式实现。其中,以上所描述的装置实施例仅仅是示意性的,例如所述单元或模块的划分,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,例如多个单元或模块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,模块或单元的间接耦合或通信连接,可以是电性或其它的形式。
所述作为分离部件说明的单元或模块可以是或者也可以不是物理上分开的,作为单元或模块显示的部件可以是或者也可以不是物理单元或模块,即可以位于一个地方,或者也可以分布到多个网络单元或模块上。可以根据实际的需要选择其中的部分或者全部单元或模块来实现本实施例方案的目的。
另外,在本申请各个实施例中的各功能单元或模块可以集成在一个处理单元或模块中,也可以是各个单元或模块单独物理存在,也可以两个或两个以上单元或模块集成在一个单元或模块中。上述集成的单元或模块既可以采用硬件的形式实现,也可以采用软件功能单元或模块的形式实现。
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,本申请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(可为个人计算机、服务器或者网络设备等)执行本申请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、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅是本申请的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本申请原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也应视为本申请的保护范围。
Claims (16)
- 控制机器人(10)的方法,其特征在于,所述机器人(10)上设有工具(40),所述工具(40)在所述机器人(10)的携带下沿路径行进,并且所述工具(40)在所述路径的多个路径点处具有预定的位置和预定的方向,所述方法包括:在所述路径上的多个路径点处,根据在所述路径点处所述机器人(10)的多个关节(102)中的每个关节(102)的预定角度控制所述机器人(10);获取所述机器人(10)根据所述预定角度携带所述工具(40)沿所述路径行进时,所述工具(40)在多个所述路径点处的实际的位置和实际的方向;根据所述工具(40)在多个所述路径点处的实际的位置和实际的方向,确定在所述路径点处所述机器人(10)的实际的运动参数;根据所述实际的运动参数,确定使所述工具(40)在多个所述路径点处的实际的位置和实际的方向与所述预定的位置和预定的方向一致的在每个所述路径点处所述机器人(10)的多个关节(102)中的每个关节(102)的调整的角度;以及根据所述调整的角度控制所述机器人(10)使所述工具(40)沿所述路径行进。
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:获取所述工具(40)在所述路径上行进的多个所述路径点处的预定的位置和预定的方向;根据所述工具(40)在每个所述路径点处的预定的位置和预定的方向,确定在每个所述路径点处所述机器人(10)的预定的运动参数;以及根据所述预定的运动参数,确定在每个所述路径点处所述机器人(10)的多个关节(102)中的每个关节(102)的预定角度。
- 根据权利要求1或2所述的方法,其特征在于,所述工具(40)上设置有标记(42),所述工具(40)的实际的位置和实际的方向是通过动态追踪***(30)测量所述标记(42)确定的。
- 根据权利要求3所述的方法,其特征在于,确定所述机器人(10)的运动参数包括:获取所述动态追踪***(30)、所述机器人(10)的多个关节(102)中的每个关节(102)和所述机器人(10)的基台(104)各自的坐标系;以及根据所述工具(40)的位置和方向以及坐标系之间的关系,基于逆运动算法确定所述机器人(10)的运动参数。
- 根据权利要求1或2所述的方法,其特征在于,所述路径是所述工具(40)在加工操作时行进的路径。
- 控制机器人(10)的装置(20),其特征在于,所述机器人(10)上设有工具(40),所述工具(40)在所述机器人(10)的携带下沿路径行进,并且所述工具(40)在所述路径的多个路径点处具有预定的位置和预定的方向,所述装置(20)包括:初始控制模块(202),被配置为在所述路径上的多个路径点处,根据在所述路径点处所述机器人(10)的多个关节(102)中的每个关节(102)的预定角度控制所述机器人(10);追踪模块(204),被配置为获取所述机器人(10)根据所述预定角度携带所述工具(40)沿所述路径行进时,所述工具(40)在多个所述路径点处的实际的位置和实际的方向;实际运动参数计算模块(206),被配置为根据所述工具(40)在多个所述路径点处的实际的位置和实际的方向,确定在所述路径点处所述机器人(10)的实际的运动参数;调整角度计算模块(208),被配置为根据所述实际的运动参数,确定使所述工具(40)在多个所述路径点处的实际的位置和实际的方向与所述预定的位置和预定的方向一致的在每个所述路径点处所述机器人(10)的多个关节(102)中的每个关节(102)的调整的角度;以及调整控制模块(210),被配置为根据所述调整的角度控制所述机器人(10)使所述工具(40)沿所述路径行进。
- 根据权利要求6所述的装置(20),其特征在于,所述装置(20)还包括:预定姿态获取模块(212),被配置为获取所述工具(40)在所述路径上行进的多个所述路径点处的预定的位置和预定的方向;预定运动参数计算模块(214),被配置为根据所述工具(40)在每个所述路径点处的预定的位置和预定的方向,确定在每个所述路径点处所述机器人(10) 的预定的运动参数;以及预定角度计算模块(216),被配置为根据所述预定的运动参数,确定在每个所述路径点处所述机器人(10)的多个关节(102)中的每个关节(102)的预定角度。
- 根据权利要求6或7所述的装置(20),其特征在于,所述工具(40)上设置有标记(42),所述工具(40)的实际的位置和实际的方向是通过动态追踪***(30)测量所述标记(42)确定的。
- 根据权利要求8所述的装置(20),其特征在于,确定所述机器人(10)的运动参数包括:获取所述动态追踪***(30)、所述机器人(10)的多个关节(102)中的每个关节(102)和所述机器人(10)的基台(104)各自的坐标系;以及根据所述工具(40)的位置和方向以及坐标系之间的关系,基于逆运动算法确定所述机器人(10)的运动参数。
- 根据权利要求6或7所述的装置(20),其特征在于,所述路径是所述工具(40)在加工操作时行进的路径。
- 控制机器人的***(1),其特征在于,所述机器人(10)上设有工具(40),所述工具(40)在所述机器人(10)的携带下沿路径行进,并且所述工具(40)在所述路径的多个路径点处具有预定的位置和预定的方向,所述***(1)包括:动态追踪***(30),用于测量所述工具(40)的实际的位置和实际的方向;以及控制机器人的装置(20),所述装置(20)包括:初始控制模块(202),被配置为在所述路径上的多个路径点处,根据在所述路径点处所述机器人(10)的多个关节(102)中的每个关节(102)的预定角度控制所述机器人(10);追踪模块(204),被配置为从所述动态追踪***(30)获取所述机器人(10)根据所述预定角度携带所述工具(40)沿所述路径行进时,所述工具(40)在多个所述路径点处的实际的位置和实际的方向;实际运动参数计算模块(206),被配置为根据所述工具(40)在多个所述路径点处的实际的位置和实际的方向,确定在所述路径点处所述机器人(10)的实 际的运动参数;调整角度计算模块(208),被配置为根据所述实际的运动参数,确定使所述工具(40)在多个所述路径点处的实际的位置和实际的方向与所述预定的位置和预定的方向一致的在每个所述路径点处所述机器人(10)的多个关节(102)中的每个关节(102)的调整的角度;以及调整控制模块(210),被配置为根据所述调整的角度控制所述机器人(10)使所述工具(40)沿所述路径行进。
- 根据权利要求11所述的***(1),其特征在于,所述装置(20)还包括:预定姿态获取模块(212),被配置为获取所述工具(40)在所述路径上行进的多个所述路径点处的预定的位置和预定的方向;预定运动参数计算模块(214),被配置为根据所述工具(40)在每个所述路径点处的预定的位置和预定的方向,确定在每个所述路径点处所述机器人(10)的预定的运动参数;以及预定角度计算模块(216),被配置为根据所述预定的运动参数,确定在每个所述路径点处所述机器人(10)的多个关节(102)中的每个关节(102)的预定角度。
- 根据权利要求11或12所述的***(1),其特征在于,所述工具(40)上设置有标记(42),所述工具(40)的实际的位置和实际的方向是通过动态追踪***(30)测量所述标记(42)确定的。
- 存储介质,其特征在于,所述存储介质包括存储的程序,其中,所述程序在运行时控制所述存储介质所在的设备执行根据权利要求1至5中任一项所述的方法。
- 处理器,其特征在于,所述处理器用于运行程序,其中,所述程序运行时执行根据权利要求1至5中任一项所述的方法。
- 终端,包括:一个或多个处理器、存储器以及一个或多个程序,其中,所述一个或多个程序被存储在所述存储器中,并且被配置为由所述一个或多个处理器执行以执行根据权利要求1至5中任一项所述的方法。
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