CN110394798A - A kind of robot movement-control system angle sensor based and method - Google Patents
A kind of robot movement-control system angle sensor based and method Download PDFInfo
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- CN110394798A CN110394798A CN201910561586.1A CN201910561586A CN110394798A CN 110394798 A CN110394798 A CN 110394798A CN 201910561586 A CN201910561586 A CN 201910561586A CN 110394798 A CN110394798 A CN 110394798A
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- 238000009434 installation Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention discloses a kind of robot movement-control system angle sensor based and methods, wherein system includes controller and robot, the robot includes multiple movable joints being sequentially connected, the movable joint is equipped with angular transducer, and the controller is connect with movable joint and angle sensor respectively；The angular transducer is for acquiring corresponding movable joint mutually in the first rotational angle to ground, the controller is for after calculating each movable joint relative to the second rotational angle of previous movable joint according to the first rotational angle, the third rotational angle of each movable joint rotation is calculated in conjunction with the initial angle of the second rotational angle and each movable joint, and the motion state of each movable joint is controlled according to third rotational angle.Present invention setting angle sensor on movable joint, and the rotational angle of each movable joint of robot is calculated according to the angle information that angular transducer acquires, cost is greatly reduced, can be widely applied to robot control field.
Description
Technical field
The present invention relates to robot control field more particularly to a kind of motion planning and robot control systems angle sensor based
System and method.
Background technique
Currently, robot in industrial circle using more and more extensive, and be increasingly used in education sector.To machine
The control of device people mainly uses position control mode, needs to know each joint of robot when carrying out position control to robot
Angle of rotation angle value, therefore how to obtain each articulation angle value of robot and become as a goal in research.
Motor is mainly recorded by the encoder of motor for the acquisition of each articulation angle value of robot at present
Rotational angle, and fed back angle of rotation angle value to controller by driver, but this method needs to increase encoder, and compile
Code device repairs highly difficult once damage, while increasing encoder and making machine construction more complicated, and increased considerably at
The weight of this and robot.When mechanical arm installation on a mobile platform when, the mobile meeting of mobile platform so that robot pedestal
Inclination is generated, so that mechanical arm tail end can not be accurately positioned, error can be generated at work.
Summary of the invention
In order to solve the above-mentioned technical problem, the object of the present invention is to provide one kind to be based on angular transducer, and according to angle
The control system and method for the rotational angle control robot of sensor acquisition.
First technical solution of the present invention is:
A kind of robot movement-control system angle sensor based, including controller and robot, the robot
Including multiple movable joints being sequentially connected, the movable joint is equipped with angular transducer, the controller respectively with movement
Joint is connected with angle sensor；
The angular transducer is for acquiring corresponding movable joint mutually in the first rotational angle to ground, and by first
Rotational angle is sent to controller；
The controller is used to calculate second of each movable joint relative to previous movable joint according to the first rotational angle
After rotational angle, the third rotation of each movable joint rotation is calculated in conjunction with the initial angle of the second rotational angle and each movable joint
Angle, and control according to third rotational angle the motion state of each movable joint.
Further, the machine artificial four axis robot.
Further, the movable joint includes driving motor and mechanical arm, and four mechanical arms join end to end, the angle
Sensor is installed on the robotic arm.
Further, the angular transducer and mechanical arm keeping parallelism.
Further, the robot further includes pedestal, and the robot is mounted on the base orientation and sets, the controller peace
Mounted in pedestal lower position, angular transducer also is provided on the pedestal, the angular transducer is connect with controller.
Second technical solution of the present invention is:
A kind of motion planning and robot control method angle sensor based, comprising the following steps:
Each movable joint is obtained mutually in the first rotational angle to ground；
Second rotational angle of each movable joint relative to previous movable joint is calculated according to the first rotational angle；
The third angle of rotation of each movable joint rotation is calculated in conjunction with the initial angle of the second rotational angle and each movable joint
It spends, and controls the motion state of each movable joint according to third rotational angle.
Further, the initial angle of second rotational angle of combination and each movable joint calculates each movable joint rotation
Third rotational angle, and the step for control the motion state of each movable joint according to third rotational angle, it specifically includes following
Step:
The angle value that each movable joint needs to rotate is calculated according to the target position of preset robot；
The third that each movable joint rotation is successively calculated in conjunction with the initial angle of the second rotational angle and each movable joint turns
Dynamic angle, and combination angle value and third rotational angle control the motion state of each movable joint.
Further, the step for combination angle value and third rotational angle control the motion state of each movable joint,
Specifically:
Successively judge whether the third rotational angle of each movable joint is equal to angle value, stops if so, controlling the driving motor
Only work；Conversely, control driving motor works on, until third rotational angle is equal to angle value.
Further, robot includes that the first movable joint, the second movable joint, third movable joint and the 4th movement are closed
Section；
It is described that each movable joint is calculated relative to preceding according to the first rotational angle when movable joint is the second movable joint
Second rotational angle of one movable joint, the step for specifically:
Preset angle threshold is subtracted to the first rotational angle of the second movable joint, the angle of acquisition is as the second movement
Second rotational angle in joint；
It is described that each movable joint is calculated relative to preceding according to the first rotational angle when movable joint is third movable joint
Second rotational angle of one movable joint, the step for specifically:
After first rotational angle of third movable joint is added preset angle threshold, then subtract the second movable joint
First rotational angle, second rotational angle of the angle of acquisition as third movable joint；
It is described that each movable joint is calculated relative to preceding according to the first rotational angle when movable joint is four movable joint
Second rotational angle of one movable joint, the step for specifically:
First rotational angle of the 4th movable joint is subtracted to the first rotational angle of third movable joint, the angle of acquisition
The second rotational angle as the 4th movable joint.
Further, further comprising the steps of:
The first rotational angle of the angular transducer acquisition of pedestal is obtained, and pedestal inclination is calculated according to the first rotational angle
Degree, and operation is corrected according to pedestal gradient.
The beneficial effects of the present invention are: the present invention is passed by the setting angle sensor on movable joint, and according to angle
The rotational angle of each movable joint of robot is calculated in the angle information of sensor acquisition, eliminates and installs coding in each shutdown
Device, so that structure is simpler, also more convenient maintenance, greatly reduces cost.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of robot movement-control system angle sensor based of the present invention；
Fig. 2 is a kind of step flow chart of motion planning and robot control method angle sensor based of the present invention；
Fig. 3 is that a kind of structure of robot movement-control system angle sensor based is shown in the specific embodiment of the invention
It is intended to；
The step of Fig. 4 is a kind of motion planning and robot control method angle sensor based in specific embodiment of the invention stream
Cheng Yitu.
Specific embodiment
As shown in Figure 1, present embodiments providing a kind of robot movement-control system angle sensor based, including control
Device and robot processed, the robot include multiple movable joints being sequentially connected, and the movable joint is equipped with angle sensor
Device, the controller are connect with movable joint and angle sensor respectively；
The angular transducer is for acquiring corresponding movable joint mutually in the first rotational angle to ground, and by first
Rotational angle is sent to controller；
The controller is used to calculate second of each movable joint relative to previous movable joint according to the first rotational angle
After rotational angle, the third rotation of each movable joint rotation is calculated in conjunction with the initial angle of the second rotational angle and each movable joint
Angle, and control according to third rotational angle the motion state of each movable joint.
The present embodiment provides it is a kind of it is angle sensor based obtain each movable joint angle of rotation angle value of robot be
System, respectively installs one piece of angular transducer, angular transducer will be measured and currently be closed at each movable joint of robot
The rotational angle (the i.e. first rotation angle) relative to ground is saved, measurement is obtained into angle of rotation angle value feedback to controller, controller
The angle of rotation angle value that angular transducer measurement obtains can be converted into currently closing by calculating according to the shape and structure of robot
The angle of rotation angle value in relatively previous joint is saved, then subtracts the initial angle of each movable joint, to obtain each joint of robot
Rotational angle, so as to robot carry out position control.Machine is calculated according to the angle information that angular transducer acquires
The rotational angle of each movable joint of people eliminates and installs encoder in each shutdown, so that structure is simpler, it is also more convenient
Maintenance, greatly reduces cost.Wherein, in Fig. 1, movable joint 1 represents first movable joint, and movable joint 2 represents second
A movable joint, movable joint n represent n-th of movable joint；Similarly, angular transducer 1 represents first angular transducer, angle
Degree sensor 2 represents second angular transducer, and angular transducer n represents n-th of angular transducer.
It is further used as preferred embodiment, machine artificial four axis robot.
The robot can be four axis robots, or the six-joint robot or other structures of specific structure
Robot.When robot is four axis robot, angular transducer is installed on four axis respectively；Similarly, when for six axis
When robot, angular transducer is installed on six axis respectively.
It is further used as preferred embodiment, the movable joint includes driving motor and mechanical arm, and four machinery
Arm joins end to end, and the angular transducer installation is on the robotic arm.
It is further used as preferred embodiment, the angular transducer and mechanical arm keeping parallelism.
The angular transducer can save parallel mode with mechanical arm and be installed, can also preset certain angle into
Row installation, in the present embodiment, angular transducer and mechanical arm keeping parallelism, in this way, the calculating work in more convenient later period, subtracts
The calculation amount of few controller.
It is further used as preferred embodiment, the robot further includes pedestal, and the robot is mounted on the base
Orientation is set, and the controller is mounted on pedestal lower position, and angular transducer, the angular transducer also are provided on the pedestal
It is connect with controller.
When mechanical arm is installed on a mobile platform, in order to obtain the tilt angle of robot when moving, in robot
Pedestal install one piece of angular transducer, the tilt angle of robot is detected, controller obtain robot inclination
The terminal position of robot is compensated after angle to improve the operating accuracy of robot.If pedestal and the first movement are closed
It, then can be on pedestal after setting angle sensor, without the established angle on the first movable joint when the pose of section is parallel relation
Sensor is spent, hardware cost can be so reduced, wherein first movable joint is the movable joint connecting with pedestal.
As shown in Fig. 2, a kind of motion planning and robot control method angle sensor based is present embodiments provided, including with
Lower step:
S1, each movable joint is obtained mutually in the first rotational angle to ground；
S2, second rotational angle of each movable joint relative to previous movable joint is calculated according to the first rotational angle；
S3, the third rotation that each movable joint rotation is calculated in conjunction with the initial angle of the second rotational angle and each movable joint
Angle, and control according to third rotational angle the motion state of each movable joint.
Wherein, step S3 specifically includes step S31~S32:
S31, the angle value that each movable joint needs to rotate is calculated according to the target position of preset robot；
S32, that the rotation of each movable joint is successively calculated in conjunction with the initial angle of the second rotational angle and each movable joint
Three rotational angles, and combination angle value and third rotational angle control the motion state of each movable joint.
Wherein, the step S32 specifically: successively judge whether the third rotational angle of each movable joint is equal to angle
Value, stops working if so, controlling the driving motor；Conversely, control driving motor works on, until third rotational angle is equal to
Angle value.
The angle value that each movable joint needs to rotate is calculated previously according to the target position of robot, the target position is
The end of robot needs the position being moved to, wherein calculating can be asked to obtain according to kinematic inverse solution when calculating angle value.
The third rotational angle of each movable joint is compared controller with preset angle value, if the angle of rotation angle value that detection obtains
It is equal with the angle value being calculated, then illustrate that movable joint moves to target position, otherwise continues to control movable joint progress
Movement, until robot motion to target position.
The angle of rotation angle value that controller reads mechanical arm from angular transducer is the absolute angle of mechanical arm, and needing will be exhausted
Relative angle relative to previous mechanical arm is converted into angle, the relative angle of mechanical arm becomes actual rotational angle.When
When the artificial four axis robot of machine, the second movable joint, third movable joint and the 4th movable joint of four axis robot
The second rotational angle absolute angle is converted into the relative angle relative to previous mechanical arm in the following manner respectively:
When movable joint is the second movable joint, preset angle threshold is subtracted to the first rotation of the second movable joint
Angle, second rotational angle of the angle of acquisition as the second movable joint；
When movable joint is third movable joint, the first rotational angle of third movable joint is added into preset angle
After threshold value, then the first rotational angle of the second movable joint is subtracted, second rotation of the angle of acquisition as third movable joint
Angle；
When movable joint is four movable joint, the first rotational angle of the 4th movable joint is subtracted into third movement and is closed
First rotational angle of section, second rotational angle of the angle of acquisition as the 4th movable joint.
When the pose of the first movable joint is identical as the pose of pedestal, only need to setting angle sensor be on pedestal
Can, and judge according to the angle information of the angular transducer of pedestal the state of the first movable joint, while can be to robot
Tilt angle is detected, controller obtain robot tilt angle after to the terminal position of robot compensate to
Improve the operating accuracy of robot.Wherein, the preset angle threshold can be other angles such as 90 angle value or 180 degree value
Angle value, in this example, preset angle threshold are 90 degree.
It is explained below in conjunction with a kind of specific embodiment of the Fig. 3 and Fig. 4 to foregoing invention system and method.
Referring to Fig. 3, this system includes controller and robot, and the robot is mainly by pedestal 1, four shaft mechanical arms 2, and four
A angular transducer 3, four driving motors 4 and controller 5 form.
Wherein four mechanical arms join end to end, and the initial position of robot is as shown in figure 3, mechanical arm 2 is driven by driving motor 4
Dynamic, four mechanical arms 2 form four axis robots.Driving motor 4 is attached with controller 5, receives the control letter of controller 5
Number, driving mechanical arm 2 is rotated.Pacify respectively on pedestal, the second shaft mechanical arm, third shaft mechanical arm and the 4th shaft mechanical arm
Equipped with angular transducer 3, and angular transducer 3 is connect with controller 5, is turned for detecting pedestal and each joint with respect to plane
Dynamic angle, and pass it to control module.In this embodiment, referring to Fig. 3, due to first axle mechanical arm and pedestal
Pose is identical, so being equipped with angular transducer 3 in pedestal.The installation of angular transducer and pedestal and mechanical arm are protected
Maintain an equal level row.
Referring to Fig. 4, when mechanical arm is installed on a mobile platform, the angular transducer 3 being mounted on pedestal 1 can be examined in real time
Survey the tilt angle of pedestal.The tilt angle of the coordinate of target position and pedestal is input to control in the process of running by robot
Device 5, the correct operation for the later period.Controller 5 solves the angle for showing that each shaft mechanical arm 2 needs to rotate according to Inverse Kinematics Solution
Value；Controller 5 needs the angle value rotated to issue control instruction to driving motor 4 according to each shaft mechanical arm 2 calculated；Driving
Motor 4 rotates that each shaft mechanical arm 2 is driven to rotate according to control instruction；3 real-time monitoring of angular transducer on mechanical arm is each
The rotary state of shaft mechanical arm 2 obtains angle of rotation angle value；Controller 5 reads the rotational angle of mechanical arm 2 from angular transducer 3
Value；Controller 5 needs the angle of rotation angle value of the mechanical arm 2 read with the shaft mechanical arm 2 being calculated by target position
The angle value of rotation compares；If it is equal with the angle value being calculated to detect obtained angle of rotation angle value, controller 5 is issued
Control instruction controls driving motor 4 and stops operating to driving motor 4；Driving motor 4 stops operating according to control instruction；If inspection
The angle of rotation angle value measured is less than the angle value being calculated, and controller 5 issues control instruction to driving motor 4, and control is driven
Dynamic motor 4 continues to rotate；Driving motor 4 is continued to rotate according to control instruction；Controller 5 is read from angular transducer 3 again
The angle of rotation angle value of mechanical arm 2 simultaneously needs the angle value rotated to compare with the shaft mechanical arm 2 being calculated；Until detecting
To angle of rotation angle value it is equal with the angle value being calculated, driving motor 4 stops operating, robot motion to target position.
The angle of rotation angle value that controller 5 reads mechanical arm 2 from angular transducer 3 is the absolute angle of mechanical arm 2, is needed
Absolute angle is converted into the relative angle relative to previous mechanical arm, the relative angle of mechanical arm becomes actual angle of rotation
Degree.Absolute angle is converted into the relative angle relative to previous mechanical arm the following steps are included:
When joint is second joint, the relative angle in joint is equal to 90 degree of absolute angles for subtracting joint.
The absolute angle that the relative angle in joint is equal to joint when joint is third joint subtracts second plus 90 degree again
The absolute angle in joint.
The absolute angle that the relative angle in joint is equal to joint when joint is four joint subtracts the absolute of third joint
Angle.
In conclusion the present invention it is opposite have with existing technical solution it is following the utility model has the advantages that
(1), in mechanical arm outer surface setting angle sensor, and the numerical value meter by reading mechanical arm upper angle sensor
Calculation obtains the rotational angle of each mechanical arm of robot, eliminates and installs encoder in each shutdown, so that structure is simpler,
Cost is reduced, precision is improved.
(2), mechanical arm pedestal setting angle sensor, the numerical value by reading mechanical arm pedestal angular transducer judge machine
The tilt angle of tool arm reduces error to be corrected to the mechanical arm tail end position being calculated.
(3), the angular transducer numerical value on each mechanical arm is read by controller, obtains each mechanical arm in present bit
The angle between horizontal plane is set, and according to the angle between each mechanical arm and pedestal by the way that each mechanical arm is calculated
Rotational angle, algorithm is simpler quick, more quickly and easily calculates the angle of movable joint, greatlys improve control effect
Rate, and reduce operand.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of robot movement-control system angle sensor based, which is characterized in that including controller and robot, institute
Stating robot includes multiple movable joints being sequentially connected, and the movable joint is equipped with angular transducer, the controller point
It is not connect with movable joint and angle sensor；
The angular transducer is rotated for acquiring corresponding movable joint mutually in the first rotational angle to ground, and by first
Angle is sent to controller；
The controller is used to calculate second rotation of each movable joint relative to previous movable joint according to the first rotational angle
After angle, the third angle of rotation of each movable joint rotation is calculated in conjunction with the initial angle of the second rotational angle and each movable joint
It spends, and controls the motion state of each movable joint according to third rotational angle.
2. a kind of robot movement-control system angle sensor based according to claim 1, which is characterized in that institute
State machine artificial four axis robot.
3. a kind of robot movement-control system angle sensor based according to claim 2, which is characterized in that institute
Stating movable joint includes driving motor and mechanical arm, and four mechanical arms join end to end, and the angular transducer is mounted on machinery
On arm.
4. a kind of robot movement-control system angle sensor based according to claim 3, which is characterized in that institute
State angular transducer and mechanical arm keeping parallelism.
5. a kind of robot movement-control system angle sensor based according to claim 1, which is characterized in that institute
Stating robot further includes pedestal, and the robot is mounted on the base orientation and sets, and the controller is mounted on pedestal lower position,
Angular transducer also is provided on the pedestal, the angular transducer is connect with controller.
6. a kind of motion planning and robot control method angle sensor based, which comprises the following steps:
Each movable joint is obtained mutually in the first rotational angle to ground；
Second rotational angle of each movable joint relative to previous movable joint is calculated according to the first rotational angle；
The third rotational angle of each movable joint rotation is calculated in conjunction with the initial angle of the second rotational angle and each movable joint, and
The motion state of each movable joint is controlled according to third rotational angle.
7. a kind of motion planning and robot control method angle sensor based according to claim 6, which is characterized in that institute
State the third rotational angle that each movable joint rotation is calculated in conjunction with the initial angle of the second rotational angle and each movable joint, and root
The step for controlling the motion state of each movable joint according to third rotational angle, specifically includes the following steps:
The angle value that each movable joint needs to rotate is calculated according to the target position of preset robot；
The third angle of rotation of each movable joint rotation is successively calculated in conjunction with the initial angle of the second rotational angle and each movable joint
Degree, and combination angle value and third rotational angle control the motion state of each movable joint.
8. a kind of motion planning and robot control method angle sensor based according to claim 7, which is characterized in that institute
The step for controlling the motion state of each movable joint in conjunction with angle value and third rotational angle is stated, specifically:
Successively judge whether the third rotational angle of each movable joint is equal to angle value, if so, controlling the driving motor stops work
Make；
Conversely, control driving motor works on, until third rotational angle is equal to angle value.
9. a kind of motion planning and robot control method angle sensor based according to claim 6, which is characterized in that machine
Device people includes the first movable joint, the second movable joint, third movable joint and the 4th movable joint；
It is described that each movable joint is calculated relative to previous fortune according to the first rotational angle when movable joint is the second movable joint
Diarthrodial second rotational angle, the step for specifically:
Preset angle threshold is subtracted to the first rotational angle of the second movable joint, the angle of acquisition is as the second movable joint
The second rotational angle；
It is described that each movable joint is calculated relative to previous fortune according to the first rotational angle when movable joint is third movable joint
Diarthrodial second rotational angle, the step for specifically:
After first rotational angle of third movable joint is added preset angle threshold, then subtract the first of the second movable joint
Rotational angle, second rotational angle of the angle of acquisition as third movable joint；
It is described that each movable joint is calculated relative to previous fortune according to the first rotational angle when movable joint is four movable joint
Diarthrodial second rotational angle, the step for specifically:
First rotational angle of the 4th movable joint is subtracted to the first rotational angle of third movable joint, the angle conduct of acquisition
Second rotational angle of the 4th movable joint.
10. a kind of motion planning and robot control method angle sensor based according to claim 6, which is characterized in that
It is further comprising the steps of:
The first rotational angle of the angular transducer acquisition of pedestal is obtained, and pedestal gradient is calculated according to the first rotational angle,
And operation is corrected according to pedestal gradient.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112207792A (en) * | 2020-11-06 | 2021-01-12 | 北京克莱明科技有限公司 | Main operation arm of master-slave control type four-axis mechanical arm with dial wheel |
| CN115042182A (en) * | 2022-07-04 | 2022-09-13 | 中国中煤能源集团有限公司 | Mechanical arm pose control method based on tilt angle sensor |
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| CN108297101A (en) * | 2018-03-20 | 2018-07-20 | 四川大学 | The position and attitude error detection of multi-joint arm serial manipulator end and dynamic compensation method |
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| CN112207792A (en) * | 2020-11-06 | 2021-01-12 | 北京克莱明科技有限公司 | Main operation arm of master-slave control type four-axis mechanical arm with dial wheel |
| CN115042182A (en) * | 2022-07-04 | 2022-09-13 | 中国中煤能源集团有限公司 | Mechanical arm pose control method based on tilt angle sensor |
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Application publication date: 20191101 |