A force-position hybrid robot trajectory and motion guidance system and method

Abstract

The present invention discloses a force-position hybrid robot trajectory and motion guidance system and method, which relates to the field of robot motion planning. The system includes a photoelectric transmitter, a tracker, a robot operation system, an intelligent guidance controller, a force feedback sensing system, a host computer and a communication module; the tracker is connected to the intelligent guidance controller to obtain the movement trajectory and posture of the intelligent guidance controller. The method includes: calibration of the guidance space and filtering of posture data; calculating the posture of the actuator in the robot space; calculating the conversion matrix from the robot flange center to the robot actuator end; recording the joint angle coordinates or Cartesian coordinates of each posture; obtaining the posture data of the robot actuator end in the robot space; and performing motion path planning according to the received posture data. The system improves the planning efficiency of robot motion execution and improves the operating capacity and efficiency of the overall robot workstation.

Description

Technical Field

[0001] The present invention relates to the field of robot motion control and trajectory planning, and in particular to a force-position hybrid robot trajectory and motion guiding system and method. Background Art

[0002] With the rapid development and widespread application of industrial robot technology, people hope that robots can achieve automated actions of different stages and different process contents with a single theme, which originally required mechanical mechanisms or automated equipment to achieve. Robots are widely used in typical scenarios such as loading and unloading, sorting, welding, and assembly in many typical production and manufacturing fields such as electronic manufacturing, welding, handling, and assembly due to their advantages in operation accuracy and efficiency. At present, with the widespread popularization of the concepts of Industry 4.0 and intelligent manufacturing in the manufacturing field, modern society has put forward new demands on the manufacturing industry. The demand for quick-change lines, multiple categories, and customization has prompted the manufacturing equipment industry to quickly adapt to this change. In traditional application scenarios, industrial robots face the demand for high flexibility. Traditional robots need to spend a long time to write and design robot actions. The robot's running path and action points are taught and programmed through the teach pendant, which is inefficient and has weak production capacity. In addition, complex robot motion programming requires high skills and experience of the operator, and requires proficient robot simulation programming capabilities and certain on-site technical experience; especially for some non-standard parts and special-shaped parts with large scale variations, the robot motion teaching process is complex and difficult, time-consuming, and has low reliability. Repeated adjustments make the overall efficiency low, thereby limiting production capacity.

[0003] Therefore, technicians in this field are committed to developing a force-position hybrid robot trajectory and motion guidance system and method to improve the efficiency of planning the robot's working movements and paths before production on the production line. Summary of the invention

[0004] In view of the above-mentioned defects of the prior art, the technical problems to be solved by the present invention at least include:

[0005] (1) How to enable the operator to complete the main action control and operation trajectory collection required by the operation process by holding the guidance controller, and make the robot perform the corresponding action along the required trajectory;

[0006] (2) How to improve the robot's force and direction control requirements when dealing with special situations or specific workpieces, thereby further improving the robot's work efficiency and reducing the difficulty of deployment in complex scenarios and multi-scenario switching.

[0007] To achieve the above-mentioned object, the present invention provides a force-position hybrid robot trajectory and motion guidance system, including an optical positioning system, a robot operation system, an intelligent guidance controller, a force feedback sensing system, a host computer and a communication module;

[0008] Wherein, the optical positioning system includes a photoelectric transmitter and a tracker; the tracker is connected to the intelligent guidance controller to obtain the movement trajectory and posture of the intelligent guidance controller;

[0009] The intelligent guidance controller is fixedly connected to the tracker and the force feedback sensing system;

[0010] The robot operation system includes a robot end effector, a force feedback sensing system torque sensor and a robot end flange center, and the robot end effector is an actuator adapted to a variety of operation scenarios;

[0011] The intelligent guidance controller simulates the robot end effector and sends the action of a specific position to the robot system through the communication module;

[0012] There are no less than two photoelectric transmitters, which are placed above the working area of ​​the robot. The emitted laser covers the entire working area. The photoelectric transmitter emits a laser beam to scan the optical positioning system space. The tracker obtains the laser beams of the transmitter in two directions to obtain the position of the tracker in the optical positioning system space, and sends it to the host computer through the communication module.

[0013] Furthermore, the intelligent guidance controller is provided with a start button, an end button, a first action button, and a second action button.

[0014] Furthermore, the robot end effector is an actuator adapted to a variety of operating scenarios, including a welding gun in a welding work scenario and a glue pen in a glue coating industrial scenario.

[0015] Furthermore, the lower end mechanism of the intelligent guidance controller is a tip or a tip-like mechanism, which points to the specific trajectory and position of the workpiece.

[0016] Furthermore, the force feedback sensing system is a two-way sensing system, which senses bidirectionally at the robot execution end and the controller operation end.

[0017] Furthermore, the force feedback sensing system includes a linear vibration motor and a force / torque scaling module.

[0018] The present invention also provides a force-position hybrid robot trajectory and motion guidance method, comprising the following steps:

[0019] Step 1: Calibration of the guidance space and filtering of posture data;

[0020] In the step 1, the position and posture data of the tracker collected by the optical positioning system is converted into position and posture data in a right-handed coordinate system;

[0021] Step 2: Connect and fix the intelligent guidance controller to the tracker and the force feedback system, and fix the intelligent guidance controller to the end of the robot; calculate the conversion relationship from the optical positioning space coordinate system to the robot space coordinate system according to the position of the tracker in the optical positioning system space and the robot space; calculate the posture matrix and displacement vector of the end of the intelligent guidance controller relative to the tracker positioning point according to the posture data of multiple trackers pointed to the same point by the handheld guidance pen; calculate the position and posture of the robot actuator in the robot space;

[0022] Step 3, fix the robot actuator to the end of the robot, calculate the transformation matrix from the robot flange center to the robot actuator end; make the end of the actuator fixed point contact the tip of a fixed pointed object in the robot working area in different postures, and record the joint angle coordinates or Cartesian coordinates of each posture; start from the last position, move the robot a certain distance in the +x direction to obtain position point a; move a certain distance in the +z direction to obtain position point b;

[0023] Step 4: The intelligent guidance controller moves in the robot's working area, the photoelectric transmitter performs periodic scanning in the area, the tracker receives the photoelectric signal to obtain the posture information, and the start button on the side of the guide pen is pressed to start sending the posture data to the host computer through the communication module of the tracker end; the host computer uses the conversion matrix to convert the processed tracker posture data into the posture data of the robot actuator end in the robot space;

[0024] Step 5: The robot system performs motion path planning according to the received position and posture data of the robot in space.

[0025] Furthermore, in step 1, the conversion relationship is calculated according to the following formula:

[0026] x v =-x r

[0027] y v =z r

[0028] z v =-y r

[0029] qx v =qx r

[0030] qy v =-qz r

[0031] qz v =qy r

[0032] qv =qw r

[0033] x v ,y v , z v ,qx v ,qy v ,qz v ,qw v It is the position data of the optical positioning system space;

[0034] x r ,y r , z r ,qx r ,qy r ,qz r ,qw r It is the pose data of the optical positioning system space.

[0035] Furthermore, in step 2, the conversion matrix from the optical space to the robot space is calculated according to the following formula:

[0036]

[0037] T r1 is the transformation matrix from the center of the robot end flange to the center of the robot space at the first position,

[0038] T c1 is the transformation matrix from the tracker positioning point at the first position to the center of the optical positioning space,

[0039] T r2 is the transformation matrix from the center of the robot end flange to the center of the robot space at the second position,

[0040] T c2 is the transformation matrix from the tracker positioning point at the second position to the center of the optical positioning space,

[0041] T v-r is the transformation matrix from the required optical space to the robot space,

[0042] The conversion matrix from the tracker positioning point to the end of the intelligent guidance controller is calculated according to the following formula:

[0043]

[0044]

[0045] P controler A conversion matrix from the tracker positioning point to the terminal of the intelligent guidance controller.

[0046] Furthermore, in step 3, the conversion matrix of the flange center to the end of the robot actuator is calculated according to the following formula:

[0047]

[0048]

[0049]

[0050]

[0051] y = cross(x, y)

[0052]

[0053] P tcp is the displacement vector in the transformation matrix from the center of the flange to the end of the robot actuator,

[0054] R tcf is the rotation matrix that transforms the flange center to the transformation matrix of the robot actuator end.

[0055] Compared with the prior art, the technical effects of the present invention include at least: disclosing a force-position hybrid robot intelligent guidance system and method, which obtains its motion trajectory and key actions by moving a handheld guidance pen and combining it with bidirectional force feedback perception capabilities and algorithms, and uses its trajectory and actions as the robot's motion trajectory and actions. At the same time, a force perception and position confirmation dual guidance system can be set for typical application scenarios, thereby improving the planning efficiency of the robot's motion execution and enhancing the overall operating capacity and benefits of the robot workstation.

[0056] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a structural schematic diagram of a force-position hybrid robot trajectory and motion guidance system of a preferred embodiment of the present invention;

[0058] Figure 2 It is a schematic diagram of the structure of an intelligent guidance controller in a force-position hybrid robot trajectory and motion guidance system according to a preferred embodiment of the present invention;

[0059] Figure 3 It is a schematic diagram of the structure of a robot operation system in a force-position hybrid robot trajectory and motion guidance system of a preferred embodiment of the present invention;

[0060] Figure 4It is a schematic diagram of the structure of a force feedback sensing system in a force-position hybrid robot trajectory and motion guidance system in a preferred embodiment of the present invention;

[0061] Figure 5 It is a data transmission schematic diagram of a force-position hybrid robot trajectory and motion guidance system according to a preferred embodiment of the present invention;

[0062] Figure 6 It is a flow chart of a force-position hybrid robot trajectory and motion guidance system according to a preferred embodiment of the present invention;

[0063] Figure 7 It is a flow chart of a force feedback sensing system of a force-position hybrid robot trajectory and motion guidance system according to a preferred embodiment of the present invention;

[0064] Figure 8 It is a flow chart of a force-position hybrid robot trajectory and motion guiding method according to a preferred embodiment of the present invention;

[0065] Among them, 1-photoelectric transmitter, 2-robot operation system, 21-robot actuator, 22-force feedback sensing system torque sensor, 23-robot terminal flange center, 3-tracker, 4-intelligent guidance controller, 41-start button, 42-end button, 43-first action button, 44-second action button, 5-processing workpiece, 6-communication module, 7-host computer, 8-force feedback sensing system, 81-linear vibration motor, 82-scaling module of force feedback sensing system, 9-intelligent guidance controller terminal. DETAILED DESCRIPTION

[0066] The following describes several preferred embodiments of the present invention with reference to the drawings in the specification, so that the technical content is clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0067] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0068] like Figure 1 , which is a schematic diagram of the structure of a force-position hybrid robot trajectory and motion guidance system. The system includes a photoelectric transmitter 1, a tracker 3, an intelligent guidance controller 4, a force feedback sensing system 8, a robot operation system 2, a host computer 7 and a communication module 6. The intelligent guidance controller 4 is fixedly connected to the tracker 3 and the force feedback sensing system 8.

[0069] like Figure 2 , which is a schematic diagram of the structure of an intelligent guidance controller in a force-position hybrid robot trajectory and motion guidance system. The intelligent guidance controller 4 is provided with a start button 41, an end button 42, a first action button 43, and a second action button 44.

[0070] Figure 3 The figure is a schematic diagram of the structure of a robot operation system in a force-position hybrid robot trajectory and motion guidance system of the present invention. The robot operation system 2 includes a robot end effector 21, a force feedback sensing system torque sensor 22 and a robot end flange center 23. The robot end effector 21 is an actuator adapted to a variety of operation scenarios, such as a welding gun in a welding work scenario, a glue pen in a glue coating industry scenario, etc.

[0071] The optical positioning system includes a photoelectric transmitter 1 and a tracker 3. The force feedback sensing system 8 provides preset conditions for the robot's motion automation programming through a combination of one or more methods such as the vibration mode, vibration intensity, and button combination of the intelligent guidance controller 4, thereby realizing force-position hybrid trajectory and motion guidance.

[0072] When collecting trajectories, based on the intelligent guidance controller 4, for the segmentation processing of complex trajectories, the complex trajectories can be effectively segmented through a combination of key combinations and vibration durations, referring to the process requirements, and the key combinations can be used to confirm whether the input is in place with the help of vibration feedback when connecting between segments, ensuring that manual processing content can be minimized when submitting the robot for action programming, thereby improving efficiency.

[0073] When collecting trajectories, the robot's path planning and trajectory planning principles can be combined with the real-time posture of the guide during trajectory collection to evaluate and analyze the robot's actual posture singularity and collision positions during operation, and the operator can be reminded to modify the posture of a specific position through vibration magnitude and direction, so as to solve the robot's spatial collision problem in the trajectory planning stage.

[0074] The intelligent guidance controller 4 simulates the robot end effector to provide a variety of buttons, which can send specific position actions to the robot system through the communication module 6 and connect the tracker of the force feedback system and the optical positioning system.

[0075] The lower end mechanism of the intelligent guidance controller 4 is a tip or a tip-like mechanism, which points to the specific trajectory and position of the workpiece. The tip or a tip-like mechanism is connected to the intelligent guidance controller 4 by screwing and tightening, and the tip end can be replaced with various shapes that imitate the shape of the robot end effector.

[0076] The contact position between the lower end mechanism of the intelligent guidance controller 4 and the workpiece can be set to one or more positions, and the layout of the positions is similar to the shape of the robot end effector (such as a gripper).

[0077] The optical positioning system includes a photoelectric transmitter 1 and a tracker 3. The tracker 3 is connected to an intelligent guidance controller 4 to obtain the movement trajectory and posture of the intelligent guidance controller 4.

[0078] The number of photosensitive sensor chips arranged in the positioning and tracking receiver at the top of the intelligent guidance controller 4 is not less than 10, and the diameter of the positioning and tracking receiver is not less than 5 cm.

[0079] The optical positioning system should have no less than two photoelectric transmitters 1, which should be placed above the robot's working area, and the emitted laser should cover the entire working area. The photoelectric transmitter 1 emits a laser beam to scan the optical positioning system space. The tracker 3 obtains the laser beams of the transmitter 1 in two directions to obtain the position of the tracker in the optical positioning system space, and sends it to the host computer through the communication module 6.

[0080] Figure 4 The schematic diagram of the structure of a force feedback sensing system in a force-position hybrid robot trajectory and motion guidance system. The force feedback sensing system 8 can be bidirectional sensing, bidirectional sensing at the robot execution end and the controller operation end. The basis of the force feedback sensing system 8 is a linear vibration motor 81, which is installed in the intelligent guidance controller 4, providing the operator with direction and different levels of vibration magnitude, and the vibration attribute is connected with the attribute of the contact force of the robot end effector, and can provide feedback confirmation perception for a specific position during trajectory acquisition.

[0081] The force feedback sensing system 8 is used in some special processing scenarios that require the size and direction of the contact force on the working surface, such as grinding and polishing operations.

[0082] The force feedback sensing system also includes a force / torque proportional scaling module 82, which can provide a two-way processing function of reducing or amplifying the force sensing end and the vibration motor end of the robot according to the contact force judgment range of different working scenarios such as welding, assembly, gluing, and handling, thereby providing a guarantee for the perception and cognition of the operator and the actual execution of the robot.

[0083] In the force feedback sensing system, the force feedback sensing judgment includes the setting of specific contact force limits and specific vibration modes and intensities at the real-time position. It can provide effective guidance during collection and effective judgment during guidance by pre-setting conditions and ranges and combining artificial intelligence algorithms.

[0084] The host computer 7 is used to unify the coordinates between the optical positioning system coordinate system, the robot coordinate system and the intelligent guidance controller coordinate system, and then calculate the coordinate matching point of the terminal posture and position of the intelligent guidance controller at any point in the robot system. The communication module 6 is used for data transmission between the modules in the trajectory planning system.

[0085] The host computer and communication module are used for data processing and communication collection. Based on the unity3D engine, the C# scripting language is used to build the server of the communication module in the entire system. Multi-threaded concurrency collects, processes and sends and receives data at the same time, and synchronizes each thread and protects shared data through locking and other strategies.

[0086] The system works as follows:

[0087] According to the position of the tracker 3 in the optical positioning system space and the robot space, the conversion relationship from the optical positioning space coordinate system to the robot space coordinate system is calculated; then, according to the posture data of multiple trackers pointing to the same point of the intelligent guidance controller 4, the posture matrix and displacement vector of the end of the intelligent guidance controller 4 relative to the positioning point of the tracker 3 are calculated; finally, the end posture of the intelligent guidance controller can be calculated to obtain the posture in the robot space.

[0088] Then, filtering is performed, including first removing abnormal points and removing mutation data according to the overall trajectory feature value; then smoothing the data to remove jitter errors; and finally upsampling the data and using a global interpolation algorithm to optimize the trajectory points.

[0089] Move in the robot's working area and press the corresponding action button at a specific position to send the position and action data to the host computer.

[0090] After completing the path planning, the host computer converts the coordinate system and adds the motion data to send it to the robot system, which is the trajectory of the robot's action to be executed.

[0091] like Figure 5 The figure shows a schematic diagram of data transmission of a force-position hybrid robot trajectory and motion guidance system.

[0092] like Figure 6 The figure is a flow chart of a force-position hybrid robot trajectory and motion guidance system of the present invention.

[0093] like Figure 7 The figure is a flow chart of a force feedback sensing system of a force-position hybrid robot trajectory and motion guidance system of the present invention.

[0094] The workflow of the system is as follows:

[0095] The first step is to connect the device and power it on.

[0096] Fix the photoelectric transmitter 1 and use a bracket to install the transmitter within 5 meters on both sides of the robot's working area, looking down at the robot's workbench at 30-45 degrees, and the distance should not exceed 16 feet. The tracker is fixed on the top of the handheld locator, and receives the optical signal of the photoelectric transmitter and sends the tracker's positioning point posture to the host computer via Bluetooth.

[0097] The second step is to calculate the coordinate system transformation matrix from the optical positioning space to the robot space and the transformation matrix from the tracker positioning point to the tool end.

[0098] Fix the intelligent guidance controller at the end of the robot, move it in the robot working area, and obtain the position T of the tracker in the optical positioning space v1 , T v2 …T vn , and the corresponding robot end position T in the robot space r1 , T r2 …T rn , the coordinate system transformation matrix from the optical positioning space to the robot space is calculated according to the above formula 1.

[0099] Make the end of the intelligent guidance controller contact the tip of a fixed pointed object in the robot working area in different postures, record the joint angle coordinates or Cartesian coordinates of each posture, and calculate the position T1...T of the tracker in each posture in the optical space. n According to the above formula 2, the required transformation matrix is ​​obtained.

[0100] Fix the robot actuator to the end of the robot and calculate the transformation matrix from the robot flange center to the robot actuator end. Make the end of the actuator fixed point contact the tip of a fixed pointed object in the robot working area in different postures, record the joint angle coordinates or Cartesian coordinates of each posture (use four or more postures); then start the robot from the last position, move a certain distance in the +x direction to get the position point; move a certain distance in the +z direction to get the position point. The transformation matrix from the robot flange center to the robot actuator end is calculated in this way.

[0101] The above conversion process is completed in the host computer software and the conversion matrix of each part is recorded in the host computer.

[0102] The third step is to obtain the planned action path.

[0103] Press the start button on the side of the intelligent guidance controller at the starting position of the path. The intelligent guidance controller moves on the workpiece to be processed according to the path to be completed, and the tracker sends its position data to the host computer in real time. When moving, press the corresponding action button at the position where special action is required; press the end button on the side of the intelligent guidance controller at the end position of the path to complete the planned action path.

[0104] During the path planning process, if the tracker's position data far exceeds the robot's flexible working area, or the torque sensor detects an excessively strong collision, it will be judged as singular point data. The vibration motor in the force feedback sensing system will drive the intelligent guidance controller to produce a strong vibration to remind the operator that the path here is invalid.

[0105] During the path planning process, a sampling frequency different from that of a straight path needs to be used at the bends of the trajectory. When the side action button is pressed at the beginning and end of the bend, the vibration motor in the force feedback sensing system will also produce a short-term slight vibration to remind the operator of the curve sampling mode of the path.

[0106] If an action button is pressed during planning, such as welding, clamping or assembly actions in the planned path, the force / torque to be applied by the robot is converted into vibration of the vibration motor at a certain ratio through the force / torque proportional scaling module according to the preset contact force size in the system, so that the operator can feel the real contact force at the end of the robot actuator.

[0107] The fourth step is to transform the original position of the tracker to the position of the intelligent guidance controller end in the robot space coordinate system.

[0108] In the host computer, the transformation matrix obtained by the second step is used to calculate the position of the intelligent guidance controller terminal in the robot space coordinate system, and the data packet is combined. One frame of data includes motion data and a robot position.

[0109] The fifth step is to send the planned path to the robot system.

[0110] The present invention also provides a robot trajectory and motion guidance method, Figure 8 The figure is a flow chart of a method for guiding the trajectory and motion of a force-position hybrid robot according to the present invention. The method comprises the following steps:

[0111] Step 1: Calibration of the guided space and filtering of the pose data.

[0112] In this step, the optical positioning system space is a left-handed coordinate system, that is, the Y axis is vertically upward, and the left-hand rule is used to determine the positive direction of rotation; while the coordinate system used by the robot operation system is a right-handed coordinate system, with the Z axis vertically upward, and the right-hand rule is used to determine the positive direction of rotation. Therefore, it is necessary to convert the tracker's posture data collected by the optical positioning system into posture data in the right-handed coordinate system. The conversion relationship is calculated according to the following formula:

[0113] x v =-x r

[0114] y v =z r

[0115] z v =-y r

[0116] qx v =qx r

[0117] qy v =-qz r

[0118] qz v =qy r

[0119] q v =qw r

[0120] x v ,y v , z v ,qx v ,qy v ,qz v ,qw v It is the position data of the optical positioning system space;

[0121] x r ,y r , z r ,qx r ,qy r ,qz r ,qw r It is the position data of the optical positioning system space;

[0122] Step 2. Connect and fix the intelligent guidance controller to the tracker and force feedback system, and fix the intelligent guidance controller to the end of the robot; calculate the conversion relationship from the optical positioning space coordinate system to the robot space coordinate system according to the position of the tracker in the optical positioning system space and the robot space; calculate the posture matrix and displacement vector of the end of the intelligent guidance controller relative to the tracker positioning point according to the posture data of multiple trackers pointing to the same point with the handheld guidance pen; finally, the end posture of the intelligent guidance controller can be used to calculate the posture of the robot actuator in the robot space.

[0123] The transformation matrix from optical space to robot space is calculated according to the following formula:

[0124]

[0125] T r1 is the transformation matrix from the center of the robot end flange to the center of the robot space at the first position.

[0126] T c1is the transformation matrix from the tracker positioning point at the first position to the center of the optical positioning space.

[0127] T r2 is the transformation matrix from the center of the robot end flange to the center of the robot space at the second position.

[0128] T c2 is the transformation matrix from the tracker positioning point at the second position to the center of the optical positioning space.

[0129] T v-r is the transformation matrix from the required optical space to the robot space.

[0130] The conversion matrix from the tracker positioning point to the end of the intelligent guidance controller is calculated according to the following formula:

[0131]

[0132]

[0133] P controler A conversion matrix from the tracker positioning point to the terminal of the intelligent guidance controller.

[0134] Step 3: Fix the robot actuator to the end of the robot and calculate the transformation matrix from the robot flange center to the robot actuator end. Make the end of the actuator fixed point contact the tip of a fixed pointed object in the robot working area in different postures, and record the joint angle coordinates or Cartesian coordinates of each posture (using four or more postures); then start the robot from the last position and move a certain distance in the +x direction to get position point a; move a certain distance in the +z direction to get position point b.

[0135] The transformation matrix from the flange center to the end of the robot actuator is calculated according to the following formula:

[0136]

[0137]

[0138]

[0139]

[0140] y = cross(x, y)

[0141]

[0142] P tcp is the displacement vector in the transformation matrix from the center of the flange to the end of the robot actuator.

[0143] Rtcf is the rotation matrix that transforms the flange center to the transformation matrix of the robot actuator end.

[0144] After completing the above two space coordinate system conversions and the guide pen coordinate conversion, and the robot performs the terminal coordinate conversion calculation, the guide space calibration work is completed.

[0145] Step 4: The intelligent guidance controller moves in the robot's working area, the photoelectric transmitter performs periodic scanning in the area, the tracker receives the photoelectric signal to obtain the posture information, and pressing the start button on the side of the guidance pen starts sending the posture data to the host computer through the communication module on the tracker end.

[0146] The host computer obtains the position and posture of the end of the guide pen in the robot space according to the above transformation matrix.

[0147] When running to a position requiring special actions, such as clamping and other operations, the corresponding button on the intelligent guidance controller can be pressed, and the action code will be sent to the host computer through the tracker communication module.

[0148] After the action path planning is completed, press the end button on the side of the intelligent guidance controller to send an end signal to the host computer, which will perform posture data filtering.

[0149] The filtering process first removes outliers and removes mutation data based on the overall trajectory feature value; then data smoothing is performed to remove jitter errors and the data is processed using a low-pass filter; finally, the data is upsampled and a global interpolation algorithm is used to optimize the trajectory points to make the trajectory point distribution more regular and more in line with the actual motion state.

[0150] The host computer uses the above conversion matrix to convert the above processed tracker pose data into the pose data of the robot actuator end in the robot space.

[0151] The host computer uses Ethernet to establish a connection through the communication module. At present, the most commonly used Ethernet transport layer protocol is the TCP protocol based on the byte stream transport layer communication protocol. Based on this protocol, the posture data and action information are sent to the robot system periodically. The specific data includes the posture data of the intelligent guidance controller in the robot's spatial coordinate system and the action code required to be completed at a special position. The beginning of the data packet is the start character plus the message length, and the end is the data message check code and the end character.

[0152] Step 5: The robot system performs motion path planning based on the received data.

[0153] The present invention provides a method for guiding the motion trajectory of a force-position hybrid robot. In the teaching process, optical positioning is combined with force feedback perception. After alignment in three-dimensional space and robot space, the operator only needs to hold a guidance controller to complete the main motion control and operation trajectory collection required for the operation process, and quickly transmit the trajectory information and operation content to the corresponding robot through a customized communication protocol, so that it can perform the corresponding action along the required trajectory. In addition, with the help of the association between force feedback and the operation perception at the end of the robot, trajectory collection can be assisted to improve the robot's force and direction control needs when dealing with special situations or specific workpieces, thereby further improving the robot's work efficiency, reducing the difficulty of deployment in complex scenes and multi-scene switching, and thus improving the robot's scope of application.

[0154] The preferred specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in the field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in the technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A force-position hybrid robot trajectory and motion guidance method, characterized in that: The following steps are involved: Step 1: Calibration of the guidance space and filtering of posture data; In the step 1, the position and posture data of the tracker collected by the optical positioning system is converted into position and posture data in a right-handed coordinate system; Step 2: Connect and fix the intelligent guidance controller to the tracker and the force feedback system, and fix the intelligent guidance controller to the end of the robot; calculate the conversion relationship from the optical positioning space coordinate system to the robot space coordinate system according to the position of the tracker in the optical positioning system space and the robot space; calculate the posture matrix and displacement vector of the end of the intelligent guidance controller relative to the tracker positioning point according to the posture data of multiple trackers pointed to the same point by the handheld guidance pen; calculate the position and posture of the robot actuator in the robot space; Step 3: Fix the robot actuator to the end of the robot, calculate the transformation matrix from the robot flange center to the robot actuator end; make the end of the actuator fixed point contact the tip of a fixed pointed object in the robot working area in different postures, and record the joint angle coordinates or Cartesian coordinates of each posture; start from the last position, move the robot a certain distance in the +x direction to obtain the position point a; Move a certain distance in the +z direction to get position b; Step 4: The intelligent guidance controller moves in the robot's working area, the photoelectric transmitter performs periodic scanning in the area, the tracker receives the photoelectric signal to obtain the posture information, and the start button on the side of the guide pen is pressed to start sending the posture data to the host computer through the communication module of the tracker end; the host computer uses the conversion matrix to convert the processed tracker posture data into the posture data of the robot actuator end in the robot space; Step 5: The robot system performs motion path planning according to the received position and posture data of the robot in space.

2. The force-position hybrid robot trajectory and motion guidance method according to claim 1, characterized in that: In step 1, the conversion relationship is calculated according to the following formula: x v =-x r y v =z r z v =-y r qx v =qx r what v =-qz r girl v =qy r qw v =qw r x v ,y v , z v ,qx v ,qy v ,qz v ,qw v It is the position data of the optical positioning system space; x r ,y r , z r ,qx r ,qy r ,qz r ,qw r It is the pose data of the optical positioning system space.

3. The force-position hybrid robot trajectory and motion guidance method according to claim 1, characterized in that: In step 2, the conversion matrix from the optical space to the robot space is calculated according to the following formula: T r1 is the transformation matrix from the center of the robot end flange to the center of the robot space at the first position, T c1 is the transformation matrix from the tracker positioning point at the first position to the center of the optical positioning space T r2 is the transformation matrix from the center of the robot end flange to the center of the robot space at the second position T c2 is the transformation matrix from the tracker positioning point at the second position to the center of the optical positioning space, T v-r is the transformation matrix from the required optical space to the robot space The conversion matrix from the tracker positioning point to the end of the intelligent guidance controller is calculated according to the following formula: P controler A conversion matrix from the tracker positioning point to the terminal of the intelligent guidance controller.

4. The force-position hybrid robot trajectory and motion guidance method according to claim 1, characterized in that: In step 3, the conversion matrix from the flange center to the end of the robot actuator is calculated according to the following formula: y=cross(x,y) P tcp is the displacement vector in the transformation matrix from the center of the flange to the end of the robot actuator, R tcf is the rotation matrix that transforms the flange center to the transformation matrix of the robot actuator end.

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