Linkage and Cooperative Control Method, Device and Storage Medium for Robot and External Axis

Abstract

The present application discloses a method, device and storage medium for collaborative control of a robot and an external axis. The method includes: obtaining the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system; in the external axis coordinate system, performing trajectory planning on the robot and the external axis to obtain a first motion trajectory of the robot and a second motion trajectory of the external axis; converting the first motion trajectory to the robot base coordinate system according to the mutual mapping relationship to obtain a third motion trajectory; converting the first motion trajectory and the third motion trajectory into control information, and controlling the collaborative motion of the robot and the external axis according to the control information. The present application realizes the technical effect of improving the cooperation efficiency of the robot external axis by constructing a mutual mapping relationship for conversion between the external axis coordinate system and the robot base coordinate system.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and particularly to a method, device and storage medium for coordinated control of a robot and an external axis in linkage. Background Art

[0002] With the rapid development of industrial automation, the application scenarios of robots are increasing. At the same time, the complexity of robot work is gradually increasing, and it is increasingly difficult for a single robot to complete complex work tasks. The working mode of using an external mechanical unit to cooperate with the robot has the advantage of improving the working ability and efficiency of the robot.

[0003] When actually cooperating an external mechanical unit with a robot, a method of controlling the robot and the external mechanical unit by different controllers is often adopted, which requires complex wiring and debugging to meet the actual use requirements. Moreover, in some working scenarios, the robot and the external mechanical unit need to have good position constraints and beat constraints. By the traditional method of controlling with different controllers, the robot can often only be linked or coordinated with a single type of external mechanical unit at the same time, and the cooperation efficiency between the robot and the external mechanical unit is low. Summary of the Invention

[0004] The main purpose of the present application is to provide a method, device and storage medium for coordinated control of a robot and an external axis in linkage, aiming to solve the problem of low cooperation efficiency between the robot and the external mechanical unit.

[0005] To achieve the above object, the present application provides a method for coordinated control of a robot and an external axis in linkage, the method comprising:

[0006] Obtaining the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system;

[0007] In the external axis coordinate system, performing trajectory planning on the robot and the external axis to obtain a first motion trajectory of the robot and a second motion trajectory of the external axis;

[0008] Converting the first motion trajectory to the robot base coordinate system according to the mutual mapping relationship to obtain a third motion trajectory;

[0009] Converting the first motion trajectory and the third motion trajectory into control information, and controlling the robot and the external axis to move in linkage and coordination according to the control information.

[0010] Optionally, before the step of obtaining the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system, the method further comprises:

[0011] Obtain the configuration information of the external mechanical unit, and construct a point mapping relationship between the external axis of the external mechanical unit and the external axis points of the robot according to the configuration information;

[0012] Perform joint position calibration on the external mechanical unit to obtain the conversion relationship between the pose and joint angle in the external axis coordinate system;

[0013] Determine the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system according to the point mapping relationship and the conversion relationship.

[0014] Optionally, the step of constructing the point mapping relationship between the external axis of the external mechanical unit and the external axis points of the robot according to the configuration information includes:

[0015] Obtain the external axis identification information in the configuration information, and convert the external axis identification information into the external axis point information in the robot base coordinate system;

[0016] Establish the point mapping relationship according to the external axis point information.

[0017] Optionally, before the step of performing joint position calibration on the external mechanical unit to obtain the conversion relationship between the pose and joint angle in the external axis coordinate system, it further includes:

[0018] Obtain the model configuration information in the configuration information, and judge the type of the external axis according to the model configuration information;

[0019] If the external axis is a modeled axis, execute the step of performing joint position calibration on the external mechanical unit.

[0020] Optionally, the step of performing joint position calibration on the external mechanical unit to obtain the conversion relationship between the pose and joint angle in the external axis coordinate system includes:

[0021] Identify the rotation type of the external axis in the external mechanical unit;

[0022] Perform joint position calibration on the external axis according to the preset calibration method corresponding to the rotation type to obtain the conversion matrix between the external axis and the adjacent external axis;

[0023] Establish the conversion relationship by using the conversion function of the external mechanical unit and the conversion matrix.

[0024] Optionally, the step of determining the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system according to the point mapping relationship and the conversion relationship includes:

[0025] Determine the external axis joint values of the external axis according to the point position mapping relationship, and take the point position in the external axis coordinate system as the first point position;

[0026] Use the conversion relationship to convert the external axis joint values and the first coordinate values of the first point position to obtain the second coordinate values of the second point position in the robot base coordinate system;

[0027] Construct the mapping relationship between the first coordinate values and the second coordinate values as the mutual mapping relationship.

[0028] Optionally, the step of performing trajectory planning on the robot and the external axis in the external axis coordinate system to obtain the first motion trajectory of the robot and the second motion trajectory of the external axis includes:

[0029] Obtain the planned path, acceleration constraint, and velocity constraint;

[0030] Calculate the generalized distance of the planned path, and calculate the first ratio of the displacement of the robot to the generalized distance and the second ratio of the displacement of the external axis to the generalized distance;

[0031] Perform trajectory planning on the robot according to the first ratio, the acceleration constraint, and the velocity constraint to obtain the first motion trajectory;

[0032] Perform trajectory planning on the external axis according to the second ratio, acceleration constraint, and velocity constraint to obtain the second motion trajectory, where the external axis includes a modeled axis and a non-modeled axis.

[0033] Optionally, the step of converting the first motion trajectory to the robot base coordinate system according to the mutual mapping relationship to obtain the third motion trajectory includes:

[0034] Perform trajectory interpolation on the first motion trajectory according to a preset interpolation method to obtain interpolation point positions;

[0035] Convert the third coordinate values of the interpolation point positions to the fourth coordinate values in the robot base coordinate system according to the mutual mapping relationship, and the set of the fourth coordinate values is the third motion trajectory.

[0036] In addition, to achieve the above object, the present application further provides an electronic device, which includes: a memory, a processor, and a linkage cooperative control program of the robot and the external axis stored on the memory and executable on the processor, and the linkage cooperative control program of the robot and the external axis is configured to implement the steps of the linkage cooperative control method of the robot and the external axis as described above.

[0037] In addition, to achieve the above object, the present application further provides a computer-readable storage medium, on which a linkage and cooperation control program for a robot and an external axis is stored. When the linkage and cooperation control program for the robot and the external axis is executed by a processor, the steps of the linkage and cooperation control method for the robot and the external axis as described above are implemented.

[0038] The linkage and cooperation control method, device and storage medium for a robot and an external axis provided by the present application obtain the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system, and perform trajectory planning on the robot and the external axis in the external axis coordinate system to obtain the first motion trajectory of the robot and the second motion trajectory of the external axis. According to the mutual mapping relationship, the first motion trajectory is converted to the robot base coordinate system to obtain the third motion trajectory. The first motion trajectory and the third motion trajectory are converted into control information, and the robot and the external axis are controlled to move in a linkage and cooperation manner according to the control information. Performing trajectory planning in the external axis coordinate system can avoid interference between the motion trajectories of the robot and the external axis. And for different types of external axes, after the mutual mapping relationship is established, the motion trajectory of the robot can be converted to the robot base coordinate system through the mutual mapping relationship, enhancing the versatility of the linkage and cooperation control for different types of external axes, enabling the robot to perform linkage and cooperation motion with different types of external axes simultaneously, and improving the cooperation efficiency between the robot and the external axis. Description of the Drawings

[0039] Figure 1 It is a schematic structural diagram of an electronic device for the hardware operating environment related to the solution of the embodiment of the present application;

[0040] Figure 2 It is a schematic flowchart of the first embodiment of the linkage and cooperation control method for a robot and an external axis of the present application;

[0041] Figure 3 It is a schematic flowchart of the second embodiment of the linkage and cooperation control method for a robot and an external axis of the present application.

[0042] The realization, functional characteristics and advantages of the object of the present application will be further described in conjunction with the embodiments with reference to the drawings. Detailed Embodiments

[0043] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] The method of simultaneously controlling an external mechanical unit and a robot by a robot controller has broader application scenarios and higher capabilities to meet more complex working conditions. The collaborative motion mode of the robot and the external mechanical unit also has broad prospects in fields such as welding and grinding. Traditional robot external axis coordination solutions usually only cooperate with positioners or guide rails and cannot be linked with other external mechanical units, so the efficiency of the robot and the external mechanical unit cannot be fully utilized. At the same time, traditional robot-external axis coordination requires the construction of different coordination algorithms according to different external mechanical units, which not only has a slow development speed but is also cumbersome to maintain and has poor scalability.

[0045] Referring to Figure 1 , Figure 1 is a schematic structural diagram of an electronic device for the hardware operating environment involved in the solution of the embodiment of the present application.

[0046] As Figure 1 shown, the electronic device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0047] Those skilled in the art can understand that Figure 1 the structure shown in

[0048] As Figure 1 shown, the memory 1005, as a storage medium, may include an operating system, a network communication module, a user interface module, and a linkage and coordination control program for the robot and the external axis.

[0049] In Figure 1In the electronic device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with users; the processor 1001 and the memory 1005 in the electronic device of the present application can be arranged in the electronic device. The electronic device calls the linkage collaborative control program of the robot and the external axis stored in the memory 1005 through the processor 1001, and executes the linkage collaborative control method of the robot and the external axis provided by the embodiments of the present application.

[0050] Embodiments of the present application provide a linkage collaborative control method for a robot and an external axis. Refer to Figure 2 , Figure 2 which is a schematic flowchart of the first embodiment of a linkage collaborative control method for a robot and an external axis of the present application.

[0051] In this embodiment, the linkage collaborative control method for the robot and the external axis includes:

[0052] Step S10, obtaining the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system;

[0053] The execution subject of this embodiment can be a robot controller. The external axis that moves in linkage with the robot can be the external axis in the external mechanical unit. The robot and the external mechanical unit can be connected by a line. The robot can be connected to multiple different types of external mechanical units, and each external mechanical unit can include multiple external axes. The external axis coordinate system can be regarded as a coordinate system established with the external axis position as the origin. The robot base coordinate system can be regarded as a coordinate system established with the robot base as the origin. The points in the external axis coordinate system can be converted through the mutual mapping relationship and the points in the robot base coordinate system. The mutual mapping relationship can be established and stored when the robot is connected to the external mechanical unit. When the robot controller performs linkage collaborative control, the mutual mapping relationship associated with the external mechanical unit is searched, and the mutual mapping relationship is used to convert the points in different coordinate systems.

[0054] Step S20, in the external axis coordinate system, performing trajectory planning on the robot and the external axis to obtain the first motion trajectory of the robot and the second motion trajectory of the external axis;

[0055] After obtaining the mutual mapping relationship, the robot and the external axis can be trajectory-planned through the taught points, and the joint motion of the external axis and the motion of the robot are normalized in the external axis coordinate system, so that the robot and the external axis adopt the same trajectory planning, reducing the complexity of the robot external axis linkage algorithm.

[0056] In some feasible embodiments, in the external axis coordinate system, the steps of performing trajectory planning on the robot and the external axis to obtain the first motion trajectory of the robot and the second motion trajectory of the external axis may include:

[0057] Step a, obtaining a planned path, an acceleration constraint, and a velocity constraint;

[0058] Step b, calculating the generalized distance of the planned path, and calculating a first ratio of the displacement of the robot to the generalized distance and a second ratio of the displacement of the external axis to the generalized distance;

[0059] Step c, performing trajectory planning on the robot according to the first ratio, the acceleration constraint, and the velocity constraint to obtain the first motion trajectory;

[0060] Step d, performing trajectory planning on the external axis according to the second ratio, the acceleration constraint, and the velocity constraint to obtain the second motion trajectory, where the external axis includes a modeled axis and an unmodeled axis.

[0061] When the robot teaches points, the teaching points include the robot points and the external axis points. The planned path can be regarded as the path between the end point and the starting point that the robot and the external axis should reach. The acceleration constraint can be regarded as the acceleration that the robot and the external axis are expected to reach, and the speed constraint can be regarded as the speed that the robot and the external axis are expected to reach. In the actual trajectory planning scenario, the user can input the end point of the planned path, as well as the acceleration constraint and the speed constraint to the robot controller, and perform normalized trajectory planning for the displacement, acceleration and speed of the external axis and the robot. The speed planning is used to ensure that the robot and the external axis start and stop at the same time, avoiding mutual interference between the robot linkage and the coordinated external mechanical units. First, the generalized distance of the planned path can be solved. The generalized distance can be the Mahalanobis distance. The first ratio can reflect the ratio of the robot displacement to the generalized distance, and the second ratio reflects the ratio of the external axis displacement to the generalized distance. The solved generalized distance corresponds to the total displacement of the robot and the external axis. The first ratio is combined with the above acceleration constraint and speed constraint to obtain the generalized acceleration and generalized speed of the robot. The second ratio is combined with the above acceleration constraint and speed constraint to obtain the generalized acceleration and generalized speed of the external axis. Then, the above generalized acceleration and generalized speed are used to plan the trajectory of the robot and the external axis. After the planning is completed, the first motion trajectory of the robot and the second motion trajectory of the external axis are obtained. The trajectory planning method can be at least one of S-type trajectory planning, T-type trajectory planning, trigonometric function trajectory planning and polynomial trajectory planning. The external axis that is planned with the robot can be a model axis and a model-free axis. Through the planning of speed and acceleration, the robot and the external axis can be started and stopped at the same time, so that the robot can move in coordination with the model axis and can also move in linkage with the model-free axis. The robot and the external axis can run to the expected position input by the user according to their respective motion trajectories to complete the work expected by the user.

[0062] Step S30: converting the first motion trajectory into the robot base coordinate system according to the mutual mapping relationship to obtain a third motion trajectory.

[0063] The first motion trajectory is planned in the external axis coordinate system and converted to the robot base coordinate system, so that the robot controller can control the robot's motion according to the coordinate values ​​in the robot base coordinate system. Before the conversion, the first motion trajectory can also be interpolated to make the obtained third motion trajectory smoother and the robot's motion smoother. Not only the first motion trajectory of the robot, but also the second motion trajectory of the external axis can be interpolated to interpolate the joint angle of the external axis per cycle.

[0064] In some feasible embodiments, the step of converting the first motion trajectory into the robot base coordinate system according to the mutual mapping relationship to obtain the third motion trajectory may include:

[0065] Step e: Perform trajectory interpolation on the first motion trajectory according to a preset interpolation method to obtain interpolation points.

[0066] Step f: Convert the third coordinate value of the interpolation points into a fourth coordinate value in the robot base coordinate system according to the mutual mapping relationship, and the set of the fourth coordinate values is the third motion trajectory.

[0067] The preset interpolation method can correspond to different interpolation functions. The interpolation functions of the robot and the external axis can be constructed by means of linear interpolation or circular interpolation, and then the interpolation points of the robot in the external axis coordinate system can be obtained by using the interpolation functions. The interpolation points can include the original points in the first motion trajectory and the points obtained after trajectory interpolation. The points of the external axis in the external axis coordinate system can be joint angles, and the points of the robot in the external axis coordinate system can be in the form of coordinate values. According to the mutual mapping relationship, the points of the robot in the external axis coordinate system can be mapped to the robot base coordinate system to obtain the fourth coordinate values of the robot points. In the robot base coordinate system, the set of the fourth coordinate values is the third motion trajectory, and the robot can move according to the third motion trajectory.

[0068] Step S40: Convert the first motion trajectory and the third motion trajectory into control information, and control the robot and the external axis to move in a coordinated manner according to the control information.

[0069] The robot base coordinate system can be planned in the Cartesian space. The Cartesian space is converted to the joint space by means of inverse kinematics of the robot, and the coordinate values in the third motion trajectory are converted into the joint values of the robot. The first motion trajectory in the external axis coordinate system can correspond to the joint values of the external axis. After the robot controller knows the joint values of the robot and the joint values of the external axis, the above joint values can be converted into control information. The control information can be pulses, and the robot controller can send the pulses to the servo motors, and the servo motors drive the robot and the external axis to move in a coordinated manner. Performing trajectory planning in the external axis coordinate system and then converting it to the robot base coordinate system through the mutual mapping relationship can not change the path planning algorithm of the robot itself and improve the speed of constructing different external axis coordination algorithms.

[0070] In this embodiment, by obtaining the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system, in the external axis coordinate system, trajectory planning is performed on the robot and the external axis to obtain the first motion trajectory of the robot and the second motion trajectory of the external axis. According to the mutual mapping relationship, the first motion trajectory is converted to the robot base coordinate system to obtain the third motion trajectory. The first motion trajectory and the third motion trajectory are converted into control information, and the robot and the external axis are controlled to move in a coordinated manner according to the control information. Performing trajectory planning in the external axis coordinate system can avoid interference between the motion trajectories of the robot and the external axis. Moreover, for different types of external axes, after the mutual mapping relationship is established, the motion trajectory of the robot can be converted to the robot base coordinate system through the mutual mapping relationship, enhancing the versatility of the coordinated control for different types of external axes, enabling the robot to move in a coordinated manner with different types of external axes simultaneously, and improving the cooperation efficiency between the robot and the external axis.

[0071] Further, in the second embodiment of the method for coordinated control of the robot and the external axis in this application, referring to Figure 3 , the method includes:

[0072] Step S50, obtain the configuration information of the external mechanical unit, and construct a point position mapping relationship between the external axis of the external mechanical unit and the point positions of the external axis of the robot according to the configuration information;

[0073] The external mechanical unit can be at least one of a single-axis positioner, a double-axis positioner, a guide rail, a conveyor belt, and a positioner placed on the guide rail. Each external mechanical unit can include one or more external axes. The linkage of the robot external axis can be regarded as that while the robot is moving, the external axis also moves with the robot and starts and stops at the same time as the robot, but there is no spatial position constraint on the movement of the robot and the external axis. The cooperation of the robot external axis can be regarded as that on the basis of satisfying the simultaneous start and stop of the robot and the external axis, a specific spatial position relationship also needs to be satisfied. The robot and the external mechanical unit can be connected through various interfaces and lines, and the robot controller controls the movement of the robot and the external mechanical unit at the same time.

[0074] After the external mechanical unit and the robot are connected, the external mechanical unit can be configured in the robot controller according to actual usage requirements, and the external mechanical unit can be configured as a model mechanical unit and a model-free mechanical unit. The model-free mechanical unit is applicable to the scenario where the external axis and the robot move independently, and the model mechanical unit is applicable to the scenario where the external axis and the robot move in cooperation. After configuring the external mechanical unit, the point position mapping relationship of the external axis in the external mechanical unit can be constructed.

[0075] In some feasible embodiments, the step of constructing a point mapping relationship between the external axes of the external mechanical unit and the external axis points of the robot according to the configuration information may include:

[0076] Step g, obtaining the external axis identification information in the configuration information and converting the external axis identification information into external axis point information in the robot base coordinate system;

[0077] Step h, establishing the point mapping relationship according to the external axis point information.

[0078] After configuring the external mechanical unit, various settings of the external mechanical unit can be stored through the configuration information. The configuration information may include external axis identification information, and through the external axis identification information, the position or serial number of each external axis in its external mechanical unit can be determined. For example, for a two-axis positioner, the external axis identification information corresponding to the external axis close to the base is J1, and the external axis identification information corresponding to the external axis away from the base is J2, so as to distinguish different external axes. For each external mechanical unit, the external axis identification information of the external axis is relatively unique. When the robot is connected to multiple external mechanical units, in order for the robot to distinguish these external axes, the external axes can be re-identified through the external axis point information, and a point mapping relationship between the external axis and the external axis point is established, so that the movement position of the external axis can be determined by viewing the external axis points of the robot and the movement of the external axis can be controlled by planning the change of the external axis points. For example, when the robot is connected to two external mechanical units, the first external mechanical unit has two external axes (J1 and J2 inside the first external mechanical unit), and the second external mechanical unit also has two external axes (J1 and J2 inside the second external mechanical unit). Then the robot can identify the two external axes in the first external mechanical unit with J1 and J2, and the two external axes in the second external mechanical unit with J3 and J4, so that each external axis can be distinguished in the robot base coordinate system through the point mapping relationship.

[0079] Step S60, performing joint position calibration on the external mechanical unit to obtain the conversion relationship between the pose and joint angle in the external axis coordinate system;

[0080] For the external axes in the external mechanical unit, an external axis coordinate system can be established at each external axis. There is a connection relationship between adjacent external axes. Joint position calibration can determine the conversion matrix between the external axis coordinate systems and the pose-joint angle conversion relationship, and further construct the mapping relationship between the points in the external axis coordinate system and the points in the robot base coordinate system.

[0081] In some feasible embodiments, before the step of calibrating the joint positions of the external mechanical unit to obtain the pose joint angle conversion relationship in the external axis coordinate system, the following steps may further be included:

[0082] Step i: Obtain the model configuration information in the configuration information, and determine the type of the external axis according to the model configuration information;

[0083] Step j: If the external axis is a modeled axis, execute the step of calibrating the joint positions of the external mechanical unit.

[0084] The model configuration information may represent the model configuration type of the external mechanical unit. The modeled mechanical unit is configured for the scenario where the external axis and the robot move in coordination, and the non-modeled mechanical unit is configured for the scenario where the external axis and the robot move independently. The modeled mechanical unit may be at least one of a single-axis positioner, a double-axis positioner, a guide rail, a conveyor belt, and a positioner placed on the guide rail. The external axis in the modeled mechanical unit is a modeled axis, and the external axis in the non-modeled mechanical unit is a non-modeled axis. Through the division of the modeled axis and the non-modeled axis, the robot can be enabled to control different types of external axes to perform linkage and coordinated movement simultaneously. For the modeled axes that require coordinated movement, joint position calibration is performed, and based on the calibration result and the joint movement angle, the pose joint angle conversion relationship is obtained.

[0085] In some feasible embodiments, the step of calibrating the joint positions of the external mechanical unit to obtain the pose joint angle conversion relationship in the external axis coordinate system may include:

[0086] Step k: Identify the rotation type of the external axis in the external mechanical unit;

[0087] Step l: According to the rotation type, perform joint position calibration on the external axis using a preset calibration method to obtain the transformation matrix between the external axis and the adjacent external axis;

[0088] Step m: Use the transformation function of the external mechanical unit and the transformation matrix to establish the pose joint angle conversion relationship.

[0089] The rotation type of the external axis may include rotational type and linear type, and thus the external axis can be divided into a rotational axis and a linear axis. For the rotational axis, the transformation matrix of the rotational joint coordinate system formed by the rotational axis relative to the adjacent joint coordinate system can be calibrated by the three-point rotation method. For the linear axis, the transformation matrix of the linear joint coordinate system formed by the linear axis relative to the adjacent joint when the joint angle of the linear axis is at zero can be determined by the method of directly calibrating the coordinate system at three points. It can be used is used to represent the transformation matrix of the external axis joint coordinate system relative to the adjacent joint coordinate system. Among them, the smaller the value of i, the closer it is to the base of the external mechanical unit. When i is 0, it represents the transformation matrix of the external mechanical unit base relative to the robot base coordinate system. The conversion function of each external axis joint value of the external mechanical unit to the transformation matrix can be represented by f(θ). Using this conversion function and the above transformation matrix, the pose joint angle conversion function in the external axis coordinate system can be established. Where n represents that this external axis mechanical unit has n external axes, and i represents the i-th external axis.

[0090] Step S70, determine the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system according to the point position mapping relationship and the conversion relationship.

[0091] The mutual mapping relationship can be the mutual mapping function for converting the point position in the external axis coordinate system to the point position in the robot base coordinate system, or the mutual mapping function for converting the point position in the robot base coordinate system to the point position in the external axis coordinate system. Through the mutual mapping function, there is no need to modify the forward and inverse kinematic models of the robot itself, and the cooperative motion control can be applied to various types of robots, with strong versatility.

[0092] In some feasible embodiments, the step of determining the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system according to the point position mapping relationship and the pose joint angle conversion relationship may include:

[0093] Step n, determine the external axis joint value of the external axis according to the point position mapping relationship, and take the point position in the external axis coordinate system as the first point position.

[0094] Step o, use the conversion relationship to convert the external axis joint value and the first coordinate value of the first point position to obtain the second coordinate value of the second point position in the robot base coordinate system.

[0095] Step p, construct the mapping relationship between the first coordinate value and the second coordinate value as the mutual mapping relationship.

[0096] From the point position mapping relationship, the external axis joint values in the robot base coordinate system can be obtained. The external axis joint values can be regarded as joint angles, that is, the θ values in the above pose joint angle conversion function. Then, f(θ) can represent the rotational pose that the external axis should reach. The first point position can be selected in the outermost external axis coordinate system, that is, the external axis coordinate system that is farthest from the base of the external mechanical unit. Construct the mutual mapping function C = F(A, B). A can represent the first coordinate value of the first point position in the external axis coordinate system, B can represent the external axis joint value of the external axis in the model mechanical unit, C can represent the second coordinate value of the point position in the external axis coordinate system converted to the second point position in the robot base coordinate system, and F can represent the mutual mapping function that maps the external axis coordinate system to the robot base coordinate system. For the robot controller, the external axis joint values can be obtained from the point position mapping relationship. By taking different point positions as the first point position in the external axis coordinate system and then using the pose joint angle conversion function to convert the external axis joint values, the above mutual mapping function can be constructed. Similar to the above construction process, the mutual mapping function A = G(C, B) can also be obtained, and G can represent the mutual mapping function that maps the robot base coordinate system to the external axis coordinate system. The constructed mutual mapping relationship has good expandability for different model external axes and can uniformly and efficiently manage the collaborative algorithms of various different external group models.

[0097] In this embodiment, the mutual mapping relationship is constructed based on the point position mapping relationship and the conversion relationship without modifying the forward and inverse kinematic models of the robot itself, making the mutual mapping relationship highly versatile, capable of supporting various types of robots, and different mutual mapping relationships can be constructed according to the actual situations of different external axes, and it also has good expandability for different types of external axes.

[0098] This application embodiment also provides an electronic device, which includes: a memory, a processor, and a linkage and collaborative control program for the robot and the external axis stored on the memory and executable on the processor. The linkage and collaborative control program for the robot and the external axis is configured to implement the steps of the linkage and collaborative control method for the robot and the external axis as described above. For the specific implementation manners of the electronic device in this application embodiment, refer to the respective embodiments of the above linkage and collaborative control method for the robot and the external axis, which will not be elaborated here.

[0099] This application embodiment also provides a computer-readable storage medium, on which a linkage and collaborative control program for the robot and the external axis is stored. When the linkage and collaborative control program for the robot and the external axis is executed by a processor, it implements the steps of the linkage and collaborative control method for the robot and the external axis as described above. For the specific implementation manners of the computer-readable storage medium in this application embodiment, refer to the respective embodiments of the above linkage and collaborative control method for the robot and the external axis, which will not be elaborated here.

[0100] It should be noted that, in this document, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or system comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or system comprising such element.

[0101] The serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0102] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0103] The above are only the preferred embodiments of the present application and do not limit the patent scope of the present application accordingly. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A method for collaborative control of the linkage between a robot and an external axis, characterized in that, The method for collaborative control of the linkage between the robot and the external axis includes the following steps: Obtain the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system; In the external axis coordinate system, based on a preset planned path, acceleration constraint, and speed constraint, perform trajectory planning on the robot and the external axis to obtain a first motion trajectory of the robot and a second motion trajectory of the external axis, where the planned path is the path between the starting and ending positions that the robot and the external axis should reach; Convert the first motion trajectory to the robot base coordinate system according to the mutual mapping relationship to obtain a third motion trajectory; Convert the first motion trajectory and the third motion trajectory into control information, and control the collaborative motion of the robot and the external axis according to the control information; Among them, the step of performing trajectory planning on the robot and the external axis in the external axis coordinate system based on a preset planned path, acceleration constraint, and speed constraint to obtain a first motion trajectory of the robot and a second motion trajectory of the external axis includes: Obtain the planned path, acceleration constraint, and speed constraint; Calculate the generalized distance of the planned path, and calculate a first ratio of the displacement of the robot to the generalized distance and a second ratio of the displacement of the external axis to the generalized distance; Perform trajectory planning on the robot according to the first ratio, the acceleration constraint, and the speed constraint to obtain the first motion trajectory; Perform trajectory planning on the external axis according to the second ratio, acceleration constraint, and speed constraint to obtain the second motion trajectory, where the external axis includes a modeled axis and a non-modeled axis.

2. The linkage and collaborative control method of the robot and the external axis according to claim 1, characterized in that, Before the step of obtaining the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system, it further includes: Obtain the configuration information of the external mechanical unit, and construct a point mapping relationship between the external axis of the external mechanical unit and the external axis points of the robot according to the configuration information; Perform joint position calibration on the external mechanical unit to obtain the conversion relationship between the pose in the external axis coordinate system and the joint angle; Determine the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system according to the point mapping relationship and the conversion relationship.

3. The linkage cooperative control method of the robot and the external axis according to claim 2, wherein The step of constructing the point mapping relationship between the external axis of the external mechanical unit and the external axis points of the robot according to the configuration information includes: Obtain the external axis identification information in the configuration information, and convert the external axis identification information into external axis point information in the robot base coordinate system; Establish the point mapping relationship according to the external axis point information.

4. The linkage and collaborative control method of the robot and the external axis according to claim 2, wherein Before the step of performing joint position calibration on the external mechanical unit to obtain the conversion relationship between the pose in the external axis coordinate system and the joint angle, it further includes: Obtain the model configuration information in the configuration information, and judge the type of the external axis according to the model configuration information; If the external axis is a modeled axis, then execute the step of performing joint position calibration on the external mechanical unit.

5. The linkage and collaborative control method of the robot and the external axis according to claim 2, characterized in that, The step of performing joint position calibration on the external mechanical unit to obtain the conversion relationship between the pose in the external axis coordinate system and the joint angle includes: Identify the rotation type of the external axis in the external mechanical unit; Perform joint position calibration on the external axis according to the preset calibration method corresponding to the rotation type, and obtain the transformation matrix between the external axis and the adjacent external axis; Establish the transformation relationship by using the transformation function of the external mechanical unit and the transformation matrix.

6. The linkage and collaborative control method of the robot and the external axis according to claim 2, characterized in that, The step of determining the mutual mapping relationship between the external axis coordinate system and the robot base coordinate system according to the point position mapping relationship and the transformation relationship includes: Determine the external axis joint value of the external axis according to the point position mapping relationship, and take the point position in the external axis coordinate system as the first point position; Use the transformation relationship to transform the external axis joint value and the first coordinate value of the first point position to obtain the second coordinate value of the second point position in the robot base coordinate system; Construct the mapping relationship between the first coordinate value and the second coordinate value as the mutual mapping relationship.

7. The linkage and collaborative control method for a robot and an external axis according to any one of claims 1-6, characterized in that, The step of transforming the first motion trajectory to the robot base coordinate system according to the mutual mapping relationship to obtain the third motion trajectory includes: Perform trajectory interpolation on the first motion trajectory according to the preset interpolation method to obtain interpolation point positions; Convert the third coordinate value of the interpolation point position to the fourth coordinate value in the robot base coordinate system according to the mutual mapping relationship, and the set of the fourth coordinate values is the third motion trajectory.

8. An electronic device, characterized in that, The electronic device includes: a memory, a processor, and a linkage cooperative control program for the robot and the external axis stored on the memory and executable on the processor. The linkage cooperative control program for the robot and the external axis is configured to implement the steps of the linkage cooperative control method for the robot and the external axis according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a linkage cooperative control program for the robot and the external axis. When the linkage cooperative control program for the robot and the external axis is executed by the processor, the steps of the linkage cooperative control method for the robot and the external axis according to any one of claims 1 to 7 are implemented.

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