Method for realizing accurate positioning and rapid smooth operation based on manipulator control system

Abstract

The invention discloses a method for realizing accurate positioning and rapid smooth operation based on a manipulator control system, which comprises the following steps of: recording a path of a mechanical arm moving towards a product as a track A, and recording a path of the mechanical arm moving back from the product as a track B; the position of the mechanical arm is monitored; in the track A, a smooth starting position is determined, the distance between the smooth starting position and the target product is S, the S is recorded as a smooth distance, and in the process that the mechanical arm moves along the track A, when the mechanical arm reaches the smooth starting position, the mechanical arm control system issues control data that the mechanical arm moves along the track B; control data of the next action can be issued in advance, the problem that coaxial reverse operation is not in place or is not coherent due to various factors in a mechanical arm control system is solved, accurate positioning and rapid and smooth operation are achieved, complex hardware is not needed for supporting, debugging is convenient, use is easy, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field related to robot control, and specifically to a method for achieving precise positioning and fast and smooth operation based on a robot control system. Background Art

[0002] In the injection molding industry, truss robotic arms are generally used for in-mold picking, and the requirements for in-mold picking need to be both accurate and fast. The robotic arm control system currently on the market can easily meet one of the requirements. However, it is difficult to achieve both requirements at the same time or it takes a lot of effort to debug, which is very difficult and inefficient.

[0003] For example, in the traditional robotic arm control system: Figure 4 As shown in the figure, the total stroke of the robot arm is 500mm. When picking up objects in the mold, the robot control system needs to control the arm to move from 0mm to 300mm to remove the product, as shown in track ① in the figure above; then immediately control the arm to move from 300mm to 0mm, as shown in track ② in the figure above. Under ideal conditions, after the arm moves along track ①, there is no delay and it immediately moves along track ②.

[0004] In principle: When the robot control system controls the servo axis running track ①, it monitors the number of encoder feedback pulses of the servo axis in real time to determine whether the servo axis position has reached the product position. When it reaches the product position, it immediately controls the servo axis to run track ②. As long as the delay between track ① and track ② is 0, accurate positioning and fast and smooth operation can be achieved.

[0005] But in fact, because there is a delay in data transmission between the various parts or modules of the robot control system itself, there will also be a delay in the encoder position transmission. In addition, different parameter settings of the system itself will also cause some delays, and there are other unknown delays. These delay times are difficult to accurately judge, calculate and eliminate, so it is difficult to achieve precise positioning and fast and smooth operation at the same time. Summary of the invention

[0006] In order to solve the defects in the prior art that there is a delay in data transmission between the various parts or modules of the robot control system itself, there is also a delay in encoder position transmission, and different parameter settings of the system itself will also cause a part of the delay, and there are other unknown delays. These delay times are difficult to accurately judge, calculate and eliminate, so it is difficult to achieve precise positioning and fast and smooth operation at the same time. The present invention provides a method for achieving precise positioning and fast and smooth operation based on a robot control system.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] The present invention discloses a method for realizing precise positioning and fast and smooth operation based on a manipulator control system, comprising the following steps:

[0009] Step 1: The path of the robot arm moving toward the product is recorded as track A, and the path of the robot arm moving back from the product is recorded as track B; and the encoder is used to monitor the rotation state of the servo axis in the robot arm to monitor the position of the robot arm;

[0010] Step 2: In trajectory A, determine a smoothing starting position, and the distance between the smoothing starting position and the target product is S, and S is recorded as the smoothing distance;

[0011] Step 3: When the robot arm moves along trajectory A, the position of the robot arm detected by the encoder is compared with the smooth starting position in real time. When the robot arm reaches the smooth starting position, the robot control system sends control data for the robot arm to move along trajectory B.

[0012] As a preferred technical solution of the present invention, the method for determining the smoothing starting position is to first set the first speed V1, the first smoothing distance S1, the second speed V2 and the second smoothing distance S2, and then set the first speed V1, the first smoothing distance S1, the second speed V2 and the second smoothing distance S2 according to the formula T is calculated, where T is the advance time for sending the control data of trajectory B in advance to achieve the best smoothing effect when the robot arm performs coaxial continuous operation at different speeds along trajectory A;

[0013] Assuming that the speed of track A is set to V, the smoothing distance at the corresponding running speed is:

[0014] As a preferred technical solution of the present invention, the method for setting the first speed V1 and the first smooth distance S1 is to first set the first speed V1 and the first smooth distance S1 on the manipulator control system, run the product taking process, and after confirming that the best smooth operation effect is achieved, the parameters set at this time are the first speed V1 and the first smooth distance S1.

[0015] As a preferred technical solution of the present invention, the method for setting the second speed V2 and the second smooth distance S2 is to first set the second speed V2 and the second smooth distance S2 on the manipulator control system, run the product taking process, and after confirming that the best smooth operation effect is achieved, the parameters set at this time are the second speed V2 and the second smooth distance S2.

[0016] As a preferred technical solution of the present invention, it also includes a coaxial smoothing algorithm module, and the coaxial smoothing algorithm module is connected to the manipulator control system;

[0017] The coaxial smoothing algorithm module takes out the data of the set first speed V1, the first smoothing distance S1, the second speed V2 and the second smoothing distance S2 from the memory of the manipulator control system, and calculates the advance time T through the first speed V1, the first smoothing distance S1, the second speed V2 and the second smoothing distance S2, and then uses the speed V of the artificially set trajectory A as the input of the coaxial smoothing algorithm module, and calculates the smoothing distance S at the corresponding running speed V through the coaxial smoothing algorithm module.

[0018] The beneficial effects of the present invention are:

[0019] This method of achieving precise positioning and fast and smooth operation based on a robot control system is to record the path of the robot arm moving toward the product as trajectory A, determine a smooth starting position in trajectory A, and the distance between the smooth starting position and the target product is S, and monitor the position of the robot arm in real time during the movement of the robot arm along trajectory A. When the robot arm reaches the smooth starting position, the robot control system sends the control data of the robot arm to move on trajectory B, so that the control data of the next action can be sent in advance, overcoming the problem of inadequate or discontinuous coaxial reverse operation caused by various factors in the robot control system, achieving precise positioning and fast and smooth operation, and no complex hardware support is required, easy to debug and easy to use, and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0021] In the attached picture:

[0022] Figure 1 It is a flowchart of a method for realizing precise positioning and fast and smooth operation based on a manipulator control system of the present invention;

[0023] Figure 2 It is an operation diagram of a method for realizing precise positioning and fast and smooth operation based on a manipulator control system of the present invention;

[0024] Figure 3 It is a schematic diagram of the operation of the coaxial smoothing algorithm module of the method for realizing accurate positioning and fast and smooth operation based on the manipulator control system of the present invention;

[0025] Figure 4 It is a schematic diagram of the existing robot control. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0027] Example: Figure 1 , Figure 2 and Figure 3 As shown, the method for realizing precise positioning and fast and smooth operation based on the manipulator control system of the present invention comprises the following steps:

[0028] Step 1: The path of the robot arm moving toward the product is recorded as track A, and the path of the robot arm moving back from the product is recorded as track B; and the encoder is used to monitor the rotation state of the servo axis in the robot arm to monitor the position of the robot arm;

[0029] Step 2: In trajectory A, determine a smoothing starting position, and the distance between the smoothing starting position and the target product is S, and S is recorded as the smoothing distance;

[0030] Step 3: When the robot moves along track A, the position of the robot detected by the encoder is compared with the smooth starting position in real time. When the robot reaches the smooth starting position, the robot control system sends the control data for the robot to move along track B. In this way, the control data for the next action can be sent in advance, overcoming the problem of inadequate or discontinuous coaxial reverse operation caused by various factors in the robot control system, achieving precise positioning and fast and smooth operation, and no complex hardware support is required. It is easy to debug and use, and improves work efficiency.

[0031] The method for determining the target position is as follows: firstly, the first speed V1, the first smoothing distance S1, the second speed V2 and the second smoothing distance S2 are set, and then the target position is determined by the formula: T is calculated, and T is the advance time for sending the control data of track B in advance to achieve the best smoothing effect when the robot arm is running coaxially and continuously along track A at different speeds. In this way, when the robot arm has not reached the target product position, the control data of track B movement is sent in advance, overcoming the problem of inadequate or discontinuous coaxial reverse operation caused by various factors in the robot control system, achieving precise positioning and fast and smooth operation, and no complex hardware support is required, which is convenient and easy to debug and use, and improves work efficiency. In the actual operation process.

[0032] Assuming that the speed of track A is set to V, the smoothing distance at the corresponding running speed is In this way, the calculation is performed through the first speed V1, the first smooth distance S1, the second speed V2 and the second smooth distance S2, wherein the first speed V1 is set to high-speed movement, and the first speed V1 adopts 100% of the maximum operating speed of the robot arm; the second speed V2 is low-speed movement, and the second speed V2 adopts 10% of the maximum operating speed of the robot arm; in this way, the obtained advance time More accurate, so that the calculated smooth distance S at different running speeds is more accurate. The present invention can obtain the smooth distance S at the corresponding speed according to the different running speeds of the robot arm along the trajectory A, which has strong versatility and flexibility.

[0033] Among them, the setting method of the first speed V1 and the first smooth distance S1 is: first set the first speed V1 and the first smooth distance S1 on the manipulator control system, run the product taking process, and after confirming that the best smooth running effect is achieved, the parameters set at this time are the first speed V1 and the first smooth distance S1, so that the corresponding parameter settings can be made according to the actual situation.

[0034] Wherein, the setting method of the second speed V2 and the second smooth distance S2 is to first set the second speed V2 and the second smooth distance S2 on the manipulator control system, run the product taking process, and after confirming that the best smooth running effect is achieved, the parameters set at this time are the second speed V2 and the second smooth distance S2, so that the corresponding parameter settings can be made according to the actual situation. Wherein, when the first smooth distance S1 is set at the speed of the first speed V1, the jamming time of the manipulator operation is detected by a high-speed camera or a timer, so as to achieve the accurate setting of the first smooth distance S1 in the first speed V1, and after confirming that the best smooth running effect is achieved, the first smooth distance S1 is an accurate first smooth distance S1, so as to obtain an accurate first speed V1 and a first smooth distance S1. Similarly, when the second smooth distance S2 is set at the speed of the second speed V2, this method can be used.

[0035] Among them, it also includes a coaxial smoothing algorithm module, and the coaxial smoothing algorithm module is connected to the manipulator control system;

[0036] The coaxial smoothing algorithm module takes out the data of the set first speed V1, the first smoothing distance S1, the second speed V2 and the second smoothing distance S2 from the memory of the manipulator control system, and calculates the advance time T through the first speed V1, the first smoothing distance S1, the second speed V2 and the second smoothing distance S2, and then uses the speed V of the artificially set trajectory A as the input of the coaxial smoothing algorithm module, and calculates the smoothing distance S at the corresponding running speed V through the coaxial smoothing algorithm module.

[0037] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for achieving precise positioning and fast and smooth operation based on a manipulator control system, characterized in that: The following steps are involved: Step 1: The path of the robot arm moving toward the product is recorded as track A, and the path of the robot arm moving back from the product is recorded as track B; and the encoder is used to monitor the rotation state of the servo axis in the robot arm to monitor the position of the robot arm; Step 2: In trajectory A, determine a smoothing starting position, and the distance between the smoothing starting position and the target product is S, and S is recorded as the smoothing distance; Step 3: When the robot arm moves along trajectory A, the position of the robot arm detected by the encoder is compared with the smooth starting position in real time. When the robot arm reaches the smooth starting position, the robot control system sends control data for the robot arm to move along trajectory B.

2. The method for achieving precise positioning and fast and smooth operation based on a manipulator control system according to claim 1 is characterized in that: The method for determining the smoothing starting position is to first set the first speed V1, the first smoothing distance S1, the second speed V2 and the second smoothing distance S2, and then set the first speed V1, the first smoothing distance S1, the second speed V2 and the second smoothing distance S2 according to the formula T is calculated, where T is the advance time for sending the control data of trajectory B in advance to achieve the best smoothing effect when the robot arm performs coaxial continuous operation along trajectory A at different speeds; Assuming that the speed of track A is set to V, the smoothing distance at the corresponding running speed is:

3. The method for achieving precise positioning and fast and smooth operation based on a manipulator control system according to claim 2 is characterized in that: The method for setting the first speed V1 and the first smooth distance S1 is to first set the first speed V1 and the first smooth distance S1 on the manipulator control system, run the product taking process, and after confirming that the best smooth running effect is achieved, the parameters set at this time are the first speed V1 and the first smooth distance S1.

4. The method for achieving precise positioning and fast and smooth operation based on a manipulator control system according to claim 1 is characterized in that: The method for setting the second speed V2 and the second smooth distance S2 is to first set the second speed V2 and the second smooth distance S2 on the manipulator control system, run the product taking process, and after confirming that the best smooth running effect is achieved, the parameters set at this time are the second speed V2 and the second smooth distance S2.

5. The method for realizing precise positioning and fast and smooth operation based on a manipulator control system according to any one of claims 1 to 4, characterized in that: It also includes a coaxial smoothing algorithm module, which is connected to the manipulator control system; The coaxial smoothing algorithm module takes out the data of the set first speed V1, the first smoothing distance S1, the second speed V2 and the second smoothing distance S2 from the memory of the manipulator control system, and calculates the advance time T through the first speed V1, the first smoothing distance S1, the second speed V2 and the second smoothing distance S2, and then uses the speed V of the artificially set trajectory A as the input of the coaxial smoothing algorithm module, and calculates the smoothing distance S at the corresponding running speed V through the coaxial smoothing algorithm module.

Images