Method for realizing precise positioning and rapid smooth running based on manipulator control system

Abstract

The application discloses a method for realizing precise positioning and rapid smooth operation based on a mechanical arm control system, records a path of moving the mechanical arm to a product as a track A, and records a path of moving the mechanical arm 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, S is recorded as a smooth distance, and when the mechanical arm reaches the smooth starting position during movement of the mechanical arm along the track A, the mechanical arm control system issues control data for track B movement of the mechanical arm; the application can issue control data for the next action in advance, overcome the problem of not being in place or not being coherent when the mechanical arm is reversely operated on the same axis due to various factors in the mechanical arm control system, realize precise positioning and rapid smooth operation, and does not need complex hardware support, is convenient to debug and easy to use, and improves work efficiency.

Description

Technical Field

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

[0002] In the injection molding industry, truss robotic arms are commonly used for in-mold removal. This requires both precision and speed. Currently available robotic arm control systems are relatively easy to achieve one of these requirements. However, achieving both simultaneously is difficult or requires extensive debugging, resulting in significant challenges and low efficiency.

[0003] For example, in the traditional robotic arm control system: Figure 4 As shown in the figure, the robot arm has a total travel of 500mm. When removing an object from a mold, the robot control system must control the arm to move from 0mm to 300mm, remove the product, as shown in trajectory ① above. Then, the arm must immediately move from 300mm to 0mm, as shown in trajectory ② above. Ideally, after the arm moves along trajectory ①, it will immediately move to trajectory ② without any delay.

[0004] In principle, the robot control system monitors the encoder feedback pulse count in real time while controlling the servo axis along trajectory ① to determine whether the servo axis has reached the product position. Once the servo axis has reached the product position, it immediately controls the servo axis along trajectory ②. As long as the delay between trajectory ① and trajectory ② is zero, precise positioning and fast, smooth operation are achieved.

[0005] But in reality, 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 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. 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 application discloses a method for realizing precise positioning and rapid smooth operation based on a mechanical arm control system, and comprises the following steps.

[0009] Step 1: the path of the movement of the mechanical arm to the product is recorded as trajectory A, and the path of the movement of the mechanical arm back from the product is recorded as trajectory B; and an encoder is used to monitor the rotation state of a servo shaft in the mechanical arm, so that the position of the mechanical arm is monitored.

[0010] Step 2: in the trajectory A, a smooth starting position is determined, and the distance between the smooth starting position and the target product is S, and S is recorded as a smooth distance.

[0011] Step 3: in the process of the movement of the mechanical arm along the trajectory A, the position of the mechanical arm detected by the encoder is compared with the smooth starting position in real time, and when the mechanical arm reaches the smooth starting position, the mechanical arm control system issues control data for the movement of the mechanical arm along the trajectory B.

[0012] As a preferred technical scheme of the application, the method for determining the smooth starting position is that first, a first speed V1, a first smooth distance S1, a second speed V2 and a second smooth distance S2 are set, and T is calculated according to the formula T is the advance time for issuing the trajectory B control data in advance corresponding to the best smooth effect when the mechanical arm continuously runs at different speeds along the trajectory A.

[0013] Supposing that the speed of the trajectory A is V, the smooth distance corresponding to the running speed is

[0014] As a preferred technical scheme of the application, the setting method of the first speed V1 and the first smooth distance S1 is that first, the first speed V1 and the first smooth distance S1 are set on the mechanical arm control system, the product taking process is run, and after the best smooth running effect is confirmed, the parameters set at this time are the first speed V1 and the first smooth distance S1.

[0015] As a preferred technical scheme of the application, the setting method of the second speed V2 and the second smooth distance S2 is that first, the second speed V2 and the second smooth distance S2 are set on the mechanical arm control system, the product taking process is run, and after the best smooth running effect is confirmed, the parameters set at this time are the second speed V2 and the second smooth distance S2.

[0016] As a preferred technical scheme of the application, a coaxial smooth algorithm module is further included, and the coaxial smooth algorithm module is connected with the mechanical arm control system.

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

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

[0019] The method for realizing precise positioning and rapid smooth running based on the manipulator control system is that the path of the movement of the manipulator arm to the product is recorded as a trajectory A, a smooth starting position is determined in the trajectory A, the distance between the smooth starting position and the target product is S, and the position of the manipulator arm is monitored in real time during the movement of the manipulator arm along the trajectory A, when the manipulator arm reaches the smooth starting position, the manipulator control system issues control data of trajectory B movement of the manipulator arm, so that the control data of the next action can be issued in advance, the problem of not in place or not coherent during the coaxial reverse movement caused by various factors in the manipulator control system is overcome, precise positioning and rapid smooth running are realized, and no complex hardware is needed to support, which is convenient to debug, easy to use and improves the work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, which together with the embodiments of the present application, serve to explain the present application, and do not constitute a limitation of the present application.

[0021] In the drawings:

[0022] Figure 1 is the flow chart of the method for realizing precise positioning and rapid smooth running based on the manipulator control system of the present application;

[0023] Figure 2 is the operation schematic diagram of the method for realizing precise positioning and rapid smooth running based on the manipulator control system of the present application;

[0024] Figure 3 is the operation schematic diagram of the method for realizing precise positioning and rapid smooth running based on the manipulator control system of the present application;

[0025] Figure 4 is the existing manipulator control schematic diagram. DETAILED DESCRIPTION

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

[0027] Embodiment: As shown in Figure 1 , Figure 2 and Figure 3 , the present application is based on the method for realizing precise positioning and rapid smooth running of the robot control system, comprising the following steps:

[0028] Step 1: the path of the robot arm moving towards the product is recorded as trajectory A, and the path of the robot arm moving back from the product is recorded as trajectory B; and the encoder is used to monitor the rotation state of the servo shaft in the robot arm, so as to realize the monitoring of the position of the robot arm;

[0029] Step 2: in trajectory A, a smooth starting position is determined, and the distance between the smooth starting position and the target product is S, and S is recorded as the smooth distance;

[0030] Step 3: during the movement of the robot arm along trajectory A, the position of the robot arm detected by the encoder is compared with the smooth starting position in real time, and when the robot arm reaches the smooth starting position, the robot control system issues control data for the movement of trajectory B of the robot arm. In this way, the control data of the next action can be issued in advance, the problem of not in place or not coherent caused by various factors in the robot control system when the coaxial reverse movement is performed can be overcome, precise positioning and rapid smooth running can be realized, no complex hardware is needed to support, debugging is convenient and easy to use, and work efficiency is improved.

[0031] Wherein, the determination method of the target position is, the determination method of the smooth starting position is, first set the first speed V1, the first smooth distance S1, the second speed V2 and the second smooth distance S2, calculate T according to the formula T is the advance time of issuing trajectory B control data corresponding to the best smooth effect when the robot arm moves along trajectory A at different speeds, so that the control data of trajectory B movement is issued in advance when the robot arm does not reach the target product position, the problem of not in place or not coherent caused by various factors in the robot control system when the coaxial reverse movement is performed can be overcome, precise positioning and rapid smooth running can be realized, no complex hardware is needed to support, debugging is convenient and easy to use, and work efficiency is improved. Wherein in the actual operation process.

[0032] Assuming that the speed of trajectory A is V, the smooth distance corresponding to the running speed is Thus, 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 as high-speed movement, and the first speed V1 is 100% of the highest running speed of the mechanical arm; the second speed V2 is low-speed movement, and the second speed V2 is 10% of the highest running speed of the mechanical arm; thus, the obtained advance time T is more accurate, so that the calculated smooth distance S under different running speeds is more accurate. According to the present application, the smooth distance S under corresponding speed can be obtained according to the different running speeds of the mechanical arm along the trajectory A, so that the present application has strong universality and flexibility.

[0033] The setting method of the first speed V1 and the first smooth distance S1 is as follows: the first speed V1 and the first smooth distance S1 are set on the mechanical arm control system, the product taking process is run, and the parameters set at this time are the first speed V1 and the first smooth distance S1 after the best smooth running effect is confirmed; thus, the corresponding parameters can be set according to the actual situation.

[0034] The setting method of the second speed V2 and the second smooth distance S2 is as follows: the second speed V2 and the second smooth distance S2 are set on the mechanical arm control system, the product taking process is run, and the parameters set at this time are the second speed V2 and the second smooth distance S2 after the best smooth running effect is confirmed; thus, the corresponding parameters can be set according to the actual situation. When the first smooth distance S1 is set at the speed of the first speed V1, the running jam time of the mechanical arm is detected through a high-speed camera or a timer, so that the first smooth distance S1 in the first speed V1 is accurately set; the first smooth distance S1 is accurate after the best smooth running effect is confirmed, so that the accurate first speed V1 and the first smooth distance S1 are obtained; and the same method can be used when the second smooth distance S2 is set at the speed of the second speed V2.

[0035] The coaxial smooth algorithm module is further included, and the coaxial smooth algorithm module is connected with the mechanical arm control system.

[0036] The coaxial smooth algorithm module takes out the data of the set first speed V1, the first smooth distance S1, the second speed V2 and the second smooth distance S2 from the memory of the mechanical arm control system, and calculates the advance time T through the first speed V1, the first smooth distance S1, the second speed V2 and the second smooth distance S2; then, the speed V of the artificially set trajectory A is taken as the input of the coaxial smooth algorithm module, and the smooth distance S under the corresponding running speed V is calculated through the coaxial smooth algorithm module.

[0037] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that the technical solutions described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalent ones. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for realizing precise positioning and rapid smooth running based on a robot control system, characterized in that, The method comprises the following steps: Step 1: the path of the mechanical arm moving towards the product is recorded as trajectory A, and the path of the mechanical arm moving back from the product is recorded as trajectory B; and an encoder is used to monitor the rotation state of a servo shaft in the mechanical arm, so as to monitor the position of the mechanical arm; Step 2: in trajectory A, a smooth starting position is determined, and the distance between the smooth starting position and the target product is S, and S is recorded as the smooth distance; Step 3: during the movement of the mechanical arm along trajectory A, the position of the mechanical arm detected by the encoder is compared with the smooth starting position in real time, and when the mechanical arm reaches the smooth starting position, the mechanical arm control system issues control data for the movement of the mechanical arm along trajectory B; The determination method of the smooth start position is that a first speed V1, a first smooth distance S1, a second speed V2 and a second smooth distance S2 are first set, and the formula T is calculated, and T is the advance time of the trajectory B control data issued in advance corresponding to the best smooth effect when the mechanical arm runs continuously at different speeds along the trajectory A. Assuming that the speed of trajectory A is set to V, the smooth distance under the corresponding running speed is: ； The setting method of the first speed V1 and the first smooth distance S1 is that the first speed V1 and the first smooth distance S1 are set on the mechanical arm control system, the product taking process is run, and after the best smooth running effect is confirmed, the parameters set at this time are the first speed V1 and the first smooth distance S1.

2. The method of claim 1, wherein, The setting method of the second speed V2 and the second smooth distance S2 is that the second speed V2 and the second smooth distance S2 are set on the mechanical arm control system, the product taking process is run, and after the best smooth running effect is confirmed, the parameters set at this time are the second speed V2 and the second smooth distance S2.

3. The method for precise positioning and fast smooth running based on the manipulator control system according to any one of claims 1 to 2, characterized in that, Further comprising a coaxial smoothing algorithm module, the coaxial smoothing algorithm module is connected with the mechanical arm control system; The coaxial smoothing algorithm module takes out the data of the first speed V1, the first smooth distance S1, the second speed V2 and the second smooth distance S2 set in the memory of the mechanical arm control system, and calculates the advance time T through the first speed V1, the first smooth distance S1, the second speed V2 and the second smooth distance S2, then takes the speed V of trajectory A set by human as the input of the coaxial smoothing algorithm module, and calculates the smooth distance S under the corresponding running speed V through the coaxial smoothing algorithm module.

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