Control method, device and system of industrial robot

Abstract

The invention relates to a control method, device and system of an industrial robot. The control method of the industrial robot comprises the steps that preprocessing is conducted according to dragging speed data of a magnetic attraction dragging demonstrator attracted to an area adjacent to a tool center point of the industrial robot, and a dragging posture coordinate set is obtained; performing timestamp alignment on the dragging pose coordinate set and the dragging torque set to obtain a teaching data set; and performing coordinate system conversion on the teaching data set according to the calibration data to obtain a dragging attitude coordinate set and a dragging torque set of the current tool center point, and performing interpolation and tool point distribution on the dragging attitude coordinate set and the dragging torque set to finish task path definition of the corresponding tool center point of the industrial robot. According to the control method of the industrial robot, the accuracy of a TCP task path is greatly improved; and meanwhile, multi-TCP task planning is effectively supported, and the flexibility and task execution precision of the industrial robot control method are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent teaching of industrial robots, and in particular to a control method, device, control system, electronic equipment and computer storage medium of an industrial robot. Background Art

[0002] In the field of industrial robots, the teach pendant is an important tool for teaching and debugging robot movements. The teach pendant allows engineers to manually control the position of the robot's end effector or tool, and define the robot's or robotic arm's motion trajectory and task path. Traditional teach pendants are controlled remotely or manually by engineers, and recorded by engineers as key path points or specific positions of the robot or robotic arm, so that subsequent robots can be operated automatically according to the key path points or positions. However, remote control or manual operation requires engineers to have certain experience and skills to improve the precision and accuracy of the robot or robotic arm when performing operations, otherwise it is easy to cause errors in the operation of the robot or robotic arm.

[0003] Based on this, the prior art adopts a dragging teach pendant, which is connected to a robot or a robotic arm, allowing engineers to directly drag the dragging teach pendant and drive the end effector or tool of the robot or robotic arm, so as to obtain the motion trajectory or key points of the path of the driven robot or robotic arm, thereby reducing the complexity of the operation and significantly improving the flexibility and accuracy of the teaching process.

[0004] However, the existing teaching pendant is generally rigidly connected, so in the process of setting complex tasks, due to the movement of multiple joints or tools, coupling effects are easily generated, thereby affecting the moving trajectory of the robot or mechanical arm when the robot automatically performs tasks. Therefore, in the process of using the drag teaching pendant, it is also necessary to additionally debug the coupling force and the center of mass torque to ensure high-precision calculation and avoid instability or control errors. At the same time, since there is a certain distance between the robot end effector or the tool center point (ToolCentral Point, TCP) and the rigidly connected drag teaching pendant, it is easy to have certain deviations by directly using the spatial position of the drag teaching pendant as the moving trajectory, and often requires fine calibration to ensure that the moving trajectory is highly overlapped with the moving trajectory of the tool center point. In addition, when the industrial robot is provided with multiple tools, that is, when a flange is installed with multiple tools, the cost of installing a torque sensor at the end of each tool for dragging teaching is high. Accordingly, the control method of the industrial robot of the prior art has the problems of high control cost, low flexibility and low TCP accuracy. Summary of the invention

[0005] Based on this, an object of the present invention is to provide a control method for an industrial robot.

[0006] A control method for an industrial robot comprises the following steps:

[0007] S1: Preprocessing is performed according to the dragging speed data of the magnetic dragging teaching pendant to obtain a dragging posture coordinate set; wherein the magnetic dragging teaching pendant is adsorbed on the vicinity of the tool center point of an industrial robot, and is used to measure the dragging speed data and the dragging torque set generated in the three-dimensional space when the industrial robot is dragged by the magnetic dragging teaching pendant; the dragging speed data includes linear acceleration and angular velocity; the dragging torque set includes torque and linear force;

[0008] S2: aligning the timestamps of the dragging posture coordinate set and the dragging torque set to obtain a teaching data set;

[0009] S3: performing coordinate system transformation on the teaching data set according to the calibration data to obtain the dragging posture coordinate set and dragging torque set of the current tool center point;

[0010] S4: interpolating the dragging posture coordinate set and the dragging torque set of the current tool center point to obtain a key point set corresponding to the current tool center point;

[0011] S5: Assign tool points to the key point set corresponding to the current tool center point, and complete the task path definition of the industrial robot corresponding to the tool center point.

[0012] Compared with the prior art, the control method of the industrial robot described in the present invention realizes low deviation of the tool movement trajectory by magnetically dragging the teaching pendant to the TCP vicinity area and completing the coordinate system conversion in combination with calibration data, thereby significantly improving the accuracy of the TCP. At the same time, the posture and torque data are directly collected by the external magnetic drag teaching pendant, which avoids the need for force coupling and center of mass torque debugging in traditional methods, effectively simplifies the teaching operation, and improves the teaching operation efficiency. In addition, through tool point allocation, the magnetic drag teaching pendant is supported to be adsorbed in multiple TCP vicinity areas in turn to complete the task path definition of the TCP one by one, which significantly improves the flexibility of the teaching process, thereby realizing a reusable magnetic drag teaching pendant and significantly reducing the hardware deployment cost.

[0013] Furthermore, the dragging posture coordinate set is specifically expressed as follows:

[0014] P D ={(p x (t), p y (t), p z (t)), (θ x (t), θ y (t), θ z (t))|t∈[0,N]}

[0015] Where P D Represents the dragging posture coordinate set; p x (t), p y (t), p z (t) represents the position coordinates of the magnetic drag teaching pendant in the x, y, and z directions at time t, which are obtained by numerically integrating the linear acceleration in three-dimensional space. The specific calculation is as follows:

[0016] p x (t) = ∫a x (t)dt+p x (0)

[0017] p y (t) = ∫a y (t)dt+p y (0)

[0018] p z (t) = ∫a z (t)dt+p z (0)

[0019] In the formula, a x (t), a y (t), a z (t) represents the linear acceleration of the magnetic drag teaching pendant on the x, y, and z axes at time t; p x (0), p y (0), p z (0) is the initial position coordinate of the teaching pendant; θ x (t), θ y (t), θ z (t) The rotation angles of the magnetic drag teaching pendant on the x, y, and z axes at time t, respectively, are obtained by numerically integrating the angular velocity in three-dimensional space. The specific calculation is as follows:

[0020] θ x (t) = ∫w x (t)dt+θ x (0)

[0021] θ y (t) = ∫w y (t)dt+θ y (0)

[0022] θ z (t) = ∫w z (t)dt+θ z (0)

[0023] In the formula, w x (t), w y (t), wz (t) represents the angular velocity data in the three-dimensional space measured at time t; θ x (t), θ y (t), θ z (t) is the initial rotation angle of the teach pendant; t is the timestamp, where N represents the maximum time the user drags the magnetic drag to drag the teach pendant.

[0024] The present invention converts the linear acceleration and angular velocity of the magnetic drag teach pendant into posture data in three-dimensional space by numerically integrating them, so as to ensure that the teaching data can fully describe the actual motion trajectory of the magnetic drag teach pendant, and divides them based on timestamps to ensure that the posture data is consistent with the time series of the dragging process.

[0025] Furthermore, the step S3 includes the following sub-steps:

[0026] S31: According to the translation matrix and rotation matrix in the calibration data, the coordinate system of the dragging posture coordinate set in the teaching data set is transformed to obtain the dragging posture coordinate set of the current tool center point, which is specifically expressed as follows:

[0027] P TCP ={(R TCP ·p xyz (t)+T TCP ), (R TCP θ xyz (t))|t∈[0,N]}

[0028] Where P TCP Represents the dragging posture coordinate set of the current tool point, namely TCP; R TCP ·p xyz (t)+T TCP Represents the result after position coordinate conversion, where T TCP is the translation matrix; R TCP is the rotation matrix; p xyz (t) is the dragging posture coordinate in the magnetic drag teaching pendant coordinate system at the tth moment, which includes three components (p x (t), p y (t), p z (t)); θ xyz (t) is the rotation angle of the magnetic drag teaching pendant coordinate system at the tth moment, which includes three components (θ x (t), θ y (t), θ z (t));

[0029] S32: According to the rotation matrix in the calibration data, the drag torque set in the teaching data set is transformed into a coordinate system to obtain the drag posture coordinate set of the current tool center point, which is specifically expressed as follows:

[0030] M TCP ={(R TCP ·f xyz (t)), (R TCP ·τ xyz (t))|t∈[0,N]}

[0031] Where M TCP Represents the drag torque set of the current tool center point; f xyz (t) is the force vector set in the magnetic drag teaching pendant coordinate system at the tth moment, representing the linear force in the x, y, and z directions; τ xyz (t) is the torque vector set in the magnetic drag teaching pendant coordinate system at the tth moment, representing the torque data in the x, y, and z directions.

[0032] Accordingly, the dragging posture and torque data of the magnetic dragging teaching pendant are accurately mapped to the corresponding tool center point in the industrial robot coordinate system through the translation matrix and the rotation matrix, so as to ensure that the posture and torque data of the tool center point can accurately match the actual operation requirements of the industrial robot, thereby improving the accuracy and dynamic stability of task execution. In addition, the present invention greatly improves the accuracy of the TCP moving path of the industrial robot during the path planning process by adsorbing the magnetic dragging teaching pendant to the adjacent area of ​​​​the TCP and directly using the calibrated TCP position in the industrial robot coordinate system as the reference position of the magnetic dragging teaching pendant. At the same time, the error accumulation due to coordinate conversion is reduced, the path deviation problem is effectively avoided, and the accuracy of path generation and the reliability of task execution are significantly improved.

[0033] Furthermore, the step S4 includes the following sub-steps:

[0034] S41: interpolating the dragging posture coordinate set of the current center point using spline interpolation to obtain a smooth dragging posture coordinate set;

[0035] S42: according to the smoothed drag posture coordinate set, the drag torque set is interpolated by using spline interpolation, and the interpolated drag torque set is smoothed by using a low-pass filter to obtain a smoothed drag torque set;

[0036] S43: Temporally associate the smooth dragging posture coordinate set with the dragging torque set to generate a key point set corresponding to the current tool center point.

[0037] Accordingly, the dragging posture and dragging torque set are smoothed to ensure that the generated key point set can effectively eliminate the fluctuation problem caused by external interference or data acquisition errors, thereby ensuring the continuity and stability of the data; therefore, the smoothed key point set can be used by the industrial robot to plan the path according to its own dynamic constraints to generate a smoother TCP moving path, thereby improving the stability and accuracy of the task execution process.

[0038] A control device for an industrial robot, comprising a drag speed data preprocessing unit, a data timestamp alignment unit, a coordinate system conversion unit, a path planning unit and a tool point path allocation unit;

[0039] The drag speed data preprocessing unit is used to preprocess the drag speed data of the magnetic drag teaching pendant to obtain a drag posture coordinate set; wherein the magnetic drag teaching pendant is adsorbed on the vicinity of the tool center point of an industrial robot, and is used to measure the drag speed data and drag torque set generated in three-dimensional space when the industrial robot is dragged by the magnetic drag teaching pendant; the drag speed data includes linear acceleration and angular velocity; the drag torque set includes torque and linear force;

[0040] The data timestamp alignment unit is used to perform timestamp alignment on the dragging posture coordinate set and the dragging torque set to obtain a teaching data set;

[0041] The coordinate system conversion unit is used to perform coordinate system conversion on the teaching data set according to the calibration data to obtain the dragging posture coordinate set and the dragging torque set of the current tool center point;

[0042] The path planning unit is used to interpolate the dragging posture coordinate set and the dragging torque set of the current tool center point to obtain the key point set corresponding to the current tool center point;

[0043] The tool point path allocation unit is used to allocate tool points to the key point set corresponding to the current tool center point, and complete the task path definition of the industrial robot corresponding to the tool center point.

[0044] Furthermore, the dragging posture coordinate set is specifically expressed as follows:

[0045] P D ={(p x (t), p y (t), p z (t)), (θ x (t), θ y (t), θ z (t))|t∈[0,N]}

[0046] Where PD Represents the dragging posture coordinate set; p x (t), p y (t), p z (t) represents the position coordinates of the magnetic drag teaching pendant in the x, y, and z directions at time t, which are obtained by numerically integrating the linear acceleration in three-dimensional space. The specific calculation is as follows:

[0047] p x (t) = ∫a x (t)dt+p x (0)

[0048] p y (t) = ∫a y (t)dt+p y (0)

[0049] p z (t) = ∫a z (t)dt+p z (0)

[0050] In the formula, a x (t), a y (t), a z (t) represents the linear acceleration of the magnetic drag teaching pendant on the x, y, and z axes at time t; p x (0), p y (0), p z (0) is the initial position coordinate of the teaching pendant; θ x (t), θ y (t), θ z (t) The rotation angles of the magnetic drag teaching pendant on the x, y, and z axes at time t, respectively, are obtained by numerically integrating the angular velocity in three-dimensional space. The specific calculation is as follows:

[0051] θ x (t) = ∫w x (t)dt+θ x (0)

[0052] θ y (t) = ∫w y (t)dt+θ y (0)

[0053] θ z (t) = ∫w z (t)dt+θ z (0)

[0054] In the formula, w x (t), w y (t), w z(t) represents the angular velocity data in the three-dimensional space measured at time t; θ x (t), θ y (t), θ z (t) is the initial rotation angle of the teach pendant; t is the timestamp, where N represents the maximum time the user drags the magnetic drag to drag the teach pendant.

[0055] Furthermore, the coordinate system conversion unit is further used to perform the following sub-steps:

[0056] According to the translation matrix and rotation matrix in the calibration data, the coordinate system of the dragging posture coordinate set in the teaching data set is transformed to obtain the dragging posture coordinate set of the current tool center point, which is specifically expressed as follows:

[0057] P TCP ={(R TCP ·p xyz (t)+T TCP ), (R TCP θ xyz (t))|t∈[0,N]}

[0058] Where P TCP Represents the dragging posture coordinate set of the current tool point, namely TCP; R TCP ·p xyz (t)+T TCP Represents the result after position coordinate conversion, where T TCP is the translation matrix; R TCP is the rotation matrix; p xyz (t) is the dragging posture coordinate in the magnetic drag teaching pendant coordinate system at the tth moment, which includes three components (p x (t), p y (t), p z (t)); θ xyz (t) is the rotation angle of the magnetic drag teaching pendant coordinate system at the tth moment, which includes three components (θ x (t), θ y (t), θ z (t));

[0059] S32: According to the rotation matrix in the calibration data, the drag torque set in the teaching data set is transformed into a coordinate system to obtain the drag posture coordinate set of the current tool center point, which is specifically expressed as follows:

[0060] M TCP ={(R TCP ·f xyz (t)), (R TCP ·τ xyz (t))|t∈[0,N]}

[0061] Where M TCP Represents the drag torque set of the current tool center point; f xyz (t) is the force vector set in the magnetic drag teaching pendant coordinate system at the tth moment, representing the linear force in the x, y, and z directions; τ xyz (t) is the torque vector set in the magnetic drag teaching pendant coordinate system at the tth moment, representing the torque data in the x, y, and z directions.

[0062] A control system for an industrial robot, comprising a magnetic drag teaching pendant and a control device; the magnetic drag teaching pendant is fixed to the vicinity of the tool center point of an industrial robot by magnetic attraction, and is connected to the control device for communication, and is used to measure the posture speed change and torque change of the magnetic drag teaching pendant in three-dimensional space, thereby obtaining a set of drag speed data and a drag torque, and inputting them into the control device;

[0063] Wherein, the magnetic attraction dragging teaching device comprises a dragging handle, a six-dimensional force sensor and an electromagnet which are stacked and fixedly connected in sequence;

[0064] The drag handle is used to pull the tool center point of the industrial robot to move under external force;

[0065] The six-dimensional force sensor is used to measure the linear force and torque generated in the three-dimensional space, and convert them into electrical signals to form a drag torque set, and input it into the control device;

[0066] The six-axis sensor includes three accelerometers and three gyroscopes, which are used to measure linear acceleration and angular velocity in three-dimensional space and input them into the control device as dragging speed data;

[0067] The electromagnet generates a magnetic force through electrical connection, and is used to adsorb and fix the vicinity of the tool center point of the industrial robot through the magnetic force;

[0068] Wherein, the control device is the control device of the industrial robot mentioned above.

[0069] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 This is a simple installation diagram of the magnetic drag teaching pendant installed on the industrial robot;

[0071] Figure 2 This is a simple structural diagram of the magnetic drag teaching pendant;

[0072] Figure 3 This is a schematic diagram of the simple structure of the magnetic drag teaching pendant disassembled;

[0073] Figure 4 A simplified structural diagram of the control device of the industrial robot according to the present invention;

[0074] Figure 5 The figure is a simplified flowchart of the control method of the industrial robot according to the present invention. DETAILED DESCRIPTION

[0075] In order to solve the problems of high control cost, low flexibility and low TCP accuracy in the prior art, the present invention obtains the dragging speed data of the magnetic dragging teaching pendant to solve it into the dragging posture coordinates, and aligns it with the corresponding drag torque set by time stamp, so as to obtain the registered dragging posture coordinates and the corresponding torque set; then, the registered dragging posture coordinates are converted into a coordinate system, and the dragging posture coordinates after the conversion of the coordinate system are combined with the corresponding drag torque to perform path planning, and obtain the moving trajectory corresponding to the current tool center point; finally, the tool point is allocated according to the trajectory to complete the task path definition of the current tool center point. Accordingly, the present invention greatly improves the accuracy of the TCP task path through the custom installation position of the magnetic dragging teaching pendant, reduces the use of torque sensors, and effectively reduces the teaching cost; at the same time, by processing based on the data of a single magnetic dragging teaching pendant, a key point set corresponding to multiple tool center points of the industrial robot is generated, thereby effectively supporting the task planning of multiple TCPs, and significantly improving the flexibility and task execution accuracy of the industrial robot control method.

[0076] Based on the above design, the present invention proposes a control method for an industrial robot, and based on the method, proposes a control system for an industrial robot.

[0077] See also Figure 1 , Figure 1 This is a schematic diagram of a simple installation of a magnetically-drag teach pendant mounted on an industrial robot.

[0078] The control system of the industrial robot includes an industrial robot 101, a magnetic suction and dragging teaching pendant 102 and an industrial robot control device 103. The industrial robot 101 is in communication connection with the industrial robot control device 103 to receive a task path instruction from the control device and adjust the motion trajectory of the industrial robot end effector according to the task path instruction.

[0079] Among them, the industrial robot 101 is provided with a plurality of end effectors, and the end effectors are used to install various working tools. The center coordinates of the corresponding tools are tool center points (TCP), and TCP is used to define the coordinate points of the tool installation position and direction. By adjusting different TCPs, the robot can perform various tasks more flexibly.

[0080] At the same time, industrial robots may include multiple joints, and the joints may be linear joints, rotational joints, and spherical joints. These joints can be coordinated to achieve precise positioning and multi-degree-of-freedom motion of the end effector; however, the types of joints, the number of joints, or the number of axes used by different industrial robots may be different. Therefore, when performing path planning, it is necessary to consider the possible coupling effects of these joints during the movement process. To this end, industrial robots usually need to combine their own dynamic constraints to plan the path key point set input by the control device. These dynamic constraints include joint speed, acceleration, load, etc., and use optimization algorithms to ensure that each axis can move in a coordinated manner, so that the TCP can run smoothly along the predetermined trajectory.

[0081] It should be noted that since each TCP corresponds to a different tool installation position, different tools can be selected for installation according to task requirements, thereby achieving fine operations on different tasks, such as welding, gripping or assembly, etc. Therefore, this application does not make specific limitations on the tool type installed on its TCP.

[0082] The magnetic dragging teach pendant 102 is magnetically fixed to the TCP vicinity area of ​​the industrial robot 101 and is communicatively connected to the control device 103 of the industrial robot to measure the posture speed change and torque change of the magnetic dragging teach pendant in three-dimensional space, thereby obtaining the dragging speed data and the dragging torque set, and inputting them into the control device 103 of the industrial robot.

[0083] The magnetic dragging teaching pendant 102 includes a dragging handle 1021, a six-dimensional force sensor 1022, a six-axis sensor 1023 and an electromagnet 1024 which are stacked and fixedly connected in sequence. Figure 2 and Figure 3 , Figure 2 It is a simple structural diagram of the magnetic drag teaching pendant. Figure 3 This is a schematic diagram of the simple structure of the magnetic drag teaching pendant disassembled;

[0084] The drag handle 1021 is used for the user to manually drag to pull the TCP of the industrial robot to move;

[0085] The six-dimensional force sensor 1022 is used to measure the linear force (magnitude and direction of the force) and torque generated in the three-dimensional space, convert them into electrical signals, form a drag torque set, and input it into the control device;

[0086] The six-axis sensor 1023 includes three accelerometers and three gyroscopes, and is used to measure linear acceleration and angular velocity in three-dimensional space, and input the same into the control device as dragging speed data;

[0087] The electromagnet 1024 generates magnetic force through electrical connection, and is used to be adsorbed to the TCP vicinity area of ​​the industrial robot 101 through magnetic force, ensuring that the magnetic attraction and dragging teaching pendant 102 stably pulls the TCP displacement of the industrial robot during the teaching process.

[0088] Please also see Figure 4 and Figure 5 , Figure 4 is a simplified structural diagram of the control device of the industrial robot according to the present invention, Figure 5 The figure is a simplified flowchart of the control method of the industrial robot according to the present invention.

[0089] The control device 103 of the industrial robot includes a drag speed data preprocessing unit 1 , a data timestamp alignment unit 2 , a coordinate system conversion unit 3 , a path planning unit 4 and a tool point path allocation unit 5 .

[0090] The drag speed data preprocessing unit 1 is used to execute step S1: preprocessing the drag speed data of the magnetic drag teaching pendant to obtain a drag posture coordinate set.

[0091] Specifically, the dragging posture coordinate set is obtained by calculating the three-dimensional linear acceleration and the three-dimensional angular velocity, and the dragging posture coordinate set is specifically expressed as follows:

[0092] P D ={(p x (t), p y (t), p z (t)), (θ x (t), θ y (t), θ z (t))|t∈[0,N]}

[0093] Where P D Represents the dragging posture coordinate set; p x (t), p y (t), p z (t) represents the position coordinates of the magnetic drag teaching pendant in the x, y, and z directions at time t, respectively. The specific calculation is as follows:

[0094] By numerically integrating the linear acceleration in three-dimensional space, the position coordinates are obtained. The calculation of the numerical integration is expressed as follows:

[0095] p x (t) = ∫a x (t)dt+p x (0)

[0096] p y (t) = ∫a y (t)dt+py (0)

[0097] p z (t) = ∫a z (t)dt+p z (0)

[0098] In the formula, a x (t), a y (t), a z (t) represents the linear acceleration of the magnetic drag teaching pendant on the x, y, and z axes at time t; p x (0), p y (0), p z (0) is the initial position coordinate of the teaching pendant; θ x (t), θ y (t), θ z (t) The rotation angle of the magnetic drag teaching pendant on the x, y, and z axes at time t, that is, the attitude angle, is calculated and obtained as follows:

[0099] By numerically integrating the angular velocity in three-dimensional space, the rotation angle of the corresponding axis is obtained. The calculation of the numerical integration is expressed as follows:

[0100] θ x (t) = ∫w x (t)dt+θ x (0)

[0101] θ y (t) = ∫w y (t)dt+θ y (0)

[0102] θ z (t) = ∫w z (t)dt+θ z (0)

[0103] In the formula, w x (t), w y (t), w z (t) represents the angular velocity data in the three-dimensional space measured at time t; θ x (t), θ y (t), θ z (t) is the initial rotation angle of the teach pendant, that is, the initial posture angle, which is usually given when the teach pendant is started; t is a timestamp, which is used to indicate the dragging posture corresponding to the acquisition time of each data point, and N represents the maximum time that the user drags the magnetic drag teach pendant.

[0104] Based on this, by converting linear angular velocity and angular velocity into posture, the position and posture of the magnetic suction and dragging teaching pendant in three-dimensional space can be accurately obtained, thereby providing high-precision posture information corresponding to the motion trajectory for subsequent path planning and industrial robots.

[0105] The data timestamp alignment unit 2 is used to execute step S2: performing timestamp alignment on the dragging posture coordinate set and the dragging torque set to obtain a teaching data set.

[0106] Specifically, the teaching data set D T The specific representation is as follows:

[0107] D T =(P D , M D )={P D ,((f x (t), f y (t), f z (t)), (τ x (t), τ y (t), τ z (t)))|t∈[0,N]}

[0108] Where P D Represents the dragging posture coordinate set; M D represents the drag torque set; (P D , M D ) represents the dragging posture coordinate set and dragging torque set after registration; f x (t), f y (t), f z (t) represents the linear force in the x, y, and z directions at time t, respectively. The three-dimensional force data is collected in real time by the six-dimensional force sensor to reflect the changes in the external force of the magnetic suction and dragging teaching pendant in the three directions; τ x (t), τ y (t), τ z (t) represents the moment in the x, y, and z directions at time t, i.e., the torque data obtained by the six-dimensional force sensor.

[0109] Accordingly, by aligning the timestamp t of the dragging posture coordinate set and the dragging torque set, a one-to-one correspondence between the posture and torque data obtained at the same time t is ensured, thereby ensuring that the physical states corresponding to each pair of dragging posture and dragging torque are synchronized.

[0110] The coordinate system conversion unit 3 is used to execute step S3: perform coordinate system conversion on the teaching data set according to the calibration data to obtain the dragging posture coordinate set and the dragging torque set of the current tool center point.

[0111] Specifically, according to the translation matrix and rotation matrix in the calibration data, the coordinate system transformation is performed on the dragging posture coordinate set in the teaching data set to obtain the dragging posture coordinate set of the current tool center point, which is specifically expressed as follows:

[0112] P TCP ={(R TCP ·p xyz (t)+T TCP ), (R TCP θ xyz (t))|t∈[0,N]}

[0113] Where P TCP Represents the dragging posture coordinate set of the current tool point (TCP), which is used to represent the posture data set of the corresponding TCP coordinates in the earth coordinate system converted from the magnetic drag teaching pendant coordinate system as the starting point;

[0114] R TCP ·p xyz (t)+T TCP Represents the result after position coordinate conversion, where T TCP is the translation matrix, which represents the translation deviation between the earth coordinate system and the magnetic drag teaching pendant coordinate system. It uses the position coordinates of TCP in the earth coordinate system as the starting point and is used to adjust the position coordinates of the magnetic drag teaching pendant to the specific coordinates of TCP in the earth coordinate system. TCP It is a rotation matrix, which is used to convert the coordinates in the magnetic drag teach pendant coordinate system to the rotation part of the geodetic coordinate system. It is used to describe the rotation relationship between the coordinate systems, ensure the angle alignment between the magnetic drag teach pendant coordinate system and the geodetic coordinate system, and thus ensure the relative direction between the magnetic drag teach pendant coordinate system and the geodetic coordinate system can be correctly converted.

[0115] Among them, the translation matrix and rotation matrix are obtained through the calibration data of the industrial robot corresponding to the TCP, and the calibration data includes the tool center point identification information, the translation matrix and rotation matrix corresponding to the tool center point, and the task type, etc., which are used to clearly distinguish the different tool center points of the industrial robot; and because the definition of the earth coordinate system and the tool center point (TCP) of each industrial robot may deviate during design and use, the conversion relationship between the earth coordinate system of each industrial robot and the coordinate system of the magnetic dragging teaching pendant may also be different. Accordingly, the present invention does not specifically limit the specific form of the translation matrix and the rotation matrix, but obtains the calibration data of the tool center point corresponding to the industrial robot to ensure that the coordinates of the teaching pendant can be accurately adjusted to the position of the TCP in the earth coordinate system.

[0116] pxyz(t) is the dragging posture coordinates in the magnetic drag teaching pendant coordinate system at the tth moment, which contains three components, namely (p x(t), p y (t), p z (t));

[0117] θ xyz (t) is the rotation angle of the magnetic drag teaching pendant coordinate system at the tth moment, which contains three components, namely (θ x (t), θ y (t), θ z (t)).

[0118] Next, according to the rotation matrix in the calibration data, the drag torque set in the teaching data set is transformed into a coordinate system to obtain the drag posture coordinate set of the current tool center point, which is specifically expressed as follows:

[0119] M TCP ={(R TCP ·f xyz (t)), (R TCP ·τ xyz (t))|t∈[0,N]}

[0120] Where M TCP Represents the drag torque set of the current tool center point, which is used to represent the data set of force and torque corresponding to the TCP position in the earth coordinate system converted from the magnetic drag teaching pendant coordinate system; f xyz (t) is the force vector set in the magnetic drag teaching pendant coordinate system at the tth moment, representing the linear force in the x, y, and z directions; τ xyz (t) is the torque vector set in the magnetic drag teaching pendant coordinate system at the tth moment, representing the torque data in the x, y, and z directions.

[0121] Among them, the force and torque vectors in the coordinate system of the magnetic drag teach pendant are converted to the geodetic coordinate system of the industrial robot through the rotation matrix, so as to ensure that the industrial robot can accurately understand and process the force and torque data of the current tool center point (TCP) in the geodetic coordinate system, and then realize the coordinate system alignment between the magnetic drag teach pendant and the industrial robot, so that the industrial robot can adjust its movements according to the correct force feedback and effectively perform precise tasks.

[0122] In addition, since the calibration data may involve multiple tool center points (TCPs), the present invention allows the user to select the TCP closest to the adsorption position of the magnetic drag teach pendant and automatically matches its corresponding calibration data, thereby ensuring that the data collected by the magnetic drag teach pendant can accurately reflect the movement trajectory of the target TCP after coordinate system conversion, thereby achieving free debugging of multiple tool points and reuse of multiple robots, and effectively reducing the hardware cost of system deployment.

[0123] The smoothing processing unit 4 is used to execute step S4: interpolating according to the dragging posture coordinate set and the dragging torque set of the current tool center point to obtain a key point set corresponding to the current tool center point.

[0124] Specifically, spline interpolation is used to interpolate the dragging posture coordinate set of the current center point to obtain a smooth dragging posture coordinate set. The spline interpolation may be cubic spline interpolation. A quartic equation is generated for each coordinate direction in the time interval [0, N] by cubic spline interpolation, and Gaussian elimination or matrix method is used to solve the equation coefficients, thereby ensuring a smooth transition of the path trajectory in the entire time interval to avoid mutations, thereby improving the executableness and stability of the path.

[0125] Among them, since there are many choices for spline interpolation, B-spline interpolation, Lagrange interpolation, Hermite interpolation, Spline interpolation or linear interpolation methods can be selected according to different needs to achieve smooth path generation; therefore, the present invention does not specifically limit the choice of spline interpolation, but selects a suitable interpolation method according to task requirements.

[0126] Next, according to the smoothed drag posture coordinate set, the drag torque set is interpolated by using spline interpolation, and the interpolated drag torque set is smoothed by using a low-pass filter to obtain a smoothed drag torque set.

[0127] The spline interpolation adopts an interpolation method consistent with the smooth drag posture coordinate set to ensure the alignment between the torque data and the drag posture data, thereby maintaining a consistent smooth transition. The low-pass filter is used to filter and smooth the interpolated drag torque set to ensure that the linear force and torque data change smoothly and avoid large fluctuations, thereby improving the stability and accuracy of the robot when performing tasks.

[0128] Finally, the smooth dragging posture coordinate set is temporally associated with the dragging torque set to generate a key point set corresponding to the current tool center point.

[0129] Among them, the time association is to match the posture coordinates and the force and torque data using time series information, and the time series information is used to describe the time order of the key points, which is generated by interpolation of t∈[0,N]; the key point set includes the posture coordinates of the tool center point at any time and its corresponding force and torque vector information.

[0130] Among them, when the industrial robot receives the key point set, it will process the key points according to its own dynamic constraints and generate an executable trajectory through path planning or linear programming methods, thereby ensuring the smoothness and stability of the tool points when executing the path.

[0131] Since the present invention adsorbs the magnetic suction and drag teaching pendant to the vicinity of the tool center point of the current industrial robot, and generates the key points of the path completely based on the sensor data of the magnetic suction and drag teaching pendant, there is no need for additional teaching and debugging of force coupling and center of mass moment calculation, thus effectively simplifying the teaching operation and reducing the position deviation in path generation, thereby significantly improving the overall accuracy and efficiency of the teaching process.

[0132] The tool point path allocation unit 5 is used to execute step S5: perform tool point allocation on the key point set corresponding to the current tool center point, and complete the task path definition of the industrial robot corresponding to the tool center point.

[0133] Specifically, according to the time series information, the posture coordinates, force and torque data in the key point set of the current tool center point are matched with the corresponding tool center point identification information, encoded into a task instruction format, and transmitted to the industrial robot to realize the task path definition of the tool center point.

[0134] Among them, the tool center point identification information is used to distinguish different end effectors in the industrial robot; the task instruction format is an instruction data structure that can be directly recognized and executed by the industrial robot, and the instruction data structure of different industrial robots may be different. The present invention does not specifically limit the matching design of its data structure.

[0135] Accordingly, the present invention is based on the tool center point identification information to ensure that after the industrial robot identifies the task instruction, it can accurately allocate the moving trajectory generated by path planning to the corresponding end effector, thereby ensuring that the moving trajectory of the tool center point strictly meets the posture, force and torque requirements of the key point concentration, thereby significantly improving the applicability and operational flexibility of the industrial robot in multi-task and multi-tool scenarios, and effectively reducing the debugging complexity and the overall deployment cost of the robot.

[0136] Compared with the prior art, the present invention uses magnetic suction to drag the teaching pendant to the vicinity of the tool center point (TCP) of the industrial robot, and directly uses the TCP calibration data to perform coordinate system conversion, which effectively avoids the path error problem caused by distance deviation in the traditional rigid connection teaching pendant, and significantly improves the accuracy of TCP path planning and the reliability of the industrial robot in executing tasks;

[0137] In addition, the present invention generates a key point set by performing timestamp alignment, coordinate system conversion, interpolation smoothing and other processing on the teaching data to ensure the continuity and stability of the teaching data, thereby providing the industrial robot with a more accurate path key point input, enabling it to independently complete path planning based on its own dynamic constraints, thereby improving the efficiency of the teaching process and the accuracy of task execution. At the same time, the present invention uses magnetic suction to drag the teaching pendant to sequentially absorb the multi-tool center points of the industrial robot, allowing the user to allocate task paths in multiple TCPs, greatly enhancing the flexibility and adaptability of the industrial robot in multi-task, multi-tool scenarios.

[0138] Based on the same inventive concept, the present application also provides an electronic device, which may be a terminal device such as a server, a desktop computing device or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet computer, a netbook, etc.). The device includes one or more processors and a memory, wherein the processor is used to execute a program to implement the control method of the industrial robot in the embodiment of the present invention; and the memory is used to store a computer program executable by the processor.

[0139] Based on the same inventive concept, the present application also provides a computer-readable storage medium, corresponding to the embodiment of the aforementioned industrial robot control method, wherein the computer-readable storage medium stores a computer program thereon, and when the program is executed by a processor, the steps of the industrial robot control method recorded in any of the aforementioned embodiments are implemented.

[0140] The present application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be achieved by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0141] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and the present invention is also intended to include these modifications and modifications.

Claims

1. A control method for an industrial robot, characterized in that: The following steps are involved: S1: Preprocessing is performed according to the dragging speed data of the magnetic dragging teaching pendant to obtain a dragging posture coordinate set; wherein the magnetic dragging teaching pendant is adsorbed on the vicinity of the tool center point of an industrial robot, and is used to measure the dragging speed data and the dragging torque set generated in the three-dimensional space when the industrial robot is dragged by the magnetic dragging teaching pendant; the dragging speed data includes linear acceleration and angular velocity; the dragging torque set includes torque and linear force; S2: aligning the timestamps of the dragging posture coordinate set and the dragging torque set to obtain a teaching data set; S3: performing coordinate system transformation on the teaching data set according to the calibration data to obtain the dragging posture coordinate set and dragging torque set of the current tool center point; S4: interpolating the dragging posture coordinate set and the dragging torque set of the current tool center point to obtain a key point set corresponding to the current tool center point; S5: Assign tool points to the key point set corresponding to the current tool center point, and complete the task path definition of the industrial robot corresponding to the tool center point.

2. The control method of an industrial robot according to claim 1, characterized in that: The dragging posture coordinate set is specifically expressed as follows: P D ={(p x (t),p y (t),p z (t)),(θ x (t),θ y (t),θ z (t))|t∈[0,N]} Where P D Represents the dragging posture coordinate set; p x (t), p y (t), p z (t) represents the position coordinates of the magnetic drag teaching pendant in the x, y, and z directions at time t, which are obtained by numerically integrating the linear acceleration in three-dimensional space. The specific calculation is as follows: p x (t)=∫a x (t)dt+p x (0) p y (t)=∫a y (t)dt+p y (0) p z (t)=∫a z (t)dt+p z (0) In the formula, a x (t), a y (t), a z (t) represents the linear acceleration of the magnetic drag teaching pendant on the x, y, and z axes at time t; p x (0), p y (0), p z (0) is the initial position coordinate of the teaching pendant; θ x (t), θ y (t), θ z (t) The rotation angles of the magnetic drag teaching pendant on the x, y, and z axes at time t, respectively, are obtained by numerically integrating the angular velocity in three-dimensional space. The specific calculation is as follows: θ x (t)=∫w x (t)dt+θ x (0) θ y (t)=∫w y (t)dt+θ y (0) θ z (t)=∫w z (t)dt+θ z (0) In the formula, w x (t), w y (t), w z (t) represents the angular velocity data in the three-dimensional space measured at time t; θ x (t), θ y (t), θ z (t) is the initial rotation angle of the teach pendant; t is the timestamp, where N represents the maximum time the user drags the magnetic drag to drag the teach pendant.

3. The control method of the industrial robot according to claim 2, characterized in that: The step S3 comprises the following sub-steps: S31: According to the translation matrix and rotation matrix in the calibration data, the coordinate system of the dragging posture coordinate set in the teaching data set is transformed to obtain the dragging posture coordinate set of the current tool center point, which is specifically expressed as follows: P TCP ={(R TCP ·p xyz (t)+T TCP ),(R TCP θ xyz (t))|t∈[0,N]} Where P TCP Represents the dragging posture coordinate set of the current tool point, namely TCP; R TCP ·p xyz (t)+T TCP Represents the result after position coordinate conversion, where T TCP is the translation matrix; R TCP is the rotation matrix; p xyz (t) is the dragging posture coordinate in the magnetic drag teaching pendant coordinate system at the tth moment, which includes three components (p x (t), p y (t), p z (t)); θ xyz (t) is the rotation angle of the magnetic drag teaching pendant coordinate system at the tth moment, which includes three components (θ x (t), θ y (t), θ z (t)); S32: According to the rotation matrix in the calibration data, the drag torque set in the teaching data set is transformed into a coordinate system to obtain the drag posture coordinate set of the current tool center point, which is specifically expressed as follows: M TCP ={(R TCP ·f xyz (t)),(R TCP ·τ xyz (t))|t∈[0,N]} Where M TCP Represents the drag torque set of the current tool center point; f xyz (t) is the force vector set in the magnetic drag teaching pendant coordinate system at the tth moment, representing the linear force in the x, y, and z directions; τ xyz (t) is the torque vector set in the magnetic drag teaching pendant coordinate system at the tth moment, representing the torque data in the x, y, and z directions.

4. The control method of the industrial robot according to claim 3, characterized in that: The step S4 comprises the following sub-steps: S41: interpolating the dragging posture coordinate set of the current center point using spline interpolation to obtain a smooth dragging posture coordinate set; S42: according to the smoothed drag posture coordinate set, the drag torque set is interpolated by using spline interpolation, and the interpolated drag torque set is smoothed by using a low-pass filter to obtain a smoothed drag torque set; S43: Temporally associate the smooth dragging posture coordinate set with the dragging torque set to generate a key point set corresponding to the current tool center point.

5. A control device for an industrial robot, characterized in that: It includes a drag speed data preprocessing unit, a data timestamp alignment unit, a coordinate system conversion unit, a path planning unit and a tool point path allocation unit; The drag speed data preprocessing unit is used to preprocess the drag speed data of the magnetic drag teaching pendant to obtain a drag posture coordinate set; wherein the magnetic drag teaching pendant is adsorbed on the vicinity of the tool center point of an industrial robot, and is used to measure the drag speed data and drag torque set generated in three-dimensional space when the industrial robot is dragged by the magnetic drag teaching pendant; the drag speed data includes linear acceleration and angular velocity; the drag torque set includes torque and linear force; The data timestamp alignment unit is used to perform timestamp alignment on the dragging posture coordinate set and the dragging torque set to obtain a teaching data set; The coordinate system conversion unit is used to perform coordinate system conversion on the teaching data set according to the calibration data to obtain the dragging posture coordinate set and the dragging torque set of the current tool center point; The path planning unit is used to interpolate the dragging posture coordinate set and the dragging torque set of the current tool center point to obtain the key point set corresponding to the current tool center point; The tool point path allocation unit is used to allocate tool points to the key point set corresponding to the current tool center point, and complete the task path definition of the industrial robot corresponding to the tool center point.

6. The control device of the industrial robot according to claim 5, characterized in that: The dragging posture coordinate set is specifically expressed as follows: P D ={(p x (t),p y (t),p z (t)),(θ x (t),θ y (t),θ z (t))|t∈[0,N]} Where P D Represents the dragging posture coordinate set; p x (t), p y (t), p z (t) represents the position coordinates of the magnetic drag teaching pendant in the x, y, and z directions at time t, which are obtained by numerically integrating the linear acceleration in three-dimensional space. The specific calculation is as follows: p x (t)=∫a x (t)dt+p x (0) p y (t)=∫a y (t)dt+p y (0) p z (t)=∫a z (t)dt+p z (0) In the formula, a x (t), a y (t), a z (t) represents the linear acceleration of the magnetic drag teaching pendant on the x, y, and z axes at time t; p x (0), p y (0), p z (0) is the initial position coordinate of the teaching pendant; θ x (t), θ y (t), θ z (t) The rotation angles of the magnetic drag teaching pendant on the x, y, and z axes at time t, respectively, are obtained by numerically integrating the angular velocity in three-dimensional space. The specific calculation is as follows: θ x (t)=∫w x (t)dt+θ x (0) θ y (t)=∫w y (t)dt+θ y (0) θ z (t)=∫w z (t)dt+θ z (0) In the formula, w x (t), w y (t), w z (t) represents the angular velocity data in the three-dimensional space measured at time t; θ x (t), θ y (t), θ z (t) is the initial rotation angle of the teach pendant; t is the timestamp, where N represents the maximum time the user drags the magnetic drag to drag the teach pendant.

7. The control device of the industrial robot according to claim 6, characterized in that: The coordinate system conversion unit is also used to perform the following sub-steps: According to the translation matrix and rotation matrix in the calibration data, the coordinate system of the dragging posture coordinate set in the teaching data set is transformed to obtain the dragging posture coordinate set of the current tool center point, which is specifically expressed as follows: P TCP ={(R TCP ·p xyz (t)+T TCP ),(R TCP θ xyz (t))|t∈[0,N]} Where P TCP Represents the dragging posture coordinate set of the current tool point, namely TCP; R TCP ·p xyz (t)+T TCP Represents the result after position coordinate conversion, where T TCP is the translation matrix; R TCP is the rotation matrix; p xyz (t) is the dragging posture coordinate in the magnetic drag teaching pendant coordinate system at the tth moment, which includes three components (p x (t), p y (t), p z (t)); θ xyz (t) is the rotation angle of the magnetic drag teaching pendant coordinate system at the tth moment, which includes three components (θ x (t), θ y (t), θ z (t)); S32: According to the rotation matrix in the calibration data, the drag torque set in the teaching data set is transformed into a coordinate system to obtain the drag posture coordinate set of the current tool center point, which is specifically expressed as follows: M TCP ={(R TCP ·f xyz (t)),(R TCP ·τ xyz (t))|t∈[0,N]} Where M TCP Represents the drag torque set of the current tool center point; f xyz (t) is the force vector set in the magnetic drag teaching pendant coordinate system at the tth moment, representing the linear force in the x, y, and z directions; τ xyz (t) is the torque vector set in the magnetic drag teaching pendant coordinate system at the tth moment, representing the torque data in the x, y, and z directions.

8. A control system for an industrial robot, characterized in that: Including magnetic drag teaching pendant and control device; The magnetic dragging teaching pendant is fixed to the vicinity of the tool center point of an industrial robot by magnetic attraction, and is connected to the control device for communication, and is used to measure the posture speed change and torque change of the magnetic dragging teaching pendant in three-dimensional space, so as to obtain the dragging speed data and the dragging torque set, and input them into the control device; wherein, the magnetic dragging teaching pendant comprises a dragging handle, a six-dimensional force sensor and an electromagnet which are stacked and fixedly connected in sequence; The drag handle is used to pull the tool center point of the industrial robot to move under external force; The six-dimensional force sensor is used to measure the linear force and torque generated in the three-dimensional space, and convert them into electrical signals to form a drag torque set, and input it into the control device; The six-axis sensor includes three accelerometers and three gyroscopes, which are used to measure linear acceleration and angular velocity in three-dimensional space and input them into the control device as dragging speed data; The electromagnet generates a magnetic force through electrical connection, and is used to adsorb and fix the vicinity of the tool center point of the industrial robot through the magnetic force; Wherein, the control device is the control device of the industrial robot described in any one of claims 5 to 7 above.

9. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a control method for an industrial robot as described in any one of claims 1 to 4 when executing the computer program.

10. A computer-readable storage medium storing computer-executable instructions, characterized in that: When the computer executable instructions are executed by a processor, the control method of the industrial robot according to any one of claims 1 to 4 is implemented.

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