Robot pose conversion method, device and equipment and storage medium

Abstract

The invention provides a robot pose conversion method, device and equipment and a storage medium, and the method comprises the steps: importing a 3D model of a mechanical arm according to operation information input by a user; the 3D model of the mechanical arm is displayed, and the mechanical arm jumps to a pose conversion interface which comprises a pose-joint angle conversion control; when triggering information aiming at the pose-joint angle conversion control is received, the pose of the mechanical arm is converted into the joint angle from the Cartesian coordinate or converted into the Cartesian coordinate from the joint angle; and respectively displaying the flange orientation or joint angle of each joint. Therefore, the automatic conversion between the target Cartesian pose (flange orientation) and the joint angle can be quickly realized, various calculations of pose data are facilitated, the data processing efficiency is improved, and the pose state of the mechanical arm can be intuitively displayed.

Description

Background Art

[0002] Currently, the sorting of workpieces mainly relies on manual operation. This primitive manual sorting method is inefficient and difficult to meet the sorting requirements for a large number of workpieces. Using a manipulator to replace manual operation for workpiece sorting can effectively improve work efficiency and reduce errors that occur during manual sorting. The prerequisite for using a manipulator to replace manual operation is the need for precise control of the pose of the robotic arm.

[0003] When the robotic arm moves, it needs to accurately obtain the pose of each joint and generate the next control instruction based on the pose. At this time, due to different calculation methods, sometimes the flange orientation of the robotic arm (the Cartesian coordinates of the joint) needs to be obtained, and sometimes the angles / radian values of each joint of the robotic arm need to be obtained. Summary of the Invention

[0004] Aiming at the defects in the prior art, the purpose of the present invention is to provide a robot pose conversion method, device, equipment and storage medium.

[0005] In a first aspect, an embodiment of the present application provides a robot pose conversion method, including:

[0006] Import the 3D model of the robotic arm according to the operation information input by the user;

[0007] Display the 3D model of the robotic arm and jump to the pose conversion interface, where the pose conversion interface includes: a pose-joint angle conversion control;

[0008] When receiving the trigger information for the pose-joint angle conversion control, convert the pose of the robotic arm from Cartesian coordinates to joint angles, or from joint angles to Cartesian coordinates;

[0009] Display the flange orientation or joint angle of each joint respectively.

[0010] Optionally, importing the 3D model of the robotic arm according to the operation information input by the user includes:

[0011] Select the FK / IK widget from the tool drop-down menu;

[0012] Jump to the robotic arm selection interface according to the operation information input by the user;

[0013] Select a preset robotic arm model or import a custom robotic arm model in the robotic arm selection interface.

[0014] Optionally, displaying the joint angles of each joint respectively includes:

[0015] The joint angles of the six degrees of freedom of the robotic arm are respectively displayed in the form of a progress bar, where the display forms of the joint angles include: degrees and radians.

[0016] Optionally, it further includes:

[0017] When the user drags the progress bar of the joint angle of any joint, a dynamic display of the pose adjustment of the 3D model of the robotic arm according to the transformed joint angle;

[0018] Automatically calculate the corresponding Cartesian coordinates after the joint angle transformation.

[0019] Optionally, the pose conversion interface further includes: soft limit parameter control, robotic arm switching control;

[0020] When receiving the trigger information for the soft limit parameter control, display the soft limit parameters of the six degrees of freedom of the robotic arm in the form of a progress bar;

[0021] When receiving the trigger information for the robotic arm switching control, jump to the robotic arm selection interface so that the user can re-import other types of robotic arm models.

[0022] Optionally, the pose conversion interface further includes: DH parameter control,

[0023] When receiving the trigger information for the DH parameter control, jump to the robotic arm DH parameter setting interface;

[0024] Edit the DH parameters of the robotic arm or import the DH parameter table provided by the robotic arm manufacturer.

[0025] Optionally, it further includes:

[0026] After the pose of the robotic arm changes, automatically calculate the pose of the tool reference point relative to the flange and / or the displacement of the robotic arm base;

[0027] Display the pose coordinates of the tool reference point relative to the flange and / or the displacement coordinates of the robotic arm base on the current interface.

[0028] In a second aspect, an embodiment of the present application provides a robot pose conversion device, including:

[0029] A model import module for importing the 3D model of the robotic arm according to the operation information input by the user;

[0030] A first display module for displaying the 3D model of the robotic arm and jumping to the pose conversion interface, where the pose-conversion joint angle conversion control;

[0031] A coordinate conversion module, configured to convert the pose of the robotic arm from Cartesian coordinates to joint angles or from joint angles to Cartesian coordinates when receiving trigger information for the pose-joint angle conversion control;

[0032] A second display module, configured to respectively display the flange orientations or joint angles of each joint.

[0033] Optionally, the model import module is specifically configured to:

[0034] Select the FK / IK widget from the tool drop-down menu;

[0035] Jump to the robotic arm selection interface according to the operation information input by the user;

[0036] Select a preset robotic arm model or import a custom robotic arm model in the robotic arm selection interface.

[0037] Optionally, the second display module is specifically configured to:

[0038] Use a progress bar to respectively display the joint angles of six degrees of freedom of the robotic arm, wherein the display forms of the joint angles include: degrees and radians.

[0039] Optionally, it further includes: a pose adjustment module, configured to dynamically display the pose adjustment of the 3D model of the robotic arm according to the transformed joint angles when the user drags the joint angle progress bar of any joint;

[0040] Automatically calculate the corresponding Cartesian coordinates after the joint angle transformation.

[0041] Optionally, the pose conversion interface further includes: a soft limit parameter control and a robotic arm switching control;

[0042] When receiving trigger information for the soft limit parameter control, display the soft limit parameters of six degrees of freedom of the robotic arm in the form of a progress bar;

[0043] When receiving trigger information for the robotic arm switching control, jump to the robotic arm selection interface so that the user can re-import other types of robotic arm models.

[0044] Optionally, the pose conversion interface further includes: a DH parameter control,

[0045] When receiving trigger information for the DH parameter control, jump to the robotic arm DH parameter setting interface;

[0046] Edit the DH parameters of the robotic arm or import a DH parameter table provided by the robotic arm manufacturer.

[0047] Optionally, it further includes:

[0048] A base displacement calculation module, configured to automatically calculate the pose of the tool reference point relative to the flange and / or the displacement of the robot arm base after the pose of the robot arm changes;

[0049] A tool reference point calculation module, configured to display the pose coordinates of the tool reference point relative to the flange and / or the displacement coordinates of the robot arm base on the current interface.

[0050] In a third aspect, an embodiment of the present application provides a robot pose conversion device, including: a processor and a memory, where executable program instructions are stored in the memory, and when the processor calls the program instructions in the memory, the processor is configured to:

[0051] Execute the steps of the robot pose conversion method according to any one of the first aspects.

[0052] In a fourth aspect, an embodiment of the present application provides a robot, including: a robot body, a drive system, and a robot arm. A processor and a memory are provided in the robot body, where executable program instructions are stored in the memory, and when the processor calls the program instructions in the memory, the processor is configured to control the drive system to drive the robot arm to implement the steps of the robot pose conversion method according to any one of the first aspects.

[0053] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a program, and when the program is executed, the steps of the robot pose conversion method according to any one of the first aspects are implemented.

[0054] In a sixth aspect, an embodiment of the present application provides a program product, where the program product includes a computer program. The computer program is stored in a readable storage medium, and at least one processor of the robot can read the computer program from the readable storage medium, and the at least one processor executes the computer program to enable the robot to implement the steps of the robot pose conversion method in the first aspect.

[0055] Compared with the prior art, the present invention has the following beneficial effects:

[0056] In this application, a 3D model of a robotic arm is imported according to the operation information input by the user; the 3D model of the robotic arm is displayed, and the user is redirected to a pose conversion interface, which includes: a pose-joint angle conversion control; when trigger information for the pose-joint angle conversion control is received, the pose of the robotic arm is converted from Cartesian coordinates to joint angles, or from joint angles to Cartesian coordinates; the flange orientations of each joint, or the joint angles, are respectively displayed. Thus, the automatic conversion between the target Cartesian pose (flange orientation) and the joint angles can be quickly achieved, facilitating various calculations of pose data, improving the efficiency of data processing, and enabling the intuitive display of the pose state of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without creative efforts. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more apparent:

[0058] Figure 1 Schematic diagram of the interface for robot pose conversion provided by an embodiment of this application Figure 1 ;

[0059] Figure 2 Flow chart of a method for robot pose conversion provided by an embodiment of this application;

[0060] Figure 3 Schematic diagram of the interface for robot pose conversion provided by an embodiment of this application Figure 2 ;

[0061] Figure 4 Schematic diagram of the interface for robot pose conversion provided by an embodiment of this application Figure 3 ;

[0062] Figure 5 Flow chart of another method for robot pose conversion provided by an embodiment of this application;

[0063] Figure 6 Structural diagram of a device for robot pose conversion provided by an embodiment of this application;

[0064] Figure 7 Structural diagram of another device for robot pose conversion provided by an embodiment of this application;

[0065] Figure 8Structural schematic diagram of a robot pose conversion device provided by an embodiment of the present application;

[0066] Figure 9 It is a structural schematic diagram of a computer-readable storage medium in an embodiment of the present invention. Detailed implementation manners

[0067] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0068] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there can also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0069] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the related listed items.

[0070] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0071] The technical solutions of the present invention and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0072] The following will describe in detail some embodiments of the present application in conjunction with the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0073] Figure 1 Schematic diagram of the interface for robot pose conversion provided by the embodiment of the present application Figure 1 , as Figure 1 shown, first, open the MAX software, enter the home page, click "Tools" in the menu, select the FK / IK widget, and enter the robot pose conversion interface. On the left side of this display interface is a 3D simulation area for displaying the imported robotic arm model, and on the right side of this display interface is a parameter interface. When clicking on the function control "Pose-Joint Angle", the pose of the robotic arm is converted from Cartesian coordinates to joint angles, or from joint angles to Cartesian coordinates. Thus, it can quickly realize the automatic conversion between the target Cartesian pose (flange orientation) and joint angles, facilitate various calculations of pose data, improve the efficiency of data processing, and can intuitively display the pose state of the robotic arm.

[0074] Figure 2 Flow schematic diagram of a robot pose conversion method provided by the embodiment of the present application, as Figure 2 shown, the method in this embodiment may include the following steps:

[0075] Step S201: Import the 3D model of the robotic arm according to the operation information input by the user.

[0076] In this embodiment, reference can be made to Figure 1 , select the FK / IK widget from the tool drop-down menu; according to the operation information input by the user, jump to the robotic arm selection interface; select a preset robotic arm model in the robotic arm selection interface, or import a custom robotic arm model.

[0077] Step S202: Display the 3D model of the robotic arm and jump to the pose conversion interface, and the pose conversion interface includes: a pose-joint angle conversion control.

[0078] In this embodiment, reference can be made to Figure 1 , in the setting interface, there are two modes, namely converting Cartesian coordinates to joint angles and converting from joint angles to Cartesian coordinates, where the target Cartesian pose can be represented by a rectangular coordinate system or by Euler angles.

[0079] Step S203: When receiving the trigger information for the pose-joint angle conversion control, convert the pose of the robotic arm from Cartesian coordinates to joint angles, or from joint angles to Cartesian coordinates.

[0080] In this embodiment, free conversion of pose-joint angle can be performed according to the needs of the user.

[0081] Figure 3 Schematic diagram of the interface for robot pose conversion provided by the embodiment of the present application Figure 2 , such as Figure 3 shown, when the joint angles are represented in radians, the radians under the six degrees of freedom of the robotic arm can be displayed accordingly. When it is necessary to use angles for representation, it can be switched to the angles under the six degrees of freedom of the robotic arm.

[0082] Step S204: Display the flange orientations or joint angles of each joint respectively.

[0083] Exemplarily, referring to Figure 2 shown, the joint angles of the six degrees of freedom of the robotic arm can be respectively displayed in the form of a progress bar, where the display forms of the joint angles include: angles and radians.

[0084] Figure 4 Schematic diagram of the interface for robot pose conversion provided by the embodiment of the present application Figure 3 , as shown in 4, when the pose of the robotic arm changes, for example, when the user drags the joint angle progress bar of any joint, the 3D model of the robotic arm dynamically shows the pose adjustment according to the changed joint angle; and then the corresponding Cartesian coordinates after the joint angle transformation are automatically calculated.

[0085] Exemplarily, such as Figure 1 shown, the pose conversion interface further includes: a soft limit parameter control and a robotic arm switching control; when receiving the trigger information for the soft limit parameter control, the soft limit parameters of the six degrees of freedom of the robotic arm are displayed in the form of a progress bar; when receiving the trigger information for the robotic arm switching control, it jumps to the robotic arm selection interface so that the user can re-import other types of robotic arm models.

[0086] Exemplarily, such as Figure 1 shown, the pose conversion interface further includes: a DH parameter control; when receiving the trigger information for the DH parameter control, it jumps to the DH parameter setting interface of the robotic arm; edit the DH parameters of the robotic arm or import the DH parameter table provided by the robotic arm manufacturer.

[0087] In this embodiment, a 3D model of the robotic arm is imported according to the operation information input by the user; the 3D model of the robotic arm is displayed, and the system jumps to the pose conversion interface, which includes: a pose-joint angle conversion control; when receiving the trigger information for the pose-joint angle conversion control, the pose of the robotic arm is converted from Cartesian coordinates to joint angles, or from joint angles to Cartesian coordinates; the flange orientations or joint angles of each joint are respectively displayed. Thus, the automatic conversion between the target Cartesian pose (flange orientation) and joint angles can be quickly achieved, facilitating various calculations of pose data, improving the efficiency of data processing, and intuitively displaying the pose state of the robotic arm.

[0088] Figure 5 As shown in the flowchart of another robotic arm pose conversion method provided by the embodiments of the present application, Figure 5 the method in this embodiment may include the following steps:

[0089] Step S501: Import a 3D model of the robotic arm according to the operation information input by the user.

[0090] Step S502: Display the 3D model of the robotic arm and jump to the pose conversion interface, which includes: a pose-joint angle conversion control.

[0091] Step S503: When receiving the trigger information for the pose-joint angle conversion control, convert the pose of the robotic arm from Cartesian coordinates to joint angles, or from joint angles to Cartesian coordinates.

[0092] Step S504: Respectively display the flange orientations or joint angles of each joint.

[0093] In this embodiment, for the specific implementation principles and technical effects of steps S501 to S504, please refer to Figure 2 the relevant descriptions in steps S201 to S204 in the method shown, which will not be elaborated here.

[0094] Step S505: After the pose of the robotic arm changes, automatically calculate the pose of the tool reference point relative to the flange and / or the displacement of the robotic arm base.

[0095] Step S506: Display the pose coordinates of the tool reference point relative to the flange and / or the displacement coordinates of the robotic arm base on the current interface.

[0096] In this embodiment, after the pose of the robotic arm changes, the pose of the tool reference point relative to the flange and / or the displacement of the robotic arm base can be automatically solved and displayed in the right interface, so as to quickly determine the position of the tool reference point.

[0097] Figure 6 The structural schematic diagram of a robot pose conversion device provided by an embodiment of the present application is as follows. Figure 6 As shown, the device in this embodiment may include: a model import module 601, configured to import a 3D model of a robotic arm according to operation information input by a user; a first display module 602, configured to display the 3D model of the robotic arm and jump to a pose conversion interface, where the pose conversion interface includes: a pose-joint angle conversion control; a coordinate conversion module 603, configured to, when receiving trigger information for the pose-joint angle conversion control, convert the pose of the robotic arm from Cartesian coordinates to joint angles, or from joint angles to Cartesian coordinates; a second display module 604, configured to respectively display the flange orientations or joint angles of each joint.

[0098] Exemplarily, the model import module 601 is specifically configured to: select the FK / IK widget from a tool drop-down menu; jump to a robotic arm selection interface according to operation information input by the user; select a preset robotic arm model in the robotic arm selection interface, or import a custom robotic arm model.

[0099] Exemplarily, the second display module 604 is specifically configured to: respectively display the joint angles of six degrees of freedom of the robotic arm in the form of a progress bar, where the display form of the joint angles includes: degrees and radians. <9000232>

[0100] In this embodiment, by importing a 3D model of a robotic arm according to operation information input by a user; displaying the 3D model of the robotic arm and jumping to a pose conversion interface, where the pose conversion interface includes: a pose-joint angle conversion control; when receiving trigger information for the pose-joint angle conversion control, converting the pose of the robotic arm from Cartesian coordinates to joint angles, or from joint angles to Cartesian coordinates; respectively displaying the flange orientations or joint angles of each joint. Thus, the automatic conversion between the target Cartesian pose (flange orientation) and joint angles can be quickly realized, so as to facilitate various calculations of pose data, improve the efficiency of data processing, and can intuitively display the pose state of the robotic arm.

[0101] Figure 7 The structural schematic diagram of another robot pose conversion device provided by an embodiment of the present application is as follows. Figure 7 As shown, on the basis of the device shown in Figure 6 the device in this embodiment may further include: a pose adjustment module 605, configured to, when a user drags a joint angle progress bar of any joint, dynamically display the pose adjustment of the 3D model of the robotic arm according to the changed joint angle; automatically calculate the corresponding Cartesian coordinates after the joint angle is changed.

[0102] Exemplarily, the pose conversion interface further includes: a soft limit parameter control, a robotic arm switching control; when receiving a trigger message for the soft limit parameter control, the soft limit parameters of the six degrees of freedom of the robotic arm are displayed in the form of a progress bar; when receiving a trigger message for the robotic arm switching control, it jumps to the robotic arm selection interface, so that the user can re-import other types of robotic arm models.

[0103] Optionally, the pose conversion interface further includes: a DH parameter control, when receiving a trigger message for the DH parameter control, it jumps to the robotic arm DH parameter setting interface; to edit the DH parameters of the robotic arm, or import a DH parameter table provided by the robotic arm manufacturer.

[0104] Optionally, it further includes: a base displacement calculation module 606, configured to automatically calculate the pose of the tool reference point relative to the flange, and / or the displacement of the robotic arm base after the pose of the robotic arm changes; a tool reference point calculation module 607, configured to display the pose coordinates of the tool reference point relative to the flange, and / or the displacement coordinates of the robotic arm base on the current interface.

[0105] In this embodiment, after the pose of the robotic arm changes, the pose of the tool reference point relative to the flange, and / or the displacement of the robotic arm base can be automatically solved and displayed in the right interface, so as to quickly determine the position of the tool reference point.

[0106] Figure 8 FIG. is a schematic structural diagram of a robot pose conversion device provided in an embodiment of the present application. The robot pose conversion device 800 in this embodiment may include: a processor 801 and a memory 802.

[0107] A memory 802 for storing programs; the memory 802 may include a volatile memory (English: volatile memory), such as a random access memory (English: random-access memory, abbreviation: RAM), such as a static random access memory (English: static random-access memory, abbreviation: SRAM), a double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviation: DDR SDRAM), etc.; the memory may also include a non-volatile memory (English: non-volatile memory), such as a flash memory (English: flash memory). The memory 802 is used to store computer programs (such as application programs and functional modules for implementing the above methods), computer instructions, etc. The above computer programs, computer instructions, etc. may be stored in partitions in one or more memories 802. And the above computer programs, computer instructions, data, etc. may be called by the processor 801.

[0108] The above computer programs, computer instructions, etc. may be stored in partitions in one or more memories 802. And the above computer programs, computer instructions, data, etc. may be called by the processor 801.

[0109] A processor 801 for executing the computer programs stored in the memory 802 to implement each step in the method involved in the above embodiments.

[0110] Specifically, reference may be made to the relevant descriptions in the foregoing method embodiments.

[0111] The processor 801 and the memory 802 may be of an independent structure or an integrated structure integrated together. When the processor 801 and the memory 802 are of an independent structure, the memory 802 and the processor 801 may be coupled and connected through a bus 803.

[0112] The robot pose conversion device 800 of this embodiment may execute Figure 2 、 Figure 5 the technical solutions in the methods shown, and the specific implementation process and technical principle are referred to Figure 2 、 Figure 5 the relevant descriptions in the methods shown, and will not be elaborated here.

[0113] Those skilled in the art can understand that various aspects of the present invention can be implemented as a system, a method, or a program product. Therefore, various aspects of the present invention can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which can be collectively referred to as "circuit", "module", or "platform" here.

[0114] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When at least one processor of the user device executes the computer-executable instructions, the user device executes the above various possible methods.

[0115] Among them, the computer-readable medium includes a computer storage medium and a communication medium, and the communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. An exemplary storage medium is coupled to the processor, so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in the ASIC. In addition, the ASIC can be located in the user device. Of course, the processor and the storage medium can also exist as discrete components in the communication device.

[0116] The present application also provides a program product, the program product includes a computer program, the computer program is stored in a readable storage medium, and at least one processor of the server can read the computer program from the readable storage medium, and the at least one processor executes the computer program to enable the server to implement the method of any one of the above embodiments of the present invention.

[0117] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: Read-Only Memory (ROM), Random Access Memory (RAM), magnetic disk, optical disk, or other various media that can store program codes.

[0118] Figure 9 is a schematic structural diagram of the computer-readable storage medium in the embodiment of the present invention. Refer to [[ID=4,1]]Figure 9As shown, a program product 900 for implementing the above method according to an embodiment of the present invention is described. It may be in the form of a portable compact disc read-only memory (CD-ROM), include program code, and can run on a terminal device such as a personal computer. However, the program product of the present invention is not limited to this. In this document, a readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0119] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the readable storage medium (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0120] The computer-readable storage medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The readable storage medium can also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination of the above.

[0121] The program code for performing the operations of the present invention can be written in any combination of one or more programming languages. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., by using an Internet service provider to connect through the Internet).

[0122] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0123] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A robot pose conversion method, characterized in that, Including: Import the 3D model of the robotic arm according to the operation information input by the user; Display the 3D model of the robotic arm and jump to the pose conversion interface, and the pose conversion interface includes: a pose-joint angle conversion control; When receiving the trigger information for the pose-joint angle conversion control, convert the pose of the robotic arm from Cartesian coordinates to joint angles, or from joint angles to Cartesian coordinates; Display the flange orientation or joint angles of each joint respectively.

2. The robot pose conversion method according to claim 1, characterized in that, Import the 3D model of the robotic arm according to the operation information input by the user, including: Select the FK / IK widget from the tool drop-down menu; Jump to the robotic arm selection interface according to the operation information input by the user; Select a preset robotic arm model in the robotic arm selection interface, or import a custom robotic arm model.

3. The robot pose conversion method according to claim 1, wherein Display the joint angles of each joint respectively, including: Use a progress bar to display the joint angles of the six degrees of freedom of the robotic arm respectively, and the display form of the joint angles includes: degrees, radians.

4. The robot pose conversion method according to claim 3, wherein It also includes: When the user drags the joint angle progress bar of any joint, dynamically display the pose adjustment of the 3D model of the robotic arm according to the changed joint angles; Automatically calculate the corresponding Cartesian coordinates after the joint angle transformation.

5. The robot pose conversion method according to any one of claims 1-4, characterized in that, The pose conversion interface further includes: soft limit parameter controls, robotic arm switching controls; When receiving the trigger information for the soft limit parameter controls, display the soft limit parameters of the six degrees of freedom of the robotic arm in the form of a progress bar; When receiving the trigger information for the robotic arm switching controls, jump to the robotic arm selection interface so that the user can re-import other types of robotic arm models.

6. The robot pose conversion method according to any one of claims 1-4, characterized in that The pose conversion interface further includes: DH parameter controls, When receiving the trigger information for the DH parameter controls, jump to the robotic arm DH parameter setting interface; Edit the DH parameters of the robotic arm, or import the DH parameter table provided by the robotic arm manufacturer.

7. The robot pose conversion method according to any one of claims 1-4, characterized in that It also includes: After the pose of the robotic arm changes, automatically calculate the pose of the tool reference point relative to the flange and / or the displacement of the robotic arm base; Display the pose coordinates of the tool reference point relative to the flange and / or the displacement coordinates of the robotic arm base on the current interface.

8. A robot pose conversion device, characterized in that, Including: A model import module for importing the 3D model of the robotic arm according to the operation information input by the user; A first display module for displaying the 3D model of the robotic arm and jumping to the pose conversion interface, and the pose conversion interface includes: a pose-joint angle conversion control; A coordinate conversion module for converting the pose of the robotic arm from Cartesian coordinates to joint angles, or from joint angles to Cartesian coordinates when receiving the trigger information for the pose-joint angle conversion control; A second display module for respectively displaying the flange orientation or joint angles of each joint.

9. A robot pose conversion device, characterized in that, Including: A processor and a memory, and executable program instructions are stored in the memory. When the processor calls the program instructions in the memory, the processor is used for: Execute the steps of the robot pose conversion method according to any one of claims 1 to 7.

10. A computer-readable storage medium for storing a program, characterized in that, When the described program is executed, it implements the steps of the robot pose conversion method described in any one of claims 1 to 7.

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