Workpiece carrying method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a workpiece carrying method and device, electronic equipment and a storage medium, and relates to the technical field of robot control. According to the specific implementation scheme, an initial motion route of a tail end object of a target robot is generated; performing motion compensation processing on the pose information of the pose points in the initial motion route to obtain a corrected target motion route; and controlling the tail end object to move according to the target movement route so as to carry the to-be-carried workpiece. Therefore, according to the scheme, vibration of the workpiece in the carrying process can be effectively restrained.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a workpiece handling method, apparatus, electronic device, and storage medium. Background Technology

[0002] When a robot handles workpieces with flexible properties (such as long metal strips or plastic parts), the workpiece will undergo elastic deformation during movement due to its flexibility, which will cause the workpiece to vibrate.

[0003] Workpiece vibration can lead to problems such as inaccurate workpiece positioning (e.g., the workpiece cannot be inserted during assembly) and reduced work efficiency (e.g., the workpiece vibration must be stopped before the next step can be taken).

[0004] Therefore, how to effectively suppress the vibration of workpieces during transportation has become an urgent technical problem to be solved. Summary of the Invention

[0005] The purpose of this application is to provide a workpiece handling method, apparatus, electronic device, and storage medium to effectively suppress workpiece vibration during handling. The specific technical solution is as follows:

[0006] In a first aspect, this application provides a workpiece handling method, the method comprising:

[0007] Generate the initial motion path of the end effector of the target robot; wherein, the initial motion path is the motion path generated for the handling of the workpiece to be transported;

[0008] Motion compensation processing is performed on the pose information of the pose points in the initial motion path to obtain the corrected target motion path; wherein, the motion compensation processing of the pose information of any pose point is used to offset the deviation of the pose of the workpiece to be transported caused by the vibration of the workpiece to be transported when the motion reaches that pose point.

[0009] The end effector is controlled to move along the target motion path to transport the workpiece to be transported.

[0010] Secondly, this application provides a workpiece handling device, the device comprising:

[0011] A generation module is used to generate an initial motion path for the end effector of the target robot; wherein, the initial motion path is a motion path generated for the handling of the workpiece to be transported;

[0012] The compensation module is used to perform motion compensation processing on the pose information of the pose points in the initial motion path to obtain the corrected target motion path; wherein, the motion compensation processing on the pose information of any pose point is used to offset the deviation of the pose of the workpiece to be transported caused by the vibration of the workpiece to be transported when the workpiece is moved to that pose point.

[0013] The control module is used to control the end object to move according to the target motion path in order to transport the workpiece to be transported.

[0014] Thirdly, this application provides an electronic device, comprising:

[0015] Memory, used to store computer programs;

[0016] When the processor executes the program stored in the memory, it implements any of the workpiece handling methods described above.

[0017] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements any of the workpiece handling methods described above.

[0018] Fifthly, embodiments of this application also provide a computer program product containing instructions that, when run on a computer, cause the computer to execute any of the workpiece handling methods described above.

[0019] Beneficial effects of the embodiments in this application:

[0020] The solution of this application obtains a corrected target motion path by performing motion compensation processing on the pose information of pose points in the initial motion path of the end effector of the target robot. The motion compensation processing of the pose information of any pose point is used to offset the deviation in the pose of the workpiece to be transported caused by vibration when the robot moves to that pose point. Therefore, the vibration of the workpiece being transported is suppressed when the end effector moves along the target motion path. It is evident that the solution of this application can effectively suppress the vibration of the workpiece during transport.

[0021] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0023] Figure 1 This is a flowchart illustrating a workpiece handling method provided in an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of a robot's spatial motion provided in an embodiment of this application;

[0025] Figure 3 This is a schematic diagram of a calibration process provided in an embodiment of this application;

[0026] Figure 4 This is a flowchart illustrating another workpiece handling method provided in the embodiments of this application;

[0027] Figure 5 This is a schematic diagram of a motion path provided in an embodiment of this application;

[0028] Figure 6 This is a flowchart illustrating yet another workpiece handling method provided in the embodiments of this application;

[0029] Figure 7 This is a schematic diagram of the structure of a workpiece handling device provided in an embodiment of this application;

[0030] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0032] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution of this application all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0033] This application provides a workpiece handling method, apparatus, electronic device, and storage medium that can effectively suppress workpiece vibration during handling.

[0034] The following is a description of a workpiece handling method provided in the embodiments of this application. This workpiece handling method can be applied to a control terminal. For example, the control terminal can be an electronic device communicating with a robot, such as a server or terminal device. The control terminal can also be a control module inside the robot. This application does not limit the specific form of the control terminal.

[0035] The workpiece handling method provided in this application embodiment may include:

[0036] Generate the initial motion path of the end effector of the target robot; wherein, the initial motion path is the motion path generated for the handling of the workpiece to be transported;

[0037] Motion compensation processing is performed on the pose information of the pose points in the initial motion path to obtain the corrected target motion path; wherein, the motion compensation processing of the pose information of any pose point is used to offset the deviation of the pose of the workpiece to be transported caused by the vibration of the workpiece to be transported when the motion reaches that pose point.

[0038] The end effector is controlled to move along the target motion path to transport the workpiece to be transported.

[0039] The solution of this application obtains a corrected target motion path by performing motion compensation processing on the pose information of the pose points in the initial motion path of the end effector of the target robot. The motion compensation processing of the pose information of the pose points is used to offset the deviation in the pose of the workpiece to be transported caused by vibration when the robot moves to that pose point. Therefore, the vibration of the workpiece being transported is suppressed when the end effector moves according to the target motion path. It is evident that the solution of this application can effectively suppress the vibration of the workpiece during the transport process.

[0040] like Figure 1 As shown in the embodiments of this application, a workpiece handling method may include:

[0041] S101, Generate the initial motion path of the end effector of the target robot; wherein, the initial motion path is the motion path generated for the handling of the workpiece to be transported.

[0042] The workpiece to be transported in this application is a workpiece with flexible characteristics, such as a long strip of metal or a plastic part. The target robot can be a multi-axis robotic arm, or it can be another type of robot equipped with an end effector; and the end effector can be called an end effector, for example, a gripper or a suction cup, etc., all of which are reasonable.

[0043] The initial motion path can be determined based on the initial and final poses of the end-effector. The initial and final poses of the end-effector can be predetermined. Alternatively, the initial and final poses of the end-effector can be determined based on the predetermined initial and final poses of the workpiece to be transported by the end-effector. Specifically, the user can pre-set the initial and final poses of the workpiece to be transported. After the end-effector grasps the workpiece, the difference in their spatial poses is fixed, thus allowing the determination of the initial and final poses of the end-effector during the transport of the workpiece.

[0044] The pose refers to position and posture.

[0045] For example, such as Figure 2 The image shown is a schematic diagram of a robot's spatial motion. Figure 2 In the diagram, 201 represents the robot's end effector, and 202 represents the workpiece to be transported. For example... Figure 2 As shown, pose 1 is the pose of the end-effector in a stationary state, and the workpiece to be transported held by the end-effector is not vibrating; pose 2 is the pose of the end-effector in a moving state, and the workpiece to be transported held by the end-effector is in a vibrating state.

[0046] Any method capable of generating the initial motion path of the end effector can be applied to the scheme of this application. The starting point and ending point of the path can specifically be the initial pose and ending pose of the end effector.

[0047] For example, in one specific implementation, to meet the needs of practical applications, the shape of the route to be generated can be determined by different types of motion commands. In the prior art, different commands correspond to different route generation logic.

[0048] Specifically, for the same starting point and ending point, different types of motion commands can generate different routes. Typically, users can pre-select different types of motion commands to generate the corresponding motion routes. For example, motion command types may include: MOVL (Move Linear), MOVC (Move Circular), MOVS (Move Smooth), etc. This application does not limit the type of motion command.

[0049] For example, the initial motion path for generating the end effector of the target robot can be determined in the following way:

[0050] Based on the shape of the required route indicated by the motion command and the starting and ending poses of the end object during the process of transporting the workpiece, construct the required route.

[0051] For the constructed route, sampling is performed to obtain multiple pose points;

[0052] An initial motion path is constructed using multiple pose points obtained from sampling.

[0053] When sampling, sampling can be performed based on route length or time step. For example, it can be set to sample once every specified route length and record a pose point, or sample once every specified time period corresponding to the route length and record a pose point.

[0054] Furthermore, users can also design their own motion paths for the end effector according to their needs. In this application, there are multiple ways to generate the initial motion path of the target robot's end effector; any method capable of generating the initial motion path of the target robot's end effector can be applied to the solution of this application.

[0055] Furthermore, if the initial motion path of the target robot's end effector has already been generated in advance, the initial motion path of the target robot's end effector can be directly obtained and used.

[0056] S102, perform motion compensation processing on the pose information of the pose points in the initial motion path to obtain the corrected target motion path; wherein, the motion compensation processing of the pose information of any pose point is used to offset the deviation of the workpiece pose caused by the vibration of the workpiece to be transported when moving to that pose point.

[0057] Workpieces to be transported are prone to vibration due to their flexible nature and are susceptible to gravity and inertia. Inertia is the primary cause of this vibration.

[0058] The pose information of the pose point can be the coordinates of the end-effector in a specified coordinate system, as well as its orientation. The specified coordinate system can be a user coordinate system, tool coordinate system, world coordinate system, or external axis coordinate system, etc.

[0059] It is understandable that, in a stationary state, after the workpiece to be transported is grasped, the correspondence between the pose of the workpiece to be transported and the pose of the end object is fixed.

[0060] Therefore, in theoretical cases (i.e., when the workpiece to be transported does not vibrate), the end effector (e.g., a robot gripper, suction cup, etc.) moves according to the initial motion path (the motion path of the end effector). Correspondingly, the workpiece to be transported (e.g., a flexible metal strip, etc.) can also move according to the theoretical motion path of the workpiece. The theoretical motion path of the workpiece can be determined based on the correspondence between the pose of the workpiece to be transported and the pose of the end effector (e.g., a robot gripper, suction cup, etc.) in a static state, and the initial motion path. It is understood that the shapes corresponding to the theoretical motion path and the initial motion path are the same.

[0061] However, in reality, due to the vibration of the workpiece during transport, a deviation occurs in the correspondence between the pose of the workpiece and the pose of the end effector (e.g., a robot gripper or suction cup) during movement. This means the correspondence between the pose of the workpiece during movement differs from that of the end effector when stationary, resulting in a different path shape – a deviation exists. When the workpiece reaches a specific pose point, the deviation in pose due to vibration can be defined as the difference between the actual pose of that point in the workpiece's actual movement path and the theoretical pose in the workpiece's theoretical movement path. Therefore, without compensation, the actual movement path of the workpiece differs from its theoretical path; while the actual movement path of the target robot's end effector is essentially the same as its initial movement path.

[0062] To ensure that the pose of the workpiece being transported matches its theoretical pose during transport—that is, to offset the pose deviation caused by vibration of the workpiece when it reaches a specific pose point—motion compensation processing can be applied to the pose information of the pose points in the initial motion path. This ensures that when the end effector (e.g., a robot gripper, suction cup, etc.) moves according to the compensated pose points, the pose of the transported workpiece matches the theoretical pose, thus offsetting the pose deviation caused by vibration when reaching that pose point. Consequently, the actual motion path of the workpiece closely matches the theoretical motion path. The theoretical pose refers to the pose of the workpiece when it moves along the theoretical motion path without vibration.

[0063] In other words, by performing motion compensation processing on the initial motion path of the end object (such as the robot's gripper, suction cup, etc.), a corrected target motion path is obtained, so that the end object moves according to the target motion path, and the workpiece to be transported can move according to the theoretical motion path of the workpiece even under the influence of vibration.

[0064] After offsetting the deviation in the workpiece's pose caused by vibration when it reaches the pose point, the actual motion path of the end effector of the target robot differs from its theoretical motion path. However, the offsetted actual motion path of the end effector can make the actual motion path of the workpiece being transported the same as its theoretical motion path. For example, when the end effector moves to pose point 1 according to its theoretical motion path, the end effector's pose is pose A, and the actual pose of the workpiece being transported due to vibration is pose B. When the end effector moves to pose point 1 according to its theoretical motion path, the end effector's pose is pose A', and the actual pose of the workpiece being transported due to vibration is pose B'. Pose B' is the theoretical pose of the workpiece when the end effector moves to pose point 1.

[0065] In this application, the effects of vibration cancellation and no deviation are only theoretical best results. In actual implementation, due to the influence of environment, precision, etc., the achieved effect may be reduced vibration and reduced deviation.

[0066] S103, control the end object to move according to the target motion path to transport the workpiece to be transported.

[0067] By controlling the end object to move along the target motion path, the workpiece to be transported can move along the theoretical motion path of the workpiece, thereby suppressing the vibration of the workpiece.

[0068] It should be emphasized that, in the solution of this application, the process of the end object moving according to the target movement route is a continuous movement process.

[0069] Controlling the end effector to move along the target motion path to transport the workpiece includes:

[0070] Based on the target motion path, control data for each motion axis of the target robot is generated;

[0071] Based on the control data generated for each motion axis, the motion axes are linked and controlled so that the end object moves along the target motion path to transport the workpiece to be transported.

[0072] In actual operation, the movement of the end effector is controlled by adjusting the joint angles of each axis of the target robot. Therefore, after obtaining the target motion path, the control data of each motion axis can be calculated using inverse kinematics. Based on the generated control data of each motion axis, the motion axes are linked and controlled to make the end effector move along the target motion path to transport the workpiece.

[0073] The solution of this application obtains a corrected target motion path by performing motion compensation processing on the pose information of pose points in the initial motion path of the end effector of the target robot. The motion compensation processing of the pose information of any pose point is used to offset the deviation in the pose of the workpiece to be transported caused by vibration when the robot moves to that pose point. Therefore, the vibration of the workpiece being transported is suppressed when the end effector moves along the target motion path. It is evident that the solution of this application can effectively suppress the vibration of the workpiece during transport.

[0074] Optionally, the step of performing motion compensation processing on the pose information of the pose points in the initial motion path to obtain the corrected target motion path includes:

[0075] Using the function value of the target description function, motion compensation processing is performed on the pose information of the pose points in the initial motion path to obtain the corrected target motion path;

[0076] The target description function is used to describe the elastic deformation relationship between the target robot and the end object formed by the vibration of the target robot and the workpiece to be transported in the elastic system model.

[0077] Next, we will introduce the elastic system model consisting of the target robot and the workpiece to be transported.

[0078] The model of the workpiece to be transported can be simplified to an equivalent elastic system, and the industrial robot as a whole can be simplified to a drive system, as shown in the following model:

[0079] ;

[0080] in, For robot system inertia, For the spatial pose and orientation of the robot end effector, For the contact torque between the flange and the tool, For the frictional resistance of the robot, The inertia of the workpiece to be transported, The spatial pose and orientation of the workpiece to be moved. For tool load, For air resistance, For the rigidity of the workpiece to be transported, The damping coefficient of the workpiece to be transported is... for The first derivative with respect to time characterizes the angular velocity of the robot's end effector. for The second derivative with respect to time characterizes the angular acceleration of the robot's end effector. for The first derivative with respect to time characterizes the angular velocity of the workpiece to be transported. for The second derivative with respect to time characterizes the angular acceleration of the workpiece to be transported.

[0081] A flange is a connecting component at the end of an object, used to connect workpieces.

[0082] Through simplified analysis, the elastic system model of the combination of the workpiece to be transported and the industrial robot is shown below:

[0083] ;

[0084] in, The angular velocity of the robot's end effector. Let be the angular velocity of the workpiece to be transported. It is an expression relating the contact torque between the flange and the tool to the angular velocity of the end object; It is an expression for the relationship between the contact torque between the flange and the tool and the angular velocity of the workpiece to be transported; the natural frequency of the elastic system model. Damping ratio The natural frequency and damping ratio of this elastic system model can be the natural frequency and damping ratio of the workpiece to be transported.

[0085] This is the target description function, used to describe the elastic deformation relationship between the target robot and the end object formed by the vibration of the workpiece to be transported in the elastic system model composed of the target robot and the workpiece to be transported.

[0086] The elastic deformation relationship can also be called the elastic coupling relationship or the elastic dynamic relationship.

[0087] The target description function can also be called the transfer function of the elastic model of the flexible workpiece. Using the target description function, based on the known flange path (i.e., the movement path of the end object), the vibration-affected movement path of the workpiece to be transported can be derived through the target description function. For example, assuming A(s) is the Laplace transform of the end object's movement path A(t), and the Laplace transform of the vibration-affected movement path B(t) of the workpiece to be transported is B(s), then B(s) = The motion path B(t) in the time domain can be obtained by performing an inverse Laplace transform on ×A(s).

[0088] Furthermore, since pose and motion state (e.g., angular velocity) can be converted into each other, the target description function can also be used to describe the elastodynamic relationship between the motion state of the workpiece to be transported and the motion state of the end object, formed by the vibration of the workpiece to be transported. It is understood that if the workpiece to be transported does not vibrate, then the motion state of the workpiece to be transported is the same as the motion state of the end object; for example, during transport, the angular velocity of the workpiece to be transported is the same as the angular velocity of the end object. However, if the workpiece to be transported vibrates, then the motion state of the workpiece to be transported is affected by the vibration and differs from the motion state of the end object.

[0089] Optionally, the step of using the function value of the target description function to perform motion compensation processing on the pose information of the pose points in the initial motion path to obtain the corrected target motion path includes steps A1-A3.

[0090] Step A1: For any two adjacent pose points in the initial motion path, determine the motion vector of the two adjacent pose points as the initial motion vector; wherein, the direction of the initial motion vector is: the first pose point of the two adjacent pose points points to the second pose point, the first pose point is the earlier pose point, and the second pose point is the later pose point.

[0091] Specifically, among the two adjacent pose points, the one that is closer to the starting pose point in the initial motion path is the first pose point, which can be used as the starting point of the motion vector of the two adjacent pose points, and the other is the second pose point, which can be used as the ending point of the motion vector of the two adjacent pose points.

[0092] Step A2: Multiply the initial motion vector and the function value of the target transfer function to obtain the target motion vector of the two adjacent pose points.

[0093] It is understandable that the motion vectors of two adjacent pose points are determined based on the poses of the two pose points. Therefore, the correspondence between the motion vector of the end object and the motion vector of the workpiece to be transported can also be described by the target description function.

[0094] The target description function can be used as a filter to filter out vibrations generated by the workpiece itself.

[0095] It is understandable that, for any initial motion vector, the target motion vector obtained by multiplying the initial motion vector by the target description function is originally the motion vector corresponding to the workpiece to be transported when the end object moves according to the initial motion vector. In other words, the workpiece to be transported originally moved according to the target motion vector. The workpiece to be transported moves according to the target motion vector because, when the end object moves according to the initial motion vector to transport the workpiece, the workpiece to be transported is driven by the end object and its own vibration.

[0096] This application uses the target motion vector as the motion vector of the end-effector, which is equivalent to adding the reverse vibration corresponding to the vibration of the workpiece to be transported to the end-effector. Thus, the vibration generated by the end-effector is transmitted to the workpiece to be transported, effectively canceling out the vibration of the workpiece. It is understood that the vibration of the workpiece to be transported usually does not affect the end-effector.

[0097] Step A3: Based on the target motion vector of the two adjacent pose points and the first pose point among the two adjacent pose points, determine the pose point corresponding to the second pose point among the two adjacent pose points after motion compensation of spatial pose information.

[0098] as well as,

[0099] Based on the determined spatial pose information, the pose points after motion compensation are determined, the motion path is determined, and the corrected target motion path is obtained.

[0100] The target motion vector of the two adjacent pose points can be understood as being constructed using the first pose point and the second pose point after motion compensation. Therefore, given the first pose point and the target motion vector, the second pose point after motion compensation can be determined based on the relationship between the first pose point, the second pose point after motion compensation, and the target motion vector.

[0101] Optionally, determining the pose point corresponding to the second pose point among the two adjacent pose points after motion compensation based on the target motion vector of the two adjacent pose points and the first pose point among the two adjacent pose points includes:

[0102] The pose information of the two adjacent pose points is superimposed with the target motion vector of the two adjacent pose points, and the point represented by the obtained spatial pose information is used as the pose point corresponding to the second pose point after motion compensation of the spatial pose information.

[0103] Specifically, the point represented by the obtained spatial pose information is the endpoint corresponding to the target motion vector after the pose information of the first pose point is superimposed with the target motion vector of the two adjacent pose points.

[0104] And / or,

[0105] The process of determining the motion path from the motion-compensated pose points based on the determined spatial pose information to obtain the corrected target motion path includes:

[0106] Replace each target pose point in the initial motion path with the corresponding pose point to obtain the corrected target motion path;

[0107] Each target pose point is a point with corresponding spatial pose information after motion compensation, and the pose point corresponding to each target pose point is: the pose point with corresponding spatial pose information after motion compensation.

[0108] It is understood that in this scheme, in the initial motion path, except for the initial pose point, all other pose points have corresponding pose points calculated after motion compensation. Therefore, for each pose point except for the initial pose point, the pose point can be replaced with the pose point corresponding to the pose point to obtain the corrected target motion path.

[0109] Of course, in another implementation, the corrected target motion path can be constructed by using each motion-compensated pose point and the initial pose point, according to the order of the pose points of the initial motion path corresponding to each motion-compensated pose point in the initial motion path.

[0110] As can be seen, the method described in this embodiment can effectively perform motion compensation on the pose points and use the motion-compensated pose points to construct the corrected target motion path.

[0111] Optionally, the calculation method for the function value of the target description function includes:

[0112] The target natural frequency and target damping ratio of the workpiece to be transported are pre-calibrated, and the target describing function is used to calculate the function value of the target describing function.

[0113] The above embodiments introduce a target description function. By substituting the target natural frequency and target damping ratio of the workpiece to be transported into the target description function, the function value of the target description function can be calculated.

[0114] Specifically, the step of calculating the function value of the target description function using the pre-calibrated target natural frequency and target damping ratio of the workpiece to be transported, as well as the target description function, includes:

[0115] Substitute the target natural frequency and target damping ratio of the workpiece to be transported into the target description function to calculate the function value of the target description function;

[0116] The target description function includes:

[0117] ;

[0118] in, Let ξ be the objective describing function, and ξ be the target damping ratio of the workpiece to be transported. The target natural frequency of the workpiece to be transported. For the Laplace operator.

[0119] Optionally, the calibration methods for the target natural frequency and the target damping ratio include:

[0120] Step B1: Control the calibration workpiece to vibrate; wherein, the calibration workpiece is the same as the workpiece to be transported;

[0121] Controlling the vibration of the calibration workpiece can be achieved by moving the end object after it has been picked up, causing the workpiece to vibrate during the movement.

[0122] Step B2: Identify the target time used for the calibration workpiece to vibrate for m cycles, as well as the amplitude of the first peak and the amplitude of the nth peak; where n = m + 1.

[0123] m can be set according to the actual situation. The value of n is determined based on the value of m. The peak value is the amplitude when the calibrated workpiece swings to its maximum unidirectional pose. The vibration generated between two adjacent peak values ​​is one cycle, so the number of peak values ​​is the number of cycles plus 1. The amplitude of the peak value, usually referred to as the amplitude or magnitude, refers to the maximum distance the calibrated workpiece deviates from its equilibrium pose during vibration.

[0124] Step B3: Calculate the natural frequency of the calibrated workpiece based on the target time to obtain the target natural frequency;

[0125] Specifically, the relationship between the target time for m cycles and the m cycles is as follows: , For the target time, The natural frequency is given. Knowing the target time and m, the natural frequency of the calibrated workpiece can be calculated using this relationship.

[0126] Step B4: Calculate the damping ratio of the calibrated workpiece based on the amplitude of the first peak and the amplitude of the nth peak to obtain the target damping ratio.

[0127] Specifically, a schematic diagram of the calibration process is shown in Figure 3. Figure 3 In the diagram, the solid line represents the calibration workpiece, and the dashed line represents the vibration process of the calibration workpiece. A1 is the amplitude of the first peak, An is the amplitude of the nth peak, and T is the target time.

[0128] Specifically, the damping ratio of the calibrated workpiece can be calculated using the following formula:

[0129] ;

[0130] ;

[0131] in, The logarithmic decay rate, For the damping ratio, The amplitude of the first peak. Let be the amplitude of the nth peak.

[0132] In theoretical calculations, the natural frequency and damping ratio of a workpiece need to be calculated using the workpiece's inertia and stiffness. The calculation process for these two parameters is quite complex. Therefore, this application can use this calibration method to calibrate the natural frequency and damping ratio, thereby improving calculation efficiency.

[0133] Optionally, before identifying the target time used for the calibrated workpiece to vibrate for m cycles, and the amplitude of the first peak and the amplitude of the nth peak, the method further includes:

[0134] Video data of the vibration process of the calibrated workpiece is collected;

[0135] The identification of the target time used for the calibrated workpiece to vibrate for m cycles, as well as the amplitude of the first peak and the amplitude of the nth peak, includes:

[0136] Image analysis is performed on the collected video data to analyze the target time used by the calibrated workpiece to vibrate for m cycles, as well as the amplitude of the first peak and the amplitude of the nth peak.

[0137] For example, in one specific implementation, point markers, such as stickers, can be added to the calibration workpiece. By identifying the pose of these points, the amplitude of the peak value and the target time for m cycles of vibration can be determined. Specifically, assuming the peak value is the amplitude when the calibration workpiece swings to its maximum left pose, the distance between the calibration workpiece and its equilibrium pose each time it swings to its maximum left pose can be determined by identifying the pose of the points. This distance is used as the amplitude. The time interval between two adjacent swings to the maximum left pose can be recorded as one cycle. After recording m cycles, the recorded times of the m cycles are added together to obtain the target time for the calibration workpiece to perform m cycles of vibration.

[0138] This embodiment can analyze the video data of the vibration process of the calibrated workpiece through image analysis to obtain the target time used by the calibrated workpiece to vibrate for m cycles, as well as the amplitude of the first peak and the amplitude of the nth peak, providing a basis for calculating the damping ratio and natural frequency.

[0139] Furthermore, there are various ways to calculate the damping ratio and natural frequency of the workpiece to be transported, and this application does not limit this method.

[0140] The workpiece handling method will now be described in detail through a specific embodiment. Figure 4 This is a flowchart illustrating another workpiece handling method provided in an embodiment of this application, as shown below. Figure 4 The workpiece handling method provided in this embodiment of the application may include the following steps:

[0141] S401 receives motion commands.

[0142] Instruction types can include MOVL, MOVC, MOVS, and other instruction signals.

[0143] The motion commands have been described in the above embodiments and will not be repeated here.

[0144] S402 calculates the route information in the target space using a time-optimal planning scheme based on motion commands and system dynamics constraints.

[0145] The target space includes corresponding spatial information such as the user coordinate system, tool coordinate system, world coordinate system, and external axis coordinate system.

[0146] Route information includes pose information of pose points. Where (x, y, z) represents the pose of the tool end-effector, and (rx, ry, rz) represents the angle (i.e., pose) of the end-effector.

[0147] The system dynamics constraints refer to the angles, velocities, etc., of each motion axis of the robot, which need to be kept within the range that the robot can support.

[0148] The optimal time is a constraint on calculating route information in this embodiment, namely, planning a route with the shortest travel time.

[0149] S402 corresponds to S101 above, and will not be elaborated on here.

[0150] S403, based on the route information in the target space, is configured using natural frequency and damping ratio parameters. The function corrects the route information.

[0151] By correcting the route information, modal information of the flexible workpiece in the motion path can be eliminated, thereby achieving elastic vibration suppression. The modal information refers to the vibration of the flexible workpiece. In this embodiment, the flexible workpiece is the workpiece to be transported described in the above embodiment.

[0152] The following section will provide a detailed explanation of the compensation process by illustrating the compensation process using the MOVL instruction type.

[0153] MOVL type of path motion path, such as Figure 5 As shown, Figure 5 middle, This is the initial pose. The final pose is given. (x, y, z) represents the pose of the tool end effector, and (rx, ry, rz) represents the angle (i.e., orientation) of the end effector.

[0154] from sports Multidimensional motion vector Where, a: displacement in the X-axis direction; b: displacement in the Y-axis direction; c: displacement in the Z-axis direction; d: angle of rotation about the X-axis; e: angle of rotation about the Y-axis; f: angle of rotation about the Z-axis.

[0155] The vector can be composed of n unit motion vectors. The corrected unit motion vector The corrected formula is shown below:

[0156] ;

[0157] In terms of specific implementation, it can be The vector is discretized into a filter, and the discretized unit motion vectors are filtered and calculated to obtain the corrected route command.

[0158] This application can assume that the actual movement path of the workpiece to be transported is the theoretical movement path, and then reverse the actual movement path of the end object, which is the corrected target movement path. The end object moves according to the corrected target movement path, which can suppress the shaking by shaking the end object in the opposite direction according to the shaking direction of the workpiece to be transported.

[0159] from sports The pose points along the route are composed of individual motion vectors. Specifically, .

[0160] After correction sports The points along the route are shown in the following formula:

[0161] ;

[0162] As shown in the above derivation, the multiplication of multidimensional vector corrections can be used to derive the target space-corrected motion path. Spatial correction avoids excessive route deformation and ensures the consistency of planning rhythm. Compared with input shaping, it avoids unnecessary delays and protection logic.

[0163] The unit motion vector refers to the motion vector between two adjacent pose points in the above embodiment, where the time interval between each adjacent pose point is the same. For example, if a path has pose points a, b, and c, then the motion vectors of a and b can be... The motion vectors of b and c can be... .

[0164] The term "beat" refers to time. Specifically, in the route information, the time interval between adjacent pose points is the same, meaning that the time length corresponding to each unit motion vector is the same. However, the method of this application does not affect the time interval between adjacent pose points, thus making the beat of the corrected route the same as the beat of the route before correction.

[0165] S403 corresponds to S102 mentioned above, and will not be elaborated on here.

[0166] S404 uses inverse kinematics to solve for the joint angle information of the articulated robot based on the spatially corrected route, and then sends it to the robot actuator system.

[0167] For example, for a six-axis robotic arm, the angle information of the six axes can be determined for each pose point in the corrected path. For instance, (J1, J2, J3, J4, J5, J6) represent the angle information of the six axes determined for a single pose point, where J1 is the angle of the first axis, J2 is the angle of the second axis, J3 is the angle of the third axis, J4 is the angle of the fourth axis, J5 is the angle of the fifth axis, and J6 is the angle of the sixth axis.

[0168] S405, the robot actuator system performs spatial motion control based on joint angle information, thereby realizing a vibration suppression scheme for flexible workpieces.

[0169] S404 and S405 correspond to S103 mentioned above, and will not be elaborated on here.

[0170] Specifically, Figure 6 This is a flowchart illustrating yet another workpiece handling method provided in the embodiments of this application; as shown. Figure 6 The workpiece handling method shown in this embodiment consists of 5 steps;

[0171] Step 1: Issue the MOVL / MOVC / MOVS command. This step corresponds to S401 above.

[0172] Step 2: Perform time-optimal planning. Step 2 corresponds to S402 above.

[0173] Step 3: Perform spatial route correction. Step 3 corresponds to S403 above.

[0174] Step 4: Perform inverse kinematics. Step 4 corresponds to S404 above.

[0175] Step 5: Trigger the multi-joint robot actuator. Step 5 corresponds to S405 above.

[0176] like Figure 5 As shown, after the multi-joint robot actuator is triggered, the workpiece (small ball) to be transported moves from pose 1 to pose 2 as the end effector moves.

[0177] The approach in this embodiment optimizes the end-effector vibration suppression strategy based on the model characteristics of flexible workpieces, ensuring the robot's cycle characteristics, avoiding large changes in the route shape, thereby improving overall task efficiency, and has a wide range of applications.

[0178] Based on the above embodiments of the workpiece handling method, this application also provides a workpiece handling device. Figure 7 This is a schematic diagram of the structure of a workpiece handling device provided in an embodiment of this application, as shown below. Figure 7 As shown, the workpiece handling device may include:

[0179] The generation module 701 is used to generate the initial motion path of the end effector of the target robot; wherein, the initial motion path is the motion path generated for the handling of the workpiece to be transported;

[0180] The compensation module 702 is used to perform motion compensation processing on the pose information of the pose points in the initial motion path to obtain the corrected target motion path; wherein, the motion compensation processing of the pose information of any pose point is used to offset the deviation of the pose of the workpiece to be transported caused by the vibration of the workpiece to be transported when the workpiece is moved to that pose point.

[0181] The control module 703 is used to control the end object to move according to the target motion path in order to transport the workpiece to be transported.

[0182] The solution of this application obtains a corrected target motion path by performing motion compensation processing on the pose information of pose points in the initial motion path of the end effector of the target robot. The motion compensation processing of the pose information of any pose point is used to offset the deviation in the pose of the workpiece to be transported caused by vibration when the robot moves to that pose point. Therefore, the vibration of the workpiece being transported is suppressed when the end effector moves along the target motion path. It is evident that the solution of this application can effectively suppress the vibration of the workpiece during transport.

[0183] Optionally, the compensation module includes:

[0184] The compensation submodule is used to perform motion compensation processing on the pose information of the pose points in the initial motion path using the function value of the target description function, so as to obtain the corrected target motion path.

[0185] The target description function is used to describe the elastic deformation relationship between the target robot and the end object formed by the vibration of the target robot and the workpiece to be transported in the elastic system model.

[0186] Optionally, the compensation submodule includes:

[0187] The first determining unit is used to determine the motion vector of any two adjacent pose points in the initial motion path as the initial motion vector; wherein the direction of the initial motion vector is: the first pose point of the two adjacent pose points points to the second pose point, the first pose point is the earlier pose point, and the second pose point is the later pose point.

[0188] The compensation unit is used to multiply the initial motion vector and the function value of the target transfer function to obtain the target motion vector of the two adjacent pose points;

[0189] The second determining unit is used to determine the pose point corresponding to the second pose point among the two adjacent pose points after motion compensation based on the target motion vector of the two adjacent pose points and the first pose point among the two adjacent pose points.

[0190] as well as,

[0191] Based on the determined spatial pose information, the pose points after motion compensation are determined, the motion path is determined, and the corrected target motion path is obtained.

[0192] Optionally, determining the pose point corresponding to the second pose point among the two adjacent pose points after motion compensation based on the target motion vector of the two adjacent pose points and the first pose point among the two adjacent pose points includes:

[0193] The pose information of the first pose point in the two adjacent pose points is superimposed with the target motion vector of the two adjacent pose points. The point represented by the obtained spatial pose information is used as the pose point corresponding to the second pose point after motion compensation of the spatial pose information.

[0194] And / or,

[0195] The process of determining the motion path from the motion-compensated pose points based on the determined spatial pose information to obtain the corrected target motion path includes:

[0196] Replace each target pose point in the initial motion path with the corresponding pose point to obtain the corrected target motion path;

[0197] Each target pose point is a point with corresponding spatial pose information after motion compensation, and the pose point corresponding to each target pose point is: the pose point with corresponding spatial pose information after motion compensation.

[0198] Optionally, the calculation method for the function value of the target description function includes:

[0199] The target natural frequency and target damping ratio of the workpiece to be transported are pre-calibrated, and the target describing function is used to calculate the function value of the target describing function.

[0200] Optionally, the calibration methods for the target natural frequency and the target damping ratio include:

[0201] The calibration workpiece is controlled to vibrate; wherein the calibration workpiece is the same as the workpiece to be transported.

[0202] Identify the target time used for the calibration workpiece to vibrate for m cycles, as well as the amplitude of the first peak and the amplitude of the nth peak; where n = m + 1;

[0203] Based on the target time, the natural frequency of the calibrated workpiece is calculated to obtain the target natural frequency;

[0204] The damping ratio of the calibrated workpiece is calculated based on the amplitude of the first peak and the amplitude of the nth peak to obtain the target damping ratio.

[0205] Optionally, before identifying the target time used for the calibrated workpiece to vibrate for m cycles, and the amplitude of the first peak and the amplitude of the nth peak, the method further includes:

[0206] Video data of the vibration process of the calibrated workpiece is collected;

[0207] The identification of the target time used for the calibrated workpiece to vibrate for m cycles, as well as the amplitude of the first peak and the amplitude of the nth peak, includes:

[0208] Image analysis is performed on the collected video data to analyze the target time used by the calibrated workpiece to vibrate for m cycles, as well as the amplitude of the first peak and the amplitude of the nth peak.

[0209] Optionally, the step of calculating the function value of the target describing function using the pre-calibrated target natural frequency and target damping ratio of the workpiece to be transported, as well as the target describing function, includes:

[0210] Substitute the target natural frequency and target damping ratio of the workpiece to be transported into the target description function to calculate the function value of the target description function;

[0211] The target description function includes:

[0212] ;

[0213] in, Let ξ be the objective describing function, and ξ be the target damping ratio of the workpiece to be transported. The target natural frequency of the workpiece to be transported. For the Laplace operator.

[0214] Optionally, the control module includes:

[0215] A generation submodule is used to generate control data for each motion axis of the target robot based on the target motion path;

[0216] The control submodule is used to perform linkage control on each motion axis according to the control data of each generated motion axis, so that the end object moves according to the target motion path to transport the workpiece to be transported.

[0217] This application also provides an electronic device, such as... Figure 8 As shown, it includes:

[0218] Memory 801 is used to store computer programs;

[0219] The processor 802, when executing the program stored in the memory 801, implements any of the workpiece handling methods described above.

[0220] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 802, communication interface, and memory 801 communicating with each other via the communication bus.

[0221] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0222] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0223] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0224] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0225] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described workpiece handling methods.

[0226] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform any of the workpiece handling methods described above.

[0227] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0228] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0229] The various embodiments in this specification are described in a related manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0230] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A workpiece handling method characterized by, The method comprises: generating an initial motion route of an end object of a target robot; wherein the initial motion route is a motion route generated for carrying of a workpiece to be carried; motion compensation processing is performed on the pose information of the pose points in the initial motion route to obtain a corrected target motion route; wherein the motion compensation processing of the pose information of any pose point is used to offset the deviation of the pose of the workpiece to be carried caused by the vibration of the workpiece to be carried when moving to the pose point; controlling the end object to move according to the target motion route to carry the workpiece to be carried.

2. The method of claim 1, wherein, The motion compensation processing performed on the pose information of the pose points in the initial motion route to obtain the corrected target motion route comprises: motion compensation processing is performed on the pose information of the pose points in the initial motion route by using the function value of the target description function to obtain the corrected target motion route; wherein the target description function is used to describe the elastic deformation relationship between the end object and the workpiece to be carried in the elastic system model composed of the target robot and the workpiece to be carried, which is affected by the vibration of the workpiece to be carried.

3. The method of claim 2, wherein, The motion compensation processing performed on the pose information of the pose points in the initial motion route by using the function value of the target description function to obtain the corrected target motion route comprises: for any two adjacent pose points in the initial motion route, based on the pose information of the two adjacent pose points, the motion vector of the two adjacent pose points is determined as an initial motion vector; wherein the direction of the initial motion vector is that the first pose point of the two adjacent pose points points to the second pose point, and the first pose point is the former pose point and the second pose point is the latter pose point; multiplying the initial motion vector and the function value of the target transfer function to obtain the target motion vector of the two adjacent pose points; based on the target motion vector of the two adjacent pose points and the first pose point of the two adjacent pose points, the second pose point of the two adjacent pose points corresponding to the pose point after motion compensation of the spatial pose information is determined; and determining the motion route according to the determined pose point after motion compensation of the spatial pose information to obtain the corrected target motion route.

4. The method of claim 3, wherein, The determination of the pose point after motion compensation of the spatial pose information corresponding to the second pose point of the two adjacent pose points based on the target motion vector of the two adjacent pose points and the first pose point of the two adjacent pose points comprises: superimposing the pose information of the pose point of the two adjacent pose points on the target motion vector of the two adjacent pose points, and taking the point represented by the obtained spatial pose information as the pose point after motion compensation of the spatial pose information corresponding to the second pose point; and / or The determination of the motion route according to the determined pose point after motion compensation of the spatial pose information to obtain the corrected target motion route comprises: replacing each target pose point in the initial motion route with the corresponding pose point to obtain the corrected target motion route; Each target pose point is a pose point after motion compensation of corresponding spatial pose information. The pose point corresponding to each target pose point is a pose point after motion compensation of the spatial pose information corresponding to the target pose point.

5. The method according to any one of claims 1 to 4, characterized in that, The function value of the target description function is calculated in the following manner: The target natural frequency and the target damping ratio of the to-be-transported workpiece are calibrated in advance, and the function value of the target description function is calculated by using the target natural frequency, the target damping ratio, and the target description function.

6. The method of claim 5, wherein, The target natural frequency and the target damping ratio are calibrated in the following manner: A calibration workpiece is controlled to vibrate; the calibration workpiece is the same workpiece as the to-be-transported workpiece; A target time used by the calibration workpiece for m cycles of vibration, and amplitudes of a first peak value and an n th peak value are identified; n = m + 1; A natural frequency of the calibration workpiece is calculated according to the target time, and the target natural frequency is obtained. A damping ratio of the calibration workpiece is calculated according to the amplitude of the first peak value and the amplitude of the n th peak value, and the target damping ratio is obtained.

7. The method of claim 6, wherein, Before the target time used by the calibration workpiece for m cycles of vibration, and the amplitudes of the first peak value and the n th peak value are identified, the following steps are further included: Video data of a vibration process of the calibration workpiece is collected. The target time used by the calibration workpiece for m cycles of vibration, and the amplitudes of the first peak value and the n th peak value are identified in the following manner: Image analysis is performed on the collected video data to analyze the target time used by the calibration workpiece for m cycles of vibration, and the amplitudes of the first peak value and the n th peak value.

8. The method of claim 5, wherein, The function value of the target description function is calculated by using the target natural frequency and the target damping ratio of the to-be-transported workpiece, and the target description function in the following manner: The target natural frequency and the target damping ratio of the to-be-transported workpiece are substituted into the target description function, and the function value of the target description function is calculated. The target description function includes the following: ； wherein, is a target damping ratio of the workpiece to be transported, is a target natural frequency of the workpiece to be transported, is a Laplacian operator.

9. The method of claim 1, wherein, The end object is controlled to move according to the target motion route to transport the to-be-transported workpiece in the following manner: Control data of each motion axis of the target robot is generated according to the target motion route. Each motion axis is controlled in linkage according to the generated control data of each motion axis, so that the end object moves according to the target motion route to transport the to-be-transported workpiece.

10. A workpiece handling apparatus, characterized by, The device includes: An initial motion route of an end object of a target robot is generated; the initial motion route is a motion route generated for transportation of a to-be-transported workpiece; Motion compensation processing is performed on pose information of a pose point in the initial motion route to obtain a corrected target motion route; motion compensation processing of pose information of any pose point is used to offset a deviation of a pose of the to-be-transported workpiece caused by vibration of the to-be-transported workpiece when moving to the pose point; The end object is controlled to move according to the target motion route to transport the to-be-transported workpiece.

11. An electronic device, comprising: The device includes: A memory is used to store a computer program. A processor is configured to implement the method of any one of claims 1-9 when executing a program stored in a memory.

12. A computer-readable storage medium, characterized in that, A computer program is stored in the computer readable storage medium and configured to implement the method of any one of claims 1-9 when executed by a processor.

Images