CN104827481A - Method for controlling SCARA (selective compliance assembly robot arm) based on movement controller - Google Patents
Method for controlling SCARA (selective compliance assembly robot arm) based on movement controller Download PDFInfo
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- CN104827481A CN104827481A CN201510211191.0A CN201510211191A CN104827481A CN 104827481 A CN104827481 A CN 104827481A CN 201510211191 A CN201510211191 A CN 201510211191A CN 104827481 A CN104827481 A CN 104827481A
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Abstract
The invention provides a method for controlling an SCARA (selective compliance assembly robot arm) based on a movement controller. The method comprises the following steps of arranging the movement controller and an industrial touch screen; enabling a user to plan the movement track of the SCARA and the corresponding movement parameters through the touch screen, and storing the movement track and the parameters into the movement controller; enabling the movement controller to calculate the actual movement track of the SCARA by an algorithm corresponding to a track planning formula, and simulating the movement track in a rectangular coordinate system which is established by a virtual axis. The method has the advantage that the movement track of the SCARA and the corresponding movement parameters are directly written and planned through the touch screen, the virtual rectangular coordinate system is established by the virtual axis, and an interpolation algorithm in the movement controller is utilized, so the calculation amount is greatly reduced, the movement algorithm is greatly simplified, the development difficulty of the SCARA control system technique is decreased, the development cycle is shortened, and the cost is lower.
Description
Technical field
The present invention relates to manipulator control technical field, refer in particular to
oneplant the SCARA method for controlling robot based on motion controller.
Background technology
Along with the development of process of industrialization, the raising of production automation level, the application of industrial robot is more and more extensive; More and more important effect is played in industrial application such as welding, carrying, assembling, spraying, pilings.Current, SCARA manipulator is widely used in the industrial circles such as electronics, automobile, plastics, food, and its Major Function has been carrying and assembly work.Along with the complexity of processing technology and accuracy constantly promote, SCARA manipulator often needs and other industrial equipment work compounds on streamline, there will be the danger collided with barrier unavoidably.Therefore, the movement locus of the SCARA manipulator that there is barrier in working range is planned just seem particularly important.Trajectory planning refers to the barrier condition of given environment, and starting point and aiming spot, requires the path of selection one from starting point to impact point, make SCARA manipulator can safety, without collision by all barriers.
Existing SCARA manipulator generally adopts the structure system based on embedded control system+motion control chip, such as, adopt DSP embedded, and its construction cycle is long, and adopt pulse control mode, antijamming capability is weak; Move to different movement positions at every turn, all will calculate the position of each interpolated point according to interpolation precision, calculate loaded down with trivial details and workload is large; And need host computer (as computer etc.) given finger allocation can action.Visible, SCARA control system technical difficulty of the prior art is high, and the construction cycle is long, and cost is higher.
Summary of the invention
The problem that the present invention is directed to prior art provides
oneplant the SCARA method for controlling robot based on motion controller, adopting motion controller and graphic control panel by combining, effectively simplifying motion algorithm, thus the control realized SCARA manipulator, solve existing SCARA control system technical difficulty high, the construction cycle is long, the problem that cost is high.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme:
oneplant the SCARA method for controlling robot based on motion controller, include motion controller and graphic control panel, described motion controller is by ethernet communication mouth and touch panel communication, and control method step is as follows:
Step 1: user plans the kinematic parameter of SCARA Robotic Manipulator Motion Trajectory and correspondence thereof by touch-screen, and is saved in motion controller by described movement locus and parameter;
Step 2: the actual motion track of algorithm to SCARA manipulator that described motion controller is corresponding according to described trajectory planning mode carries out computing, in the rectangular coordinate system that imaginary axis is set up, its movement locus is simulated out, and get rectangular co-ordinate from imaginary axis
, and then by the rectangular co-ordinate of imaginary axis
convert the rotational coordinates of SCARA manipulator to
;
Step 3: the rotational coordinates obtaining SCARA manipulator
behind position, each motor shaft position current with manipulator
relatively obtain difference
, and go out each motor shaft in the position in next cycle and rotary speed according to mathematic interpolation;
Step 4; Motion controller adopts electric cam control mode, position step 3 obtained and speed are assigned to electric cam parameter, rotate to target location with given speed, obtain the actual motion trace information of SCARA manipulator, and described actual motion trace information is sent to SCARA manipulator.
Preferably, the movement locus in described step 1 comprises point-to-point, linear interpolation and circular interpolation movement locus.
Further, when described movement locus is point-to-point motion, described parameter comprises the attitude of terminal point coordinate, rotary speed and SCARA manipulator; When described movement locus is linear interpolation motion, described parameter comprises terminal point coordinate and interpolation rate; When described movement locus is circular interpolation motion, described parameter comprises point also or on circular arc of terminal point coordinate, central coordinate of circle or arc radius and circular interpolation speed.
Further, the step in described step 2, imaginary axis rectangular co-ordinate being converted to rotational coordinates is as follows: step 2.1: when described movement locus is linear interpolation, then in virtual coordinate system, according to the acceleration and deceleration of specifying and speed, start imaginary axis in linear interpolation mode and move to final position from current location, then perform step 2.3;
Step 2.2: when described movement locus is circular interpolation, then in virtual coordinate system, according to the acceleration and deceleration of specifying, speed and the center of circle or the point of radius also or on circular arc, start imaginary axis in circular interpolation mode and move to final position from current location, then perform step 2.3;
Step 2.3: in the rectangular coordinate system that imaginary axis is set up, moves to terminal point coordinate by step 2.1 or the given movement locus of step 2.2 and parameter by imaginary axis; Open each scan period obtains the position of imaginary axis simultaneously, by the position of imaginary axis obtained
convert the position of rotation of each motor shaft of SCARA manipulator to
.
Wherein, the concrete conversion method of described step 2.3 is as follows:
Step 2.3.1: will
convert to
,
If the brachium of the 1st arm of SCARA manipulator, the 2nd arm is respectively A, B, then the length of side of hypotenuse C is
,
Obtain according to the cosine law
,
；
Step 2.3.2: the quadrant judging impact point place
When
, impact point is at first and second quadrant, and the angle obtaining hypotenuse and coordinate system is
;
When
, impact point is in fourth quadrant, and the angle obtaining hypotenuse and coordinate system is
;
When
, impact point is at third quadrant, and the angle obtaining hypotenuse and coordinate system is
;
Step 2.3.3: when SCARA manipulator is in right hand attitude,
,
;
When SCARA manipulator is in left hand attitude,
,
;
Step 2.3.4: for u axle, when taking rectangular co-ordinate as referential,
;
When z-axis is screw structure, without the need to conversion,
.
Beneficial effect of the present invention:
Of the present invention
oneplant the SCARA method for controlling robot based on motion controller, the kinematic parameter of planning SCARA Robotic Manipulator Motion Trajectory and correspondence thereof is directly write by touch-screen, imaginary axis is adopted to construct virtual rectangular coordinate system, utilize the interpolation algorithm of motion controller inside, greatly can reduce amount of calculation, effectively simplify motion algorithm, reduce the development difficulty of SCARA control system technology, shorten the construction cycle, and cost is lower.
Accompanying drawing explanation
Fig. 1 is the structural representation of the manipulator of SCARA described in the present invention.
Fig. 2 is the specific implementation flow chart of the four-degree-of-freedom SCARA method for controlling robot that the present invention is based on motion controller.
Fig. 3 solves figure for the anglec of rotation of the manipulator of SCARA described in the present invention.
Fig. 4 is the schematic diagram that described touch-screen carries out programming movement track case.
Fig. 5 is the schematic diagram that four-degree-of-freedom SCARA manipulator of the present invention carries out linear interpolation.
Fig. 6 is the speed of four-degree-of-freedom SCARA manipulator of the present invention when carrying out linear interpolation and change in location figure.
Detailed description of the invention
For the ease of the understanding of those skilled in the art, below in conjunction with embodiment and accompanying drawing, the present invention is further illustrated, and the content that embodiment is mentioned not is limitation of the invention.See Fig. 1 to Fig. 6, below in conjunction with accompanying drawing, the present invention is described in detail.
Provided by the present invention
oneplant the SCARA method for controlling robot based on motion controller, include motion controller and graphic control panel, touch-screen has secondary development function such as realizing position display, teaching, route planning, general purpose I/O input and output.Described motion controller is by ethernet communication mouth and touch panel communication, and control method step is as follows:
Step 1: user plans the kinematic parameter of SCARA Robotic Manipulator Motion Trajectory and correspondence thereof by touch-screen, and is saved in motion controller by described movement locus and parameter; Preferably, the movement locus in described step 1 comprises point-to-point, linear interpolation and circular interpolation movement locus.SCARA manipulator of the present invention includes two cursors, and Article 2 cursor is provided with execution axle, and it has altogether four motor shafts.
Be illustrated in figure 4 a kind of movement locus case of the present invention; In the first row, the speed of specifying point-to-point is 50% of maximal rate; Second row, setting point-to-point Acceleration and deceleration time is 300ms; The third line, the speed of appointment linear interpolation, circular interpolation is 2000mm/s; Fourth line, setting linear interpolation, circular interpolation Acceleration and deceleration time are 500ms; Fifth line, planning SCARA manipulator moves to the position of (0,300,0,0) with point to point system, and when moving to impact point place, SCARA manipulator is right hand attitude; 6th row, SCARA manipulator moves to target location (300,300,0,0) in a linear fashion from current location (0,300,0,0), and in motion process, SCARA manipulator keeps the attitude of start position, i.e. right hand attitude; 7th row, SCARA manipulator in circular interpolation mode from current location (300,300,0,0) circular arc is drawn clockwise to (300,300,0,0) place, arc radius R is 50mm, namely draw the clockwise circle that a radius is 50mm, and in motion process, manipulator keeps the attitude of start position, i.e. right hand attitude.
Step 2: the actual motion track of algorithm to SCARA manipulator that described motion controller is corresponding according to described trajectory planning mode carries out computing, in the rectangular coordinate system that imaginary axis is set up, its movement locus is simulated out, and get rectangular co-ordinate from imaginary axis
, and then by the rectangular co-ordinate of imaginary axis
convert the rotational coordinates of SCARA manipulator to
.
Further, when described movement locus is point-to-point motion, then described parameter comprises the attitude of terminal point coordinate, rotary speed and SCARA manipulator; When described movement locus is linear interpolation motion, then described parameter comprises terminal point coordinate and interpolation rate; When described movement locus is circular interpolation motion, then described parameter comprises point also or on circular arc of terminal point coordinate, central coordinate of circle or arc radius and circular interpolation speed.
Further, the step in described step 2, imaginary axis rectangular co-ordinate being converted to rotational coordinates is as follows: step 2.1: when described movement locus is linear interpolation, then in virtual coordinate system, according to the acceleration and deceleration of specifying and speed, start imaginary axis in linear interpolation mode and move to final position from current location, then perform step 2.3;
Step 2.2: when described movement locus is circular interpolation, then in virtual coordinate system, according to the acceleration and deceleration of specifying, speed and the center of circle or the point of radius also or on circular arc, start imaginary axis in circular interpolation mode and move to final position from current location, then perform step 2.3;
Step 2.3: in the rectangular coordinate system that imaginary axis is set up, moves to terminal point coordinate by step 2.1 or the given movement locus of step 2.2 and parameter by imaginary axis; Open each scan period obtains the position of imaginary axis simultaneously, by the position of imaginary axis obtained
convert the position of rotation of each axle of SCARA manipulator to
.
Wherein, the concrete conversion method of described step 2.3 is as follows:
Step 2.3.1: will
convert to
,
If the brachium of the 1st arm of SCARA manipulator, the 2nd arm is respectively A, B, then the length of side of hypotenuse C is
,
Obtain according to the cosine law
,
；
Step 2.3.2: the quadrant judging impact point place
When
, impact point is at first and second quadrant, and the angle obtaining hypotenuse and coordinate system is
;
When
, impact point is in fourth quadrant, and the angle obtaining hypotenuse and coordinate system is
;
When
, impact point is at third quadrant, and the angle obtaining hypotenuse and coordinate system is
;
Step 2.3.3: when SCARA manipulator is in right hand attitude,
,
;
When SCARA manipulator is in left hand attitude,
,
;
Step 2.3.4: for u axle, when taking rectangular co-ordinate as referential,
;
When z-axis is screw structure, without the need to conversion,
.
In the present embodiment, for linear interpolation movement locus; The linear interpolation movement locus of fifth line in exemplary graph 4 herein; Only have in this movement locus
axle moves,
axle is all motionless, and as shown in Figure 5, SCARA manipulator moves to P2 from P1.When starting manipulator, first start imaginary axis
, make it in set up rectangular coordinate system, by the speed of specifying and Acceleration and deceleration time, from current location with rectilinear motion to target location.In the present embodiment, described in
axle by according to the speed shown in Fig. 6, position from P1 point with rectilinear motion to P2 point.
Meanwhile, motion controller each scan period (as 1ms) obtains
the position of axle, in figure below of Fig. 5, wherein certain two moment
with
read
the position of axle
with
; In conjunction with
obtain
with
; Substituted into
obtain the length of side:
，
If the brachium of SCARA manipulator the 1st arm, the 2nd arm is 300mm, substitute into
and
obtain
，
，
Due to
, impact point is at first and second quadrant, and the angle obtaining hypotenuse and coordinate system is
, namely
，
Because SCARA is in right hand attitude,
,
namely
，
，
。
Step 3: the rotational coordinates obtaining SCARA manipulator
behind position, each motor shaft position current with manipulator
relatively obtain difference
, and go out each motor shaft in the position in next cycle and rotary speed according to mathematic interpolation; The position of the current each motor shaft of manipulator herein
the position in cycle last with it
identical.The anglec of rotation and speed by the known SCARA manipulator of step 2 two motor shafts: the anglec of rotation of the 1st motor shaft is
, rotary speed is
; The anglec of rotation of second motor shaft is
, rotary speed is
; The anglec of rotation of the 3rd motor shaft is 0, and rotary speed is 0; The anglec of rotation of second motor shaft is 0, and rotary speed is 0; Wherein
for the scan period.
Step 4; Motion controller adopts electric cam control mode, and position step 3 obtained and speed are assigned to electric cam parameter, rotate to target location with given speed, obtain the actual motion trace information of SCARA manipulator, and described actual motion trace information is sent to SCARA manipulator.The position directly step 3 obtained
,
and speed
,
as the parameter of electric cam control mode, motor shaft will move to from current location with the speed of specifying
,
position, manipulator can be realized and move to Pi+1 point from the Pi point imaginary axis, and the distance of Pi to Pi+1 is enough little, just manipulator can be seen as straight line from Pi → Pi+1 oscillation end track is approximate, form P1 → P2 straight line by the short lines of many Pi → Pi+1, thus realize the rectilinear motion of manipulator from P1 → P2.
Comprehensively above-mentioned, of the present invention
onekind based on the SCARA method for controlling robot of motion controller, it directly writes the kinematic parameter of planning SCARA Robotic Manipulator Motion Trajectory and correspondence thereof by touch-screen, uses touch-screen can carry out the writing of user program, given operating position; Adopt imaginary axis to construct virtual rectangular coordinate system, utilize the interpolation algorithm of motion controller inside, greatly can reduce amount of calculation, effectively simplify motion algorithm, reduce the development difficulty of SCARA control system technology, shorten the construction cycle, and cost is lower.
Above content is only preferred embodiment of the present invention, and for those of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, this description should not be construed as limitation of the present invention.
Claims (5)
1.
oneplant the SCARA method for controlling robot based on motion controller, include motion controller and graphic control panel, described motion controller, by ethernet communication mouth and touch panel communication, is characterized in that: control method step is as follows:
Step 1: user plans the kinematic parameter of SCARA Robotic Manipulator Motion Trajectory and correspondence thereof by touch-screen, and is saved in motion controller by described movement locus and parameter;
Step 2: the actual motion track of algorithm to SCARA manipulator that described motion controller is corresponding according to described trajectory planning mode carries out computing, in the rectangular coordinate system that imaginary axis is set up, its movement locus is simulated out, and get rectangular co-ordinate from imaginary axis
, and then by the rectangular co-ordinate of imaginary axis
convert the rotational coordinates of SCARA manipulator to
;
Step 3: the rotational coordinates obtaining SCARA manipulator
behind position, each motor shaft position current with manipulator
relatively obtain difference
, and go out each motor shaft in the position in next cycle and rotary speed according to mathematic interpolation;
Step 4; Motion controller adopts electric cam control mode, position step 3 obtained and speed are assigned to electric cam parameter, rotate to target location with given speed, obtain the actual motion trace information of SCARA manipulator, and described actual motion trace information is sent to SCARA manipulator.
2. according to claim 1
oneplant the SCARA method for controlling robot based on motion controller, it is characterized in that: the movement locus in described step 1 comprises point-to-point, linear interpolation and circular interpolation movement locus.
3. according to claim 1
oneplant the SCARA method for controlling robot based on motion controller, it is characterized in that: when described movement locus is point-to-point motion, described parameter comprises the attitude of terminal point coordinate, rotary speed and SCARA manipulator; When described movement locus is linear interpolation motion, described parameter comprises terminal point coordinate and interpolation rate; When described movement locus is circular interpolation motion, described parameter comprises point also or on circular arc of terminal point coordinate, central coordinate of circle or arc radius and circular interpolation speed.
4. according to claim 1
oneplant the SCARA method for controlling robot based on motion controller, it is characterized in that: the step in described step 2, imaginary axis rectangular co-ordinate being converted to rotational coordinates is as follows:
Step 2.1: when described movement locus is linear interpolation, then in virtual coordinate system, according to the acceleration and deceleration of specifying and speed, start imaginary axis move to final position from current location in linear interpolation mode, then performs step 2.3;
Step 2.2: when described movement locus is circular interpolation, then in virtual coordinate system, according to the acceleration and deceleration of specifying, speed and the center of circle or the point of radius also or on circular arc, start imaginary axis in circular interpolation mode and move to final position from current location, then perform step 2.3;
Step 2.3: in the rectangular coordinate system that imaginary axis is set up, moves to terminal point coordinate by step 2.1 or the given movement locus of step 2.2 and parameter by imaginary axis; Open each scan period obtains the position of imaginary axis simultaneously, by the position of imaginary axis obtained
convert the position of rotation of each motor shaft of SCARA manipulator to
.
5. according to claim 4
oneplant the SCARA method for controlling robot based on motion controller, it is characterized in that: the concrete conversion method of described step 2.3 is as follows:
Step 2.3.1: will
convert to
,
If the brachium of the 1st arm of SCARA manipulator, the 2nd arm is respectively A, B, then the length of side of hypotenuse C is
,
Obtain according to the cosine law
,
；
Step 2.3.2: the quadrant judging impact point place
When
, impact point is at first and second quadrant, and the angle obtaining hypotenuse and coordinate system is
;
When
, impact point is in fourth quadrant, and the angle obtaining hypotenuse and coordinate system is
;
When
, impact point is at third quadrant, and the angle obtaining hypotenuse and coordinate system is
;
Step 2.3.3: when SCARA manipulator is in right hand attitude,
,
;
When SCARA manipulator is in left hand attitude,
,
;
Step 2.3.4: for u axle, when taking rectangular co-ordinate as referential,
;
When z-axis is screw structure, without the need to conversion,
.
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