CN106041941A - Track planning method and device for mechanical arm - Google Patents
Track planning method and device for mechanical arm Download PDFInfo
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- CN106041941A CN106041941A CN201610452034.3A CN201610452034A CN106041941A CN 106041941 A CN106041941 A CN 106041941A CN 201610452034 A CN201610452034 A CN 201610452034A CN 106041941 A CN106041941 A CN 106041941A
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- mechanical arm
- intersection point
- joint
- ray
- coordinate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The invention discloses a track planning method for a mechanical arm. The method comprises the steps that a work area of the mechanical arm is generated on the basis of joint parameters of the mechanical arm which is about to work; a ray is generated according to the coordinates of a start point input in advance and the moving direction, the intersection points of the ray and the boundary of the work area are calculated, and an intersection point set is generated; the distance between each intersection point in the intersection point set and the start point is calculated, the coordinates of the intersection point corresponding to the minimum distance are obtained, and the intersection point is marked as the end point; and on the basis of the coordinates of the start point and the coordinates of the end point, the movement track of the mechanical arm is planned. The invention further discloses a track planning method for the mechanical arm. The boundary of the work area of the mechanical arm is determined on the basis of a geometry method, and therefore a robot can know the position of the end point in advance before moving, and then can conveniently plan the movement track.
Description
Technical field
The present invention relates to manipulator motion trajectory planning field, particularly relate to method for planning track and the dress of a kind of mechanical arm
Put.
Background technology
In the work process of mechanical arm, need the track of mechanical arm is planned, in general, this trajectory planning
It is all to be realized by predetermined velocity planning algorithm, such as, S type (Double S) velocity planning algorithm can be used to complete
The trajectory planning of mechanical arm.
Some velocity planning algorithm, when carrying out trajectory planning, needs to receive in advance the position of the beginning and end that user provides
Putting, then program can generate a series of interpolated point between two points to describe the running orbit of mechanical arm.Such as in teaching merit
In energy, user sends instruction by handheld device so that mechanical arm, from starting point, moves along a straight line along certain direction, directly always
To the border (i.e. terminal) reaching working region.
Wherein, start position is specified by user, thus can the most simply obtain, but the position of terminal (i.e. works
The border in region) it is by the structures shape of mechanical arm, need by monitoring or calculate acquisition.Traditional method is by constantly
Monitoring Current mechanical arm has been to reach the limit of position to realize, but this method needs position all of on path
Putting and a little detect, efficiency is low, and computationally intensive.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide method for planning track and the device of a kind of mechanical arm, in fortune
Just can know the position of terminal before dynamic in advance, facilitate robot to carry out the planning of movement locus.
The invention provides the method for planning track of a kind of mechanical arm, comprise the steps:
Joint parameter based on the mechanical arm treating work, generates the working region of described mechanical arm；
Coordinate and moving direction according to the starting point pre-entered generate a ray, and calculate described ray and described work
Make the intersection point on the border in region, generate intersection point set；
Calculate the distance of each intersection point in described intersection point set and described starting point, obtain the intersection point corresponding with minimum range
Coordinate, and described intersection point is labeled as terminal；
Coordinate based on described starting point and the coordinate of described terminal, plan the movement locus of described mechanical arm,
Move according to the movement locus of planning with the described mechanical arm of control.
Preferably, described mechanical arm is SCARA type mechanical arm.
Preferably, described joint parameter includes the range of activity in the brachium between joint type, joint and joint；Then described
Joint parameter based on the mechanical arm treating work, generates the working region of described mechanical arm, specifically includes:
The relative position relation between joint type and joint according to mechanical arm, generates each based on DH establishment of coordinate system
The coordinate system in joint；
Coordinate system according to each joint, the brachium between the range of activity in each joint and joint, generate described machinery
The working region of arm.
Preferably, the coordinate of the starting point that described basis pre-enters and moving direction generate a ray, and calculate described
Ray and the intersection point on the described border stating working region, generate intersection point set, particularly as follows:
Described working region is decomposed at least two sections of camber lines, obtains the center of circle of every section of camber line, radius and central angle scope,
And generate the equation of the circle corresponding with every section of camber line；
Coordinate and moving direction according to the starting point pre-entered generate a ray, calculate described ray and each circle
Intersection point；
Calculate described intersection point radian on the circle at described intersection point place, and be positioned at described central angle at described radian
In the range of time, described intersection point is stored in default set, generates intersection point set.
Preferably, the coordinate of the starting point that described basis pre-enters and moving direction generate a ray, penetrate described in calculating
The intersection point of line and each circle particularly as follows:
Coordinate and moving direction according to the starting point pre-entered generate a ray, by described ray equation and each circle
Equation carry out simultaneous, calculate the intersection point of described ray and each circle based on Parametric Equation Method.
Preferably, the coordinate of the starting point that described basis pre-enters and moving direction generate a ray, penetrate described in calculating
The intersection point of line and each circle particularly as follows:
Coordinate and moving direction according to the starting point pre-entered generate a ray, based on ray and circle test for intersection
Optimized algorithm calculates the intersection point of described ray and each circle.
Present invention also offers the trajectory planning device of a kind of mechanical arm, including:
Working region signal generating unit, for joint parameter based on the mechanical arm treating work, generates the work of described mechanical arm
Make region；
Intersection point set signal generating unit, generates a ray for the coordinate according to the starting point pre-entered and moving direction,
And calculate the intersection point on the border of described ray and described working region, generate intersection point set；
Terminal indexing unit, for calculating the distance of each intersection point in described intersection point set and described starting point, obtain with
The coordinate of the intersection point that minimum range is corresponding, and described intersection point is labeled as terminal；
Motion trajectory unit, for coordinate based on described starting point and the coordinate of described terminal, to described machinery
The movement locus of arm is planned, with control described mechanical arm according to planning movement locus move.
Preferably, described mechanical arm is SCARA type mechanical arm.
Preferably, described joint parameter includes the range of activity in the brachium between joint type, joint and joint；Then described
Working region signal generating unit specifically includes:
Coordinate system generation module, for according to the relative position relation between joint type and the joint of mechanical arm, based on
DH establishment of coordinate system generates the coordinate system in each joint；
Working region generation module, for according to coordinate system, the range of activity in each joint and the joint in each joint it
Between brachium, generate the working region of described mechanical arm.
Preferably, described intersection point set signal generating unit specifically includes:
Working region decomposing module, for described working region is decomposed at least two sections of camber lines, obtains every section of camber line
The center of circle, radius and central angle scope, and generate the equation of the circle corresponding with every section of camber line；
Intersection point calculation module, generates a ray for the coordinate according to the starting point pre-entered and moving direction, calculates
Described ray and the intersection point of each circle；
Judge module, for calculating described intersection point radian on the circle at described intersection point place, and at described radian
When being positioned in the range of described central angle, determine that described intersection point is positioned on described camber line, described intersection point is stored in default set, raw
Commercial base set.
The motion trail planning method of the mechanical arm that the embodiment of the present invention provides and device, by generating described mechanical arm
Working region, then calculate the ray of the coordinate by the starting point pre-entered and moving direction generation and the friendship on the border of working region
Point, and obtain the coordinate of the intersection point with starting point with minimum range, it is thus achieved that terminal corresponding with described starting point and moving direction, then
Coordinate according to described starting point and described terminal carries out the planning of movement locus.Present invention method based on geometry determines machine
The border of mechanical arm working region therefore robot just can know the position of terminal before motion in advance, facilitates robot to transport
The planning of dynamic track.
Accompanying drawing explanation
In order to be illustrated more clearly that technical scheme, the accompanying drawing used required in embodiment will be made below
Introduce simply, it should be apparent that, the accompanying drawing in describing below is only some embodiments of the present invention, general for this area
From the point of view of logical technical staff, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of the method for planning track of the mechanical arm that the embodiment of the present invention provides.
Fig. 2 is the structural representation of SCARA type mechanical arm.
Fig. 3 is the schematic diagram in DH coordinate system of the SCARA type mechanical arm shown in Fig. 2.
Fig. 4 is the working region schematic diagram of the SCARA type mechanical arm shown in Fig. 2.
Fig. 5 is the top view of the working region shown in Fig. 4.
Fig. 6 is the connection diagram of ray and working region.
Fig. 7 is that the optimized algorithm by ray with circle test for intersection that the embodiment of the present invention provides calculates ray and circle
The schematic flow sheet of intersection point.
Fig. 8 (a) to (c) is the schematic diagram of the optimized algorithm shown in Fig. 7.
Fig. 9 is the structural representation of the trajectory planning device of the mechanical arm that the embodiment of the present invention provides.
Figure 10 is the structural representation of the working region signal generating unit of Fig. 9.
Figure 11 is the structural representation of the intersection point set signal generating unit of Fig. 9.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Referring to Fig. 1, the embodiment of the present invention provides the method for planning track of a kind of mechanical arm, the track rule of described mechanical arm
The method of drawing can be performed by the trajectory planning device of mechanical arm, and at least comprises the steps:
S101, joint parameter based on the mechanical arm treating work, generate the working region of described mechanical arm.
In embodiments of the present invention, mechanical arm is automated machine device most widely used in robotics,
It is widely used in the fields such as industry manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probation.Although
Their form is had nothing in common with each other, but they have a common feature, it is simply that can accept instruction, and according to instruction accurate ground
Navigate to three-dimensional (or two dimension) certain point spatially and carry out operation.
In general, a mechanical arm includes that several joints, each joint have joint parameter, described joint parameter
Joint type, brachium (connecting the length of the linking arm in two joints), range of activity etc. can be included.Wherein, described joint type
Can include cradle head and Gliding joint, cradle head can control the rotation of linking arm, and Gliding joint can realize linking arm
Vertical sliding motion.By the combination in different joints, the working region of described mechanical arm can be controlled.Specifically, can be by following step
Suddenly the working region of described mechanical arm is determined:
S1011 is according to the relative position relation between joint type and the joint of mechanical arm, raw based on DH establishment of coordinate system
Become the coordinate system in each joint.
As in figure 2 it is shown, with SCARA (Selective Compliant Articulated Robot for Assembly)
As a example by type mechanical arm, it has 4 joint J1, J2, J3, J4, wherein J1, and J2, J4 are cradle head, and J1 and J2, J2 and J4
It is attached by corresponding linking arm, and J3 is Gliding joint.However, it is to be understood that it is also possible to apply the invention to it
The mechanical arm of his type, does not repeats at this.
After determining above-mentioned joint, it is required for each joint and sets up coordinate system, as it is shown on figure 3, can be based on DH
(Denavit-Hartenberg) coordinate system sets up the coordinate system in each joint, and wherein the rotary shaft of cradle head Ji is with respective
Zi axle (linking arm of cradle head Ji around zi axle rotate) parallel to each other, the brachium of linking arm is α i, { i │ i ∈ { 1,2,4}}；
The axle (z3 axle) of Gliding joint J3 is parallel with the axle (z4 axle) of J4.After determining zi axle, available first joint points to second
The direction in individual joint is as xi direction, and the direction of yi can determine based on the right-hand rule, so, i.e. generates each joint
Coordinate system.
S1012, according to the coordinate system in each joint, brachium between the range of activity in each joint and joint, generates institute
State the working region of mechanical arm.
In embodiments of the present invention, after the coordinate system generating each joint, according to the range of activity in each joint (for
Cradle head, its range of activity is the angle of rotation scope that its linking arm rotates, and for Gliding joint, its range of activity is that it connects
The up and down motion scope of arm), the working region (as shown in Figure 4) of described mechanical arm can be generated, now, only need to carry out in plane
Projection can generate top view as shown in Figure 5.
S102, generates a ray according to the coordinate of the starting point pre-entered and moving direction, and calculate described ray with
The intersection point on the border of described working region, generates intersection point set.
Concrete, when utilizing mechanical arm to carry out teaching, the most frequently used function is that user passes through handheld device transmission instruction,
Make described mechanical arm from default starting point, and move linearly along certain direction always, until it reaches arrive working region
Border (terminal).Wherein, described mechanical arm need to know that terminal just can carry out the planning of movement locus, at this when mobile in advance
In bright embodiment, in order to obtain described terminal, specifically, it may include:
S1021, is decomposed at least two sections of camber lines by described working region, obtains the center of circle of every section of camber line, radius and the center of circle
Angle range, and generate the equation of the circle corresponding with every section of camber line.
From figure 5 it can be seen that the working region of described mechanical arm be byFour sections of arcs
Line is surrounded.And these four sections of camber lines lay respectively at ⊙ O1, ⊙ O2, ⊙ O3, ⊙ O4On four circles.Center of circle O1, O4With J1Axle overlaps；O2
And O3It is respectively J1Axle turns to both positive and negative polarity and prescribes a time limit J2The position of axle.WithIt is axle J respectivelyiThe maximum in positive/negative direction
Range of activity,{ji|-π≤ji≤π}。
The detail parameters of these four sections of camber lines can refer to shown in table 1:
Table 1
Wherein:
S1022, coordinate and moving direction according to the starting point pre-entered generate a ray, calculate described ray with every
The intersection point of individual circle.
In embodiments of the present invention, it is assumed that starting point is I, direction vector is n, and | | n | | is the unit vector of direction vector n.
The most now ray is represented by R (u)=I+u | | n | |.
If starting point I is positioned at working region, then ray R (u) must be with certain circle ⊙ OiThere is intersection point
Wherein, when calculating intersection point, can by by the equation of ray R (u) successively equation with each circle carry out simultaneous,
Parametric Equation Method is utilized to solve acquisition.
S1023, calculates described intersection point radian on the circle at described intersection point place, and is positioned at described radian described
Time in the range of central angle, determine that described intersection point is positioned on described camber line, described intersection point is stored in default set, generate intersection point collection
Close.
In embodiments of the present invention, in the above-mentioned intersection point tried to achieve, although some intersects with circle, but it is not located at camber line
On, so that remove.Specifically, as shown in Figure 6, ray IP respectively with ⊙ O1Intersect at a N；With ⊙ O2Intersect at a K and point
M；With ⊙ O4Intersect at a J and put L；With ⊙ O3There is no intersection point.Wherein, put K, although N is on circle, but not surround described
On the camber line of working region, so after obtaining intersection point, also to check the radian θ of described intersection pointiWhether meet
Specifically, it is assumed that (x y) is ⊙ O to some siOn a point, then some s relative to ⊙ OiRadian θiFor:
Being assured which intersection point is on camber line by above-mentioned formula, which does not exists.Now, those are positioned at camber line
On intersection point be stored in default set ξ={ κiIn }, generate intersection point set.
It should be noted that in other embodiments of the invention, described working region is not necessarily by the camber line of circle
Composition.Such as, described working region may be made up of oval camber line or be mixed by the camber line of different types of geometry
Composition, now, in like manner, can obtain equation and the angular range of geometry corresponding to these camber lines, then by above-mentioned method
Can calculate generation intersection point set, these technical schemes, all within protection scope of the present invention, do not repeat at this.
S103, calculates the distance of each intersection point in described intersection point set and described starting point, obtains corresponding with minimum range
The coordinate of intersection point, and described intersection point is labeled as terminal.
In embodiments of the present invention, the distance of each intersection point and described starting point I can be calculated by Euler's formula, then
Calculated each distance is compared, obtains the coordinate of the intersection point corresponding with minimum range, and by described intersection point labelling
For terminal, now, i.e. obtain the border of required working region.
S104, coordinate based on described starting point and the coordinate of described terminal, the movement locus of described mechanical arm is carried out
Planning, with control described mechanical arm according to planning movement locus move.
In embodiments of the present invention, after the coordinate obtaining the terminal corresponding with described starting point and described moving direction, i.e.
According to the coordinate of described starting point and the coordinate of described terminal, the movement locus of described mechanical arm can be planned.
Such as, as a example by typical S type velocity planning algorithm, it is receiving the coordinate of described starting point, described terminal
After coordinate, can plan and obtain seven sections of motor processs, and be achieved described mechanical arm from described by these seven sections of motor processs
Starting point (initial velocity is zero) steadily quickly moves to described terminal (end speed is also zero).
In sum, the motion trail planning method of the mechanical arm that the embodiment of the present invention provides, by generating described machinery
The working region of arm, then calculate the ray of the coordinate by the starting point pre-entered and moving direction generation and the border of working region
Intersection point, and obtain, with starting point, there is the coordinate of intersection point of minimum range, it is thus achieved that corresponding with described starting point and moving direction eventually
Point, carries out the planning of movement locus further according to the coordinate of described starting point and described terminal.Present invention method based on geometry is come
Determine that the border therefore robot of mechanical arm working region just can know the position of terminal before motion in advance, facilitate robot
Carry out the planning of movement locus.
For the ease of the understanding of the present invention, some currently preferred embodiments of the present invention will be further described below.
Preferably, for step S1022, after generating described ray, it is possible to use traditional Parametric Equation Method finds intersection,
Can also useDescribed ray is calculated Deng the optimized algorithm based on ray with circle test for intersection proposed
Intersection point with each circle.
Specifically, as it is shown in fig. 7, set the parametric equation of ray as R (u)=I+u | | n | |, wherein | | n | | is that unit is long
Degree.As shown in Fig. 8 (a), first calculate from starting point I to center of circle OiVectorVectorLengthAnd vectorProjection along | | n | | directionIfAnd l < 0, then explanation starting point is positioned at ⊙
OiOutward, and the direction of ray is along away from ⊙ OiDirection extends, the most described ray and ⊙ OiNon-intersect (as shown in Fig. 8 (b)), this
Time complete for the first time to get rid of test.Otherwise, Pythagorean theorem is utilized to calculate center of circle OiWith the spacing of projection square: m2=a2-
l2If,Then can be determined that ray and circle OiThe most non-intersect, complete second time and get rid of test.If ray and ⊙ Oi
Test through twice eliminating, then it is determined that they necessarily intersect.It follows that calculate ray and ⊙ OiIntersection point: first, meter
Calculate distanceThen judge whether starting point I is positioned at ⊙ OiIn, ifThen explanation starting point I is positioned at
⊙OiOutward, now, described ray and circle OiThere are two intersection points, are respectively And(as shown in Fig. 8 (a)).IfThen explanation starting point I is positioned at round OiIn, now, institute
State ray and circle OiThere is an intersection point, for I+ (l+q) | | n | | (as shown in Fig. 8 (c)).
In this preferred version, before calculating ray and the intersection point of circle, first pass through twice test judge ray with round whether
Having intersection point, when calculating, only calculating and ray has the circle of intersection point, counts without not having the circle of intersection point to those and ray
Calculate, so, reduce amount of calculation, improve computational efficiency.
Seeing also Fig. 9, the embodiment of the present invention also provides for the trajectory planning device 100 of a kind of mechanical arm, comprising:
Working region signal generating unit 10, for joint parameter based on the mechanical arm treating work, generates described mechanical arm
Working region.
Intersection point set signal generating unit 20, generates one for the coordinate according to the starting point pre-entered and moving direction and penetrates
Line, and calculate the intersection point of described ray and the border of described working region, generate intersection point set；
Terminal indexing unit 30, for calculating the distance of each intersection point in described intersection point set and described starting point, obtains
The coordinate of the intersection point corresponding with minimum range, and described intersection point is labeled as terminal；
Motion trajectory unit 40, for coordinate based on described starting point and the coordinate of described terminal, to described machine
The movement locus of mechanical arm is planned, with control described mechanical arm according to planning movement locus move.
Wherein it is preferred to, described mechanical arm is SCARA type mechanical arm.
Wherein it is preferred to, seeing also Figure 10, described working region signal generating unit 10 specifically includes:
Coordinate system generation module 11, for according to the relative position relation between joint type and the joint of mechanical arm, base
The coordinate system in each joint is generated in DH establishment of coordinate system.
Working region generation module 12, for coordinate system, the range of activity in each joint and joint according to each joint
Between brachium, generate the working region of described mechanical arm.
Wherein it is preferred to, seeing also Figure 11, described intersection point set signal generating unit 20 specifically includes:
Working region decomposing module 21, for described working region is decomposed at least two sections of camber lines, obtains every section of camber line
The center of circle, radius and central angle scope, and generate the equation of the circle corresponding with every section of camber line.
Intersection point calculation module 22, generates a ray, meter for the coordinate according to the starting point pre-entered and moving direction
Calculate the intersection point of described ray and each circle.
Wherein, described intersection point calculation module 22, can be directly by institute calculating the intersection point of described ray and each circle when
State ray to carry out simultaneous with each circle and be calculated, it is possible to optimized algorithm based on ray with circle test for intersection calculates described ray
With the intersection point of each circle, the present invention is not specifically limited.
Judge module 23, for calculating described intersection point radian on the circle at described intersection point place, and at described radian
When angle is positioned in the range of described central angle, determines that described intersection point is positioned on described camber line, described intersection point be stored in default set,
Generate intersection point set.
In sum, the Motion trajectory device 100 of the mechanical arm that the embodiment of the present invention provides, by described working region
Signal generating unit 10 generates the working region of described mechanical arm, then is calculated by the starting point pre-entered by intersection point set signal generating unit 20
Coordinate and the intersection point on the border of ray and working region that generates of moving direction, and by described terminal indexing unit 30 obtain with
Starting point has the coordinate of the intersection point of minimum range, it is thus achieved that terminal corresponding with described starting point and moving direction, finally by motion rail
Mark planning unit 40 carries out the planning of movement locus according to the coordinate of described starting point and described terminal.The present invention is based on geometry
Method determines that the border therefore robot of mechanical arm working region just can know the position of terminal before motion in advance, convenient
Robot carries out the planning of movement locus.
Above disclosed it is only one preferred embodiment of the present invention, certainly can not limit the power of the present invention with this
Profit scope, one of ordinary skill in the art will appreciate that all or part of flow process realizing above-described embodiment, and weighs according to the present invention
Profit requires the equivalent variations made, and still falls within the scope that invention is contained.
One of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, be permissible
Instructing relevant hardware by computer program to complete, described program can be stored in a computer read/write memory medium
In, this program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access
Memory, RAM) etc..
Claims (10)
1. the method for planning track of a mechanical arm, it is characterised in that comprise the steps:
Joint parameter based on the mechanical arm treating work, generates the working region of described mechanical arm；
Coordinate and moving direction according to the starting point pre-entered generate a ray, and calculate described ray and described working area
The intersection point on the border in territory, generates intersection point set；
Calculate the distance of each intersection point in described intersection point set and described starting point, obtain the seat of the intersection point corresponding with minimum range
Mark, and described intersection point is labeled as terminal；
Coordinate based on described starting point and the coordinate of described terminal, plan the movement locus of described mechanical arm, with control
Make described mechanical arm to move according to the movement locus of planning.
The method for planning track of mechanical arm the most according to claim 1, it is characterised in that described mechanical arm is SCARA type
Mechanical arm.
The method for planning track of mechanical arm the most according to claim 1, it is characterised in that
Described joint parameter includes the range of activity in the brachium between joint type, joint and joint；
Then described joint parameter based on the mechanical arm treating work, generates the working region of described mechanical arm, specifically includes:
The relative position relation between joint type and joint according to mechanical arm, generates each joint based on DH establishment of coordinate system
Coordinate system；
Coordinate system according to each joint, the brachium between the range of activity in each joint and joint, generate described mechanical arm
Working region.
The method for planning track of mechanical arm the most according to claim 1, it is characterised in that what described basis pre-entered rises
The coordinate of point and moving direction one ray of generation, and calculate the intersection point of described ray and the described border stating working region, raw
Commercial base set, particularly as follows:
Described working region is decomposed at least two sections of camber lines, obtains the center of circle of every section of camber line, radius and central angle scope, and raw
Become the equation of the circle corresponding with every section of camber line；
Coordinate and moving direction according to the starting point pre-entered generate a ray, calculate the friendship of described ray and each circle
Point；
Calculate described intersection point radian on the circle at described intersection point place, and be positioned at described central angle scope at described radian
Time interior, described intersection point is stored in default intersection point set, generates intersection point set.
The method for planning track of mechanical arm the most according to claim 4, it is characterised in that what described basis pre-entered rises
The coordinate of point and moving direction generate a ray, calculate the intersection point of described ray and each circle particularly as follows:
Coordinate and moving direction according to the starting point pre-entered generate a ray, by the side of described ray equation Yu each circle
Cheng Jinhang simultaneous, calculates the intersection point of described ray and each circle based on Parametric Equation Method.
The method for planning track of mechanical arm the most according to claim 4, it is characterised in that what described basis pre-entered rises
The coordinate of point and moving direction generate a ray, calculate the intersection point of described ray and each circle particularly as follows:
Coordinate and moving direction according to the starting point pre-entered generate a ray, optimization based on ray with circle test for intersection
Algorithm calculates the intersection point of described ray and each circle.
7. the trajectory planning device of a mechanical arm, it is characterised in that including:
Working region signal generating unit, for joint parameter based on the mechanical arm treating work, generates the working area of described mechanical arm
Territory；
Intersection point set signal generating unit, generates a ray for the coordinate according to the starting point pre-entered and moving direction, and counts
Calculate the intersection point of described ray and the border of described working region, generate intersection point set；
Terminal indexing unit, for calculating the distance of each intersection point in described intersection point set and described starting point, obtains with minimum
The coordinate of the intersection point that distance is corresponding, and described intersection point is labeled as terminal；
Motion trajectory unit, for coordinate based on described starting point and the coordinate of described terminal, to described mechanical arm
Movement locus is planned, with control described mechanical arm according to planning movement locus move.
The trajectory planning device of mechanical arm the most according to claim 7, it is characterised in that described mechanical arm is SCARA type
Mechanical arm.
The trajectory planning device of mechanical arm the most according to claim 7, it is characterised in that
Described joint parameter includes the range of activity in the brachium between joint type, joint and joint；
Described working region signal generating unit specifically includes:
Coordinate system generation module, for according to the relative position relation between joint type and the joint of mechanical arm, sitting based on DH
Mark system sets up the coordinate system generating each joint；
Working region generation module, for according to the coordinate system in each joint, between the range of activity in each joint and joint
Brachium, generates the working region of described mechanical arm.
The trajectory planning device of mechanical arm the most according to claim 7, it is characterised in that described intersection point set generates single
Unit specifically includes:
Working region decomposing module, for described working region is decomposed at least two sections of camber lines, obtain every section of camber line the center of circle,
Radius and central angle scope, and generate the equation of the circle corresponding with every section of camber line；
Intersection point calculation module, generates a ray for the coordinate according to the starting point pre-entered and moving direction, calculates described
Ray and the intersection point of each circle；
Judge module, for calculating described intersection point radian on the circle at described intersection point place, and is positioned at described radian
Time in the range of described central angle, determine that described intersection point is positioned on described camber line, described intersection point is stored in default set, generate and hand over
Point set.
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| PCT/CN2016/113194 WO2017219640A1 (en) | 2016-06-20 | 2016-12-29 | Trajectory planning method and device for mechanical arm |
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