CN108297091A - The method of auto-changing directional type position control - Google Patents
The method of auto-changing directional type position control Download PDFInfo
- Publication number
- CN108297091A CN108297091A CN201710022630.2A CN201710022630A CN108297091A CN 108297091 A CN108297091 A CN 108297091A CN 201710022630 A CN201710022630 A CN 201710022630A CN 108297091 A CN108297091 A CN 108297091A
- Authority
- CN
- China
- Prior art keywords
- pendant
- difference
- controller
- control signal
- robotic arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
A kind of method of auto-changing directional type position control,First prepare a robotic arm,One pendant,And one be electrically connected the robotic arm and the controller of the pendant,The robotic arm includes an active section and first electronic compass,The pendant includes the operation module of an original control signal for being used for sending out one control direction of a correspondence,And second electronic compass,Then the machine direction angle information that first electronic compass measures is transmitted to the controller by the robotic arm,And the introduction deflection information that second electronic compass measures is transmitted to the controller by the pendant,Then the controller is calculated according to the machine direction angle information received and the introduction deflection information,To obtain a difference angle information,And the original control signal is converted by a conversion and control signal according to the difference angle information,To drive the active section to be moved according to the control direction,Therefore upper safer facility is used.
Description
Technical field
The present invention relates to a kind of control methods of robotic arm, are controlled more particularly to a kind of auto-changing directional type position
Method.
Background technology
An existing robotic arm is controlled by a pendant, due to the use of person when holding the pendant,
It is not fixed-direction in face of the direction of the robotic arm, therefore often leads to the pendant in operation, has and the mechanical hand
The different problem of the moving direction of arm, such as when opposed facing situation is presented in the direction of the robotic arm and the pendant,
When inputting the order that the direction towards the robotic arm is moved to the pendant, which will be towards the side of the pendant
To movement, the malfunction when mode of operation of the different not intuition in this direction is very easy to cause to use.
Invention content
The object of the present invention is to provide a kind of methods of auto-changing directional type position control.
The method of auto-changing directional type of the present invention position control, first prepares a robotic arm, a pendant and one
A controller for being electrically connected the robotic arm and the pendant, the robotic arm drive the work including an active section, one
The driving module of Duan Yidong and first electronic compass for being used for measuring a machine direction angle information, the machine direction angle
Information is the angle difference between the direction of the court of robotic arm institute and a reference direction, which includes one and be used for sending out
The operation module of the original control signal of one correspondence, one control direction and one are used for measuring an introduction deflection information
The second electronic compass, which is the angle difference between the direction and the reference direction of the court of pendant institute,
Then the machine direction angle information of first electronic compass is transmitted to the controller by the robotic arm and the pendant should
The introduction deflection information of second electronic compass is transmitted to the controller, and then the controller is according to the machine side received
It is calculated to angle information and the introduction deflection information, to obtain a difference angle information, which is the machine
The angle difference in the direction of court of arm institute and the direction of the court of pendant institute, finally the controller is in the reception original control signal
Afterwards, which is converted by a conversion and control signal according to the difference angle information, and with the conversion and control signal
Control makes the driving module that the active section be driven to be moved according to the control direction, which corresponds to the pendant
Coordinate system, the conversion and control signal are the coordinate systems of the corresponding robotic arm.
The method of auto-changing directional type of the present invention position control, the controller be by the machine direction angle information and
After the introduction deflection information calculating difference, difference is added 360, the remainder finally divided by after 360 obtained is exactly the difference
Angle information.
The method of auto-changing directional type of the present invention position control, a corresponding table built in the controller, the correspondence
Table has multiple different difference angle ranges each other, and corresponds to the coordinates translation equation of the difference angle range, the control respectively
Device processed finds out the corresponding difference angular region according to the difference angle information after receiving the original control signal in the correspondence table
Between, and the original control signal is converted by the conversion and control signal with the corresponding coordinates translation equation.
The beneficial effects of the present invention are：Pass through setting for first electronic compass, second electronic compass and the controller
It sets, makes the controller after receiving the original control signal, which is converted by this according to the difference angle information
Conversion and control signal, with control make the driving module drive the active section according to the control direction move, using it is upper it is safer just
Profit.
Description of the drawings
Fig. 1 is a schematic diagram of one embodiment of the method for auto-changing directional type of the present invention position control；
Fig. 2 is a system block diagrams of the embodiment；
Fig. 3 is a flow chart of the embodiment；
Fig. 4 is a usage state diagram of the embodiment, illustrates what a robotic arm and a pendant were respectively facing
Direction is identical；
Fig. 5 is a usage state diagram for being similar to Fig. 4, illustrates the direction that the robotic arm is respectively facing with the pendant
It differs.
Specific implementation mode
The following describes the present invention in detail with reference to the accompanying drawings and embodiments.
Refering to fig. 1,2,3, one embodiment of the method for auto-changing directional type of the present invention position control is to be applied to one
2, pendant 3 of a robotic arm and a controller 4.
The robotic arm 2 include an active section 21, one drive the active section 21 move driving module 22 and one
For measuring the first electronic compass 23 of a machine direction angle information, which is 2 courts of the robotic arm
Direction and a reference direction between angle difference.In this present embodiment, which is the north, machine direction angle money
Interrogate the angle difference in the direction and the north for 2 courts of robotic arm.
The pendant 3 includes the operation module of an original control signal for being used for sending out one control direction of a correspondence
31 and one be used for measure one introduction deflection information the second electronic compass 32, which is the introduction
Angle difference between the direction and the reference direction of 3 courts of device.In this present embodiment, which is the pendant
The angle difference in the direction of 3 courts and the north.
The controller 4 is electrically connected the robotic arm 2 and the pendant 3, and built-in one corresponding table 41, the correspondence table 41 tool
There are multiple different difference angle ranges 411 each other, and corresponds to the coordinates translation equation 412 of the difference angle range 411 respectively.
In this present embodiment, the difference angle range 411 is by a round angle to distinguish at equal intervals, each coordinates translation equation
412 be and to be converted to the robotic arm 2 by the coordinate system of the pendant 3 based on the respective difference angle range 411
The equation of coordinate system.
The method of auto-changing directional type position control includes step 61~65.
In step 61, the robotic arm 2, the pendant 3 and the controller 4 are first prepared.
In step 62, which is transmitted to the control by the machine direction angle information of first electronic compass 23
Device 4 processed.
In step 63, which is transmitted to the control by the introduction deflection information of second electronic compass 32
Device 4.
In step 64, the controller 4 is after receiving the machine direction angle information and the introduction deflection information, by this
Machine direction angle information and the introduction deflection information calculating difference, and difference is added 360, finally divided by after 360 obtained
Remainder be exactly a difference angle information, which is direction and 3 courts of the pendant of 2 courts of robotic arm
The angle difference in direction.
In step 65, the controller 4 is after receiving the original control signal, according to the difference angle information in the correspondence table
The corresponding difference angle range is found out in 41, and is converted the original control signal with the corresponding coordinates translation equation
The driving module 22 is set to drive the active section 21 according to the control at a conversion and control signal, and with conversion and control signal control
Direction is moved, which corresponds to the coordinate system of the pendant 3, which is the corresponding machine
The coordinate system of arm 2.
Refering to fig. 1,2,4, which is held by a user and towards for the top in figure, at this time the machine
Arm 2 is also directed towards top in figure, therefore the differential seat angle in the direction of 2 courts of robotic arm and the direction of 3 courts of pendant
Value is 0 degree of angle, therefore the difference angle information is corresponding 0 degree of angle, and then the controller 4 is according to the correspondence table as shown in following table one
For 41, the coordinates translation that the direction that the corresponding robotic arm 2 faces is the same direction in the direction that the pendant 3 faces is obtained
Equation sends out the original control news for example corresponded to towards the control direction of left in figure when the pendant 3 is operated at this time
Number when, 4 transformed conversion and control signals of institute of the controller can also drive the active section 21 to be moved towards left in figure, similar
As, it, should when the pendant 3 is operated and sends out such as correspondence towards the original control signal of the control direction of top in figure
Controller 4 can also drive the active section 21 mobile towards top in figure.
Table one, corresponding table.
Refering to fig. 1,2,5, then the pendant 3 held by the user and towards for the left in figure, the machine at this time
Arm 2 is still towards top in figure, therefore the differential seat angle in the direction of 2 courts of robotic arm and the direction of 3 courts of pendant
Value is an angle of 90 degrees, therefore the difference angle information is corresponding 270 degree of angles, and then the controller 4 obtains the corresponding machine according to the table one
The direction that device arm 2 faces is the coordinates translation equation of the right in the direction that pendant 3 faces, at this time when the pendant 3 by
It operates and sends out and for example correspond to towards when the original control signal of the control direction of left, 4 institute of controller is transformed in figure
The conversion and control signal can also drive the active section 21 to be moved towards left in figure, analogously, operated when the pendant 3 and
When sending out the original control signal of the control direction of top in for example corresponding to towards figure, which can also drive the active section
21 is mobile towards top in figure.
In conclusion by the setting of first electronic compass 23, second electronic compass 32 and the controller 4, make this
The original control signal is converted into the conversion control by controller 4 after receiving the original control signal, according to the difference angle information
Signal processed makes the driving module 22 that the active section 21 be driven to be moved according to the control direction, without such as existing machine with control
Arm can cause the problem of malfunction because of the not intuitive operation of pendant, therefore use upper safer facility, so really
It can reach the purpose of the present invention in fact.
Claims (3)
1. a kind of method of auto-changing directional type position control, it is characterised in that：The method includes the steps of：
Step 1: one robotic arm of preparation, a pendant and one are electrically connected the robotic arm and the control of the pendant
Device, the robotic arm include an active section, one drive the active section move driving module and one be used for measure one
First electronic compass of machine direction angle information, the machine direction angle information are direction and a benchmark for the court of robotic arm institute
Angle difference between direction, the pendant include an original control signal for being used for sending out one control direction of a correspondence
Operation module and second electronic compass for being used for measuring an introduction deflection information, which is this
Angle difference between the direction and the reference direction of court of pendant institute；
Step 2: the machine direction angle information of first electronic compass is transmitted to the controller by the robotic arm；
Step 3: the introduction deflection information of second electronic compass is transmitted to the controller by the pendant；
Step 4: the controller is calculated according to the machine direction angle information received and the introduction deflection information, with
Obtain a difference angle information, which is the angle in the direction of the court of robotic arm institute and the direction of the court of pendant institute
Spend difference；And
Step 5: the controller turns the original control signal after receiving the original control signal, according to the difference angle information
It changes a conversion and control signal into, and makes the driving module drive the active section according to the controlling party with conversion and control signal control
To movement, which corresponds to the coordinate system of the pendant, which corresponds to the machine
The coordinate system of arm.
2. the method for auto-changing directional type according to claim 1 position control, it is characterised in that：In the step 4,
The controller is that difference is added 360, is finally removed by after the machine direction angle information and the introduction deflection information calculating difference
It is exactly the difference angle information with the remainder obtained after 360.
3. the method for auto-changing directional type according to claim 2 position control, it is characterised in that：Built in the controller
One corresponding table, which has multiple different difference angle ranges each other, and corresponds to the seat of the difference angle range respectively
Transfer equation is marked, in the step 5, the controller is after receiving the original control signal, according to the difference angle information in this
Find out the corresponding difference angle range in corresponding table, and with the corresponding coordinates translation equation by the original control signal
It is converted into the conversion and control signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710022630.2A CN108297091A (en) | 2017-01-12 | 2017-01-12 | The method of auto-changing directional type position control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710022630.2A CN108297091A (en) | 2017-01-12 | 2017-01-12 | The method of auto-changing directional type position control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108297091A true CN108297091A (en) | 2018-07-20 |
Family
ID=62871916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710022630.2A Pending CN108297091A (en) | 2017-01-12 | 2017-01-12 | The method of auto-changing directional type position control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108297091A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030164349A1 (en) * | 2002-02-21 | 2003-09-04 | Demag Cranes & Components Gmbh | Control system for controlling a hoist |
| CN102360221A (en) * | 2011-07-14 | 2012-02-22 | 长沙中联重工科技发展股份有限公司 | Engineering machine, method for controlling mechanical arm of engineering machine, apparatus thereof, and system thereof |
| CN102535852A (en) * | 2012-01-16 | 2012-07-04 | 三一重工股份有限公司 | Operating and controlling system and method of mechanical arm, and engineering machinery |
| CN102561700A (en) * | 2012-01-16 | 2012-07-11 | 三一重工股份有限公司 | Mechanical arm control system, method and engineering machinery |
| CN103909524A (en) * | 2013-01-09 | 2014-07-09 | 上银科技股份有限公司 | Directional position control method |
| JP5572788B1 (en) * | 2013-01-31 | 2014-08-20 | 上銀科技股▲分▼有限公司 | Oriented position control method |
| CN104856764A (en) * | 2009-11-13 | 2015-08-26 | 直观外科手术操作公司 | System for hand control of a teleoperated minimally invasive slave surgical instrument |
-
2017
- 2017-01-12 CN CN201710022630.2A patent/CN108297091A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030164349A1 (en) * | 2002-02-21 | 2003-09-04 | Demag Cranes & Components Gmbh | Control system for controlling a hoist |
| CN104856764A (en) * | 2009-11-13 | 2015-08-26 | 直观外科手术操作公司 | System for hand control of a teleoperated minimally invasive slave surgical instrument |
| CN102360221A (en) * | 2011-07-14 | 2012-02-22 | 长沙中联重工科技发展股份有限公司 | Engineering machine, method for controlling mechanical arm of engineering machine, apparatus thereof, and system thereof |
| CN102535852A (en) * | 2012-01-16 | 2012-07-04 | 三一重工股份有限公司 | Operating and controlling system and method of mechanical arm, and engineering machinery |
| CN102561700A (en) * | 2012-01-16 | 2012-07-11 | 三一重工股份有限公司 | Mechanical arm control system, method and engineering machinery |
| CN103909524A (en) * | 2013-01-09 | 2014-07-09 | 上银科技股份有限公司 | Directional position control method |
| JP5572788B1 (en) * | 2013-01-31 | 2014-08-20 | 上銀科技股▲分▼有限公司 | Oriented position control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109807885B (en) | Visual calibration method and device for manipulator and intelligent terminal | |
| EP3221095B1 (en) | Robot and robot system | |
| US10334239B2 (en) | Image processing apparatus, calibration method, and calibration program | |
| CN109249376A (en) | The teaching method of robot system and robot | |
| CN108527360B (en) | Position calibration system and method | |
| WO2016074646A1 (en) | Method and device for calibrating tool in flange coordinate system of robot | |
| KR20160107128A (en) | Vision system for training an assembly system through virtual assembly of objects | |
| CN105509671A (en) | Method for calibrating central point of robot tool through employing plane calibration plate | |
| CN1692370A (en) | A device network having selectable targets | |
| CN110148187A (en) | A kind of the high-precision hand and eye calibrating method and system of SCARA manipulator Eye-in-Hand | |
| CN105260112A (en) | Method and device for controlling screen between terminals | |
| CN106182020A (en) | A kind of robot manipulation's teaching system based on synchronous robot and method | |
| CN103737602A (en) | Industrial robot wireless teaching implementation device and method | |
| CN108908344A (en) | A kind of crusing robot mechanical arm tail end space-location method | |
| CN103152467A (en) | Hand-held electronic device and remote control method | |
| CN109571441A (en) | The quick teaching method of industrial robot | |
| US10539653B2 (en) | Method for detecting position of mobile body | |
| CN102740453B (en) | Wireless network access device having positioning function and positioning method thereof | |
| CN105127973A (en) | Embedded under-actuated prosthetic hand control system based on CyberGlove | |
| CN103095341A (en) | Data transmission control method and electronic equipment | |
| CN102371505B (en) | Method for detecting singular area in five-axis machining | |
| CN109311163B (en) | Method for correcting motion control command of robot and related equipment thereof | |
| CN104090672A (en) | Switching type mouse device and control method thereof | |
| Xu et al. | Industrial robot base assembly based on improved Hough transform of circle detection algorithm | |
| CN108297091A (en) | The method of auto-changing directional type position control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180720 |
|
| WD01 | Invention patent application deemed withdrawn after publication |