CN106985140B - Robot point-to-point motion control method and system - Google Patents
Robot point-to-point motion control method and system Download PDFInfo
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- CN106985140B CN106985140B CN201710257078.5A CN201710257078A CN106985140B CN 106985140 B CN106985140 B CN 106985140B CN 201710257078 A CN201710257078 A CN 201710257078A CN 106985140 B CN106985140 B CN 106985140B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
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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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Abstract
The invention relates to a robot point-to-point motion control method and system, wherein the method comprises the following steps: receiving a point-to-point motion instruction transmitted by a control end; analyzing and obtaining the angle of the target joint and the time required by point-to-point motion; calculating a first track passing by the mechanical arm from the current joint angle to a target joint angle according to the time required by point-to-point motion, and respectively calculating a second track and a third track passing by the mechanical arm from the current joint angular velocity and the current joint angular acceleration reduced to 0 within the time required by the point-to-point motion; obtaining a point-to-point motion track according to the first track, the second track and the third track; and calculating the target angle, the target angular velocity and the target angular acceleration of each position of each joint of the mechanical arm running on the point-to-point motion track and forwarding the target angles, the target angular velocities and the target angular acceleration to the control master station. The technology of the invention can form a complete robot point-to-point motion control system, reduce the development cost of the robot control system and improve the control effect.
Description
Technical field
The present invention relates to technical field of robot control, more particularly to a kind of robot point-to-point motion control method and
System.
Background technique
Robot Operating System (ROS) is the robot operating system of open source, can be robot development person
One standardized, open source programming framework is provided.But ROS does not support real-time thread to operate at present.Open Robot
Control Software (OROCOS) is also a kind of robot control software's programming framework of open source, and its feature is to support in fact
When threading operation, but its opening, versatility do not have ROS good.
Therefore, robot point-to-point movement is a kind of important motion mode of robot, at present in some application schemes,
OROCOS is used on ROS, but it is soft cannot to constitute a complete robot controller on the framework built for prior art
Part is unable to fully the characteristic using ROS and OROCOS, system development costs are high, control effect when executing point-to-point movement
Difference.
Summary of the invention
Based on this, it is necessary to be directed to above system development cost high-tech problem, provide a kind of robot point-to-point movement
Control method reduces system development costs, improves control effect.
A kind of robot point-to-point motion control method, comprising:
Receive the point-to-point movement instruction of control terminal transmission；Point-to-point movement instruction is parsed, target joint is obtained
The time that angle and point-to-point movement need；
Obtain current joint angle, current joint angular speed and the current joint angular acceleration of mechanical arm；According to point-to-point
Move the first track that the time calculating machine arm needed is run to target joint angle process by current joint angle, Yi Jifen
Other calculating machine arm is dropped within the time that point-to-point movement needs by current joint angular speed and current joint angular acceleration
The second track and third track passed through by 0；The movement of point-to-point is obtained according to the first track, the second track and third track
Track；
The target angle for each position that each joint of calculating machine arm is run on the point-to-point motion profile, target
Angular speed and target angular acceleration are forwarded to control main website.
A kind of robot point-to-point kinetic control system, comprising: top control module, algoritic module and communication management module；
The top control module, for receiving the point-to-point movement instruction of control terminal transmission；
The algoritic module obtains target joint angle and point-to-point fortune for parsing to point-to-point movement instruction
The dynamic time needed；Obtain current joint angle, current joint angular speed and the current joint angular acceleration of mechanical arm；According to point
The time calculating machine arm needed to movement is run to the first track of target joint angle process by current joint angle, with
And it calculates separately mechanical arm and is accelerated within the time that point-to-point movement needs by current joint angular speed and current joint angle
Degree is reduced to the second track and third track that 0 is passed through；Point-to-point is obtained according to the first track, the second track and third track
Motion profile；And the target angle of each position that each joint of calculating machine arm is run on the point-to-point motion profile
Degree, target angular velocity and target angular acceleration；
The communication management module, it is each for running each joint of mechanical arm on the point-to-point motion profile
Target angle, target angular velocity and the target angular acceleration of position are forwarded to control main website.
Above-mentioned robot point-to-point motion control method and system, after receiving the point-to-point movement instruction of control terminal,
Calculate the motion profile of point-to-point, and target angle, the mesh that each joint of real-time computer tool arm is run on the motion profile
The state parameters such as angular speed and target angular acceleration are marked, above-mentioned state parameter is forwarded to by control master by equipment communication software
It stands, realizes the point-to-point motion control process to robot；The technical solution may be constructed a complete robot point-to-point
Kinetic control system reduces robot control system development cost, improves control effect.
Detailed description of the invention
Fig. 1 is the robot point-to-point motion control method flow chart of the embodiment of the present invention；
Fig. 2 is robot point-to-point kinetic control system structural schematic diagram；
Fig. 3 is that top control module executes algorithm flow chart；
Fig. 4 is that algoritic module executes algorithm flow chart；
Fig. 5 is that algoritic module executes algorithm state transition diagram；
Fig. 6 is the hardware structure model of the robot control system of an application example；
Fig. 7 is the architecture diagram built based on ROS and OROCOS；
Fig. 8 is the state change schematic diagram of controller state machine；
Fig. 9 is the state change schematic diagram of equipment state machine.
Specific embodiment
The embodiment of robot point-to-point motion control method of the invention is illustrated with reference to the accompanying drawing.
In the embodiment of the present invention, point-to-point movement refers to the joint angle of mechanical arm from current joint angle, θ0Movement
To target joint angle, θ1Motion process.
S10 receives the point-to-point movement instruction of control terminal transmission；Point-to-point movement instruction is parsed, target is obtained
The time that joint angles and point-to-point movement need；
In above-mentioned steps, it can use preset communication protocol and receive point-to-point in a manner of asynchronous remote procedure call
Movement instruction；For example, the point-to-point movement instruction includes target joint angle, θ1The time T needed with point-to-point movement；
In the process, it can be operator and point-to-point movement instruction generated by human-computer interaction interface, which is not necessarily to
Transfer Parameters；By preset communication protocol, such as based on IEC (The Internet Communications Engine, interconnection
Network Communication engine) exploitation communication protocol, in a manner of asynchronous remote procedure call from human-computer interaction interface receive point-to-point fortune
Dynamic instruction.
In one embodiment, according to the asynchronous triggering point-to-point Motor execution function of the point-to-point movement instruction and pass through
First interface calls point-to-point motion planning function；Wherein, the first interface be based on ROS create OROCOS it is real-time defeated
Enter/output interface.
S20 obtains current joint angle, current joint angular speed and the current joint angular acceleration of mechanical arm；According to point
The time calculating machine arm needed to movement is run to the first track of target joint angle process by current joint angle, with
And it calculates separately mechanical arm and is accelerated within the time that point-to-point movement needs by current joint angular speed and current joint angle
Degree is reduced to the second track and third track that 0 is passed through；Point-to-point is obtained according to the first track, the second track and third track
Motion profile；
In one embodiment, after calling the point-to-point motion planning function, the current joint angle of mechanical arm is read
Degree, joint angular speed and joint angular acceleration, and arrived according to the joint angles, joint angular speed and joint angular acceleration and point
Point movement instruction calculates the motion profile of point-to-point；Wherein, the joint angles, joint angular speed and joint angular acceleration include
Joint angles, joint angular speed and joint angular acceleration；
Further, before calling point-to-point motion planning function, the point-to-point Motor execution function judges controller shape
Whether state machine is to prepare (Ready) state；If so, point described in the Operational Caller method call for passing through OROCOS
To a motion planning function, and controller state machine-cut is changed to and executes point-to-point movement (Active.PTP) state；If it is not,
Then refuse to execute and this time instruct；Wherein, the controller state machine is changed state, and reading state, be equipped with initialization,
Corresponding state is interrupted and enabled to instruction waiting, instruction execution.
Further, after calling point-to-point motion planning function, according to the point-to-point motion planning function execution point
To a motion planning process, and check whether controller state machine is to execute point-to-point motion state；If so, executing the calculating
Otherwise the step of motion profile of point-to-point, exits execution process.
As embodiment, the method for the motion profile for calculating point-to-point, may include as follows:
(1) the current joint angles θ of mechanical arm is obtained0, joint angular speedWith joint angular acceleration
(2) movement instruction includes obtaining target joint angle, θ from point to points1The time T needed with point-to-point movement；
(3) according to the joint angles θ0, joint angular speedWith joint angular accelerationAnd target joint angle
θ1, joint of mechanical arm target angular velocity and target angular acceleration are set as 0, determine the motion profile of point-to-point；
As embodiment, the motion profile of the point-to-point can be expressed as follows:
S (t)=a0+a1t+a2t2+a3t3+a4t4+a5t5
a0=θ0
In formula, t is runing time；ai, i=1 ..., 5 be coefficient.
S30, the target angle for each position that each joint of calculating machine arm is run on the point-to-point motion profile,
Target angular velocity and target angular acceleration are forwarded to control main website.
Specifically, the mesh for each position that can be run on the point-to-point motion profile with each joint of calculating machine arm
Angle, target angular velocity and target angular acceleration are marked, is accelerated target angle, target angular velocity and target angle by second interface
Degree is sent to equipment communication software and is forwarded to control main website；The second interface be based on ROS create OROCOS it is real-time defeated
Enter/output interface；
In one embodiment, each joint of calculating machine arm is run each on the point-to-point motion profile
The step of target angle of position, target angular velocity and target angular acceleration, may include as follows:
(1) according to the moving track calculation any time t of the point-to-point joint Angle Position θ whent., angular speed.With
Angular acceleration
Further, the calculation formula can be expressed as follows:
θt=a0+a1t+a2t2+a3t3+a4t4+a5t5
Joint Angle Position θ in formula, when any time tt., angular speed.And angular acceleration
(2) the time T needed according to point-to-point movement, calls each joint of calculation formula calculating machine arm described
Target angle, target angular velocity and the target angular acceleration of each position run on point-to-point motion profile.
Further, the step of calculating target angle, target angular velocity and target angular acceleration may include as follows:
(a) after mechanical arm setting in motion, every the run duration t of setting time τ statistics mechanical arm by 0n；τ=
1/f, f indicate refreshing frequency；
The statistical time i.e. by zero, according to target angle, the target angle in the continuous each joint of calculating machine arm of refresh rate
Speed and target angular acceleration；In above-described embodiment, under normal circumstances, the τ is 1 millisecond；
If (b) run duration meets: tn≤ aT calculates separately one according to the calculation formula every setting time τ
Target angle, target angular velocity and the target angular acceleration in the secondary each joint of mechanical arm；Under normal circumstances, the a=70%；
If (c) run duration tnMeet: aT < tnFlag bit is changed to transition state by < T, by controller state machine shape
State is set as preparation state；
Further, under the transient state, if there is new command input, start transient motion planning；If without new command
Input, then calculate separately the target angle in each joint of one-time mechanical arm, target every setting time according to the calculation formula
Angular speed and target angular acceleration, and it is sent to equipment communication software；
If (d) run duration tnMeet: tn>=T, point-to-point movement terminate, and flag bit is changed to wait state.
The technical solution of above-described embodiment can use the real-time input/output interface of OROCOS, by setting communication protocols
View receives point-to-point movement instruction in a manner of asynchronous remote procedure call, and starting point-to-point movement instruction triggers function, calls
The point-to-point Motor execution function of robot motion planning, the motion profile of point-to-point is calculated according to the function, and is calculated in real time
The states such as target angle, target angular velocity and the target angular acceleration that each joint of mechanical arm is run on motion profile ginseng
Above-mentioned state parameter is forwarded to control main website by equipment communication software, realizes the point-to-point motion control to robot by number
Process；The technical solution can carry out the reception of control instruction, parsing, and algorithm is called, executed, and parameter is calculated and transmitted in real time etc.
Function may be constructed a complete robot point-to-point kinetic control system, reduces robot control system development cost, mentions
High control effect.In addition combined with the application of controller state machine and flag bit, the optimal control to algorithm process process is realized,
Further improve control effect.
It is directed to robot point-to-point motion control method, the present invention provides the corresponding robot points of the control method to arrive
Point kinetic control system,
Refering to what is shown in Fig. 2, Fig. 2 is robot point-to-point kinetic control system structural schematic diagram, comprising: top control module, calculation
Method module and communication management module；
The top control module, for receiving the point-to-point movement instruction of control terminal transmission；
The algoritic module obtains target joint angle and point-to-point fortune for parsing to point-to-point movement instruction
The dynamic time needed；Obtain current joint angle, current joint angular speed and the current joint angular acceleration of mechanical arm；According to point
The time calculating machine arm needed to movement is run to the first track of target joint angle process by current joint angle, with
And it calculates separately mechanical arm and is accelerated within the time that point-to-point movement needs by current joint angular speed and current joint angle
Degree is reduced to the second track and third track that 0 is passed through；Point-to-point is obtained according to the first track, the second track and third track
Motion profile；And the target angle of each position that each joint of calculating machine arm is run on the point-to-point motion profile
Degree, target angular velocity and target angular acceleration；
The communication management module, it is each for running each joint of mechanical arm on the point-to-point motion profile
Target angle, target angular velocity and the target angular acceleration of position are forwarded to control main website.
As embodiment, the top control module can be communicatively coupled by first interface and algoritic module, algorithm mould
Block is communicatively coupled by second interface and communication management module, and the first interface, second interface are to be based on creating on ROS
The real-time input/output interface of OROCOS；
The top control module is by preset communication protocol and receives in the way of asynchronous remote procedure call point-to-point and transports
Dynamic instruction；After receiving the point-to-point movement instruction, asynchronous triggering point-to-point Motor execution function simultaneously passes through first interface
Call the point-to-point motion planning function of algoritic module；
The algoritic module after calling the point-to-point motion planning function, read the current joint angles of mechanical arm,
Joint angular speed and joint angular acceleration, and calculate the motion profile of point-to-point；The each joint of calculating machine arm is arrived in the point
Target angle, target angular velocity and the target angular acceleration of each position run on point motion profile, will by second interface
The target angle, target angular velocity and target angular acceleration are sent to communication management module；
The target angle, target angular velocity and target angular acceleration are forwarded to control master by the communication management module
It stands.
The technical solution of above-described embodiment, using the real-time input/output interface of OROCOS, top control module is logical by setting
Letter agreement receives point-to-point movement instruction in a manner of asynchronous remote procedure call, and starting point-to-point movement instruction triggers function,
The point-to-point Motor execution function for calling the robot motion planning of algoritic module calculates the movement rail of point-to-point according to the function
Mark, and target angle, target angular velocity and target angle that each joint of real-time computer tool arm is run on the motion profile add
Above-mentioned state parameter is forwarded to control main website by the state parameters such as speed, communication management module, realizes the point-to-point to robot
Motion control process；The technical solution can carry out the reception of control instruction, parsing, and algorithm is called, executed, and parameter calculates in real time
With the functions such as transmission, a complete robot point-to-point kinetic control system may be constructed, reduction robot control system is opened
Cost is sent out, control effect is improved.
As embodiment, top control module executes algorithm flow, can be refering to what is shown in Fig. 3, Fig. 3 is that top control module executes algorithm
Flow chart；It is specific as follows:
1) operator generates point-to-point movement instruction, the content of instruction, including target joint angle by human-computer interaction interface
Spend θ1, move the time T of needs.
2) point-to-point movement instruction is sent out in a manner of asynchronous remote procedure call from human-computer interaction interface by communication protocol
Give top control module.
It 3), can asynchronous triggering point-to-point Motor execution function after instruction reaches top control module.The function first determines whether to control
Whether device state machine is Ready state.If not Ready state, then refuse to execute this time instruction.
4) if controller state machine is Ready state, perform the following operations:
A) then pass through the point-to-point motion planning letter of the Operational Caller method call algoritic module of OROCOS
Number, and transmit order parameter.
B) controller state machine is converted into Active.PTP state.
5) judge whether controller state machine becomes Ready state again.If Ready state, then this movement is completed.
As embodiment, algoritic module executes algorithm flow, can be refering to what is shown in Fig. 4, Fig. 4 is that algoritic module executes algorithm
Flow chart；It is specific as follows:
1) point-to-point motion planning function is called by top control module, starts to execute point-to-point motion planning process.
2) check whether controller state machine is Active.PTP state, if not then exiting.
3) the current joint angles θ of mechanical arm is read0, joint angular speedJoint angular accelerationIt is multinomial using five times
Formula method generates point-to-point motion profile.
The principle of this method is as follows:
The motion profile of point-to-point is expressed as follows:
S (t)=a0+a1t+a2t2+a3t3+a4t4+a5t5 (1)
In formula, t is runing time；ai, i=1 ..., 5 be coefficient.
Due to the current joint angles θ of known mechanical arm0, joint angular speedJoint angular accelerationAnd target is closed
Save angle, θ1.And the joint angular speed and angular acceleration of target are set as 0.Can then coefficient be acquired:
Then joint Angle Position θ when any time t can be calculated according to the following formulat., angular speed., angle adds
Speed
θt=a0+a1t+a2t2+a3t3+a4t4+a5t5 (3)
4) by run duration tnIt is denoted as 0.Refering to what is shown in Fig. 5, Fig. 5 is that algoritic module executes algorithm state transition diagram；It will calculate
The state flag bit of method module is set as motion state.
5) after UpdateHook () function check of algoritic module is motion state to state flag bit, and run duration tn
No more than the 70% of movement duration T:
A) target angle in each joint of one-time mechanical arm, mesh are calculated separately according to formula (3), (4), (5) every 1 millisecond
Mark angular speed and target angular acceleration.
B) by the target angle in each joint of mechanical arm, target angular velocity and target angular acceleration, it is sent to telecommunication management
Module.
If 6) run duration tnMeet: 0.7T < tn< T:
A) flag bit of algoritic module is changed to transition state.
B) controller state machine state is set as Ready state.
If c) there is new command input, start transient motion planning.
If d) being inputted without new command, every 1 millisecond according to formula (3), (4), that (5) calculate separately one-time mechanical arm is every
The target angle in a joint, target angular velocity and target angular acceleration.And by the target angle in each joint of mechanical arm, target angle
Speed and target angular acceleration, are sent to communication management module.
If 7) run duration tnMeet: tn≥T:
A) this point-to-point movement terminates.
B) flag bit of algoritic module is changed to wait state.
The communication management module can be further used for the status information of read machine people's motor, be transported according to robot
The status information of robot is fed back to master control mould by third interface by the status information of movable model calculating robot's mechanical arm
The status information of robot is fed back to algoritic module by second interface by block；Wherein, the status information of the motor includes position
It sets, speed and torque etc.；The status information of the mechanical arm includes joint angles, joint angular speed, joint angular acceleration, end
Pose, end linear velocity, end angular speed, end linear acceleration and end linear acceleration etc..
In order to be more clear the technical solution of the embodiment of the present invention, it is described below using hardware and software ring of the invention
Border application example:
Refering to what is shown in Fig. 6, Fig. 6 is the hardware structure model of the robot control system of an application example, in robot control
Device processed builds software architecture, runs on (SuSE) Linux OS, which can be the PC machine of X86-based, or
The development board of the chip embedded framework of ARM, top control module access the control instruction of the human-computer interaction interface of control terminal.
Linux host can install following software: installation Xenomai's or RTAI RT Preempt is real-time interior
Core patch；ROS, the softwares such as OROCOS, rFSM are installed.
Refering to what is shown in Fig. 7, Fig. 7 is the architecture diagram built based on ROS and OROCOS；In control process, operation
Top control module, algoritic module and communication management module are run in system.
1, for top control module:
(1) top control module is denoted as Ec_ using the Package of the orocreate-catkin-pkg method creation ROS of ROS
Control_system, by inheriting the RTT::TaskContext class of OROCOS, is denoted as Ec_ then in Package
control_system_component。
In the constructed fuction of Ec_control_system_component class, it is arranged to carry out following operation:
A) RTT::Input and the RTT::Output method of OROCOS, the input to module are utilized, output interface is determined
Justice.
The interface wherein inputted includes:
1. the incoming diagnostic data of communication management module；
2. the incoming status feedback information of communication management module: including motor operating state etc.；
3. the state of controller state machine；
The interface of output includes:
1. controller state machine event triggers, controller state machine is given in output.
B) function call interface is set using the Operational Caller method of OROCOS.
First, the call back function that setting event is reported: report that processing request responds to event, including generation error
Timestamp, the information such as event level, and by event information, it is sent to human-computer interaction interface and shows.
Second, the call back function that setting alarm is arranged: according to diagnostic message, judge whether to generate alarm.For example, position,
Whether speed, acceleration transfinite etc..
The control instruction triggering function of various motion plannings is arranged in third, these functions are by the corresponding sound to algoritic module
Function is answered to be called.
C) it calls the Properties method of OROCOS to define the attribute of top control module, top control module is defined into a machinery
The attribute of shoulder joint number.
(2) in StartHook () member function of Ec_control_system_component, setting executes as follows
Operation:
A) whether audit log report is normal, if abnormal directly exit, and relevant information is passed by event reporting interface
Pass top control module processing；
B) communication connection with human-computer interaction interface is established by the communication protocol of ICE exploitation, communication protocol is called to provide
Dynamic asynchronous remote procedure call (RPC) method, the readjustment letter that is responded of control instruction that human-computer interaction interface is initiated
Number is bound.The call back function, according to ICE, (The Internet Communications Engine interconnects Netcom first
Believe engine) first incoming parameter of the remote process asynchronous invoking method that provides, call type is judged, then according to this type
The movement instruction of Selection and call corresponding sports planning triggers function.
(3) for CleanUpHook () member function of Ec_control_system_component, in order to enable should
Function realizes automatic calling, may be arranged as performing the following operations when top control module terminates operation:
A) communication protocol interface for calling ICE exploitation, closes the communication connection with human-computer interaction interface.
(4) for controller state machine, refering to what is shown in Fig. 8, Fig. 8 is the state change schematic diagram of controller state machine；It can
Be arranged Init, Ready, Fault, Active.Recovery, Active.Halt, Active.Hands,
Active.ToZero, Active.PTP, Active.Line, Active.Circle, Active.Stop totally ten one states,
Respectively represent initialization, wait instruction input, recovery, pause, manual teaching, return to origin, point-to-point movement, linear motion,
Circular motion, emergency stop state.Wherein, Active.Recovery, Active.Halt, Active.Hands,
This eight state compositions of Active.ToZero, Active.PTP, Active.Line, Active.Circle, Active.Stop
The set of one Active state, the node transition rule of Active are effective to eight sub- states.For example, giving eight states
Any of, " e_ready " event is written, the state of controller state machine is transferred to Ready state (i.e. from current state
Wait instruction input state).
Furthermore it is also possible to write the startup file of top control module using Lua language, the startup file be arranged to carry out as
Lower movement:
A) pass through the import method of OROCOS, loading module is run；
B) refreshing frequency of definition module, the priority level of thread；
C) assignment is carried out to the attribute of module；
D) the connect method for passing through OROCOS, by the input of top control module, output interface and algoritic module and communication tube
The interface of reason module establishes connection.
E) the start method for passing through OROCOS, runs top control module, and top control module will first call StartHook () letter
Then number presses default refreshing frequency, in real time periodically invoked UpdateHook () function.
2, for algoritic module:
Algoritic module is denoted as Ec_ using the Package of the orocreate-catkin-pkg method creation ROS of ROS
Control_loop, by inheriting the RTT::TaskContext class of OROCOS, is denoted as Ec_ then in Package
control_loop_component。
(1) in the constructed fuction of Ec_control_loop_component class, it is arranged to carry out following operation:
A) algoritic module utilizes RTT::Input and the RTT::Output method of OROCOS, and to input, output interface is carried out
Definition.
The interface wherein inputted includes:
1. the incoming motor operation data of communication management module；
2. the incoming diagnostic data of communication management module；
3. the state of equipment state machine；
4. the state of controller state machine；
The interface of output includes:
1. motor control instruction data are exported to device communication module；
2. equipment state machine event triggers, equipment state machine is given in output；
3. controller state machine event triggers, controller state machine is given in output.
B) function call interface is set using the Operational Caller method of OROCOS, the report of setting event connects
Mouthful: the interface will trigger the return origin instruction response letter of the event report processing various motion plannings of function setup of top control module
Number.
C) the Properties method of OROCOS is called to define the attribute of algoritic module, algoritic module defines a mechanical arm
The attribute of joint number.
(2) it in StartHook () member function of Ec_control_loop_component, is arranged to carry out as follows
Operation:
A) whether audit log report is normal, if abnormal directly exit, and relevant information is passed by event reporting interface
Pass top control module processing；
B) it checks whether motor operation data channel has data, if no data directly exits, and relevant information is passed through into thing
Part reporting interface passes to top control module processing.
(3) for UpdateHook () member function of Ec_control_loop_component class, which is set and is existed
When algoritic module is run, according to frequency real time execution (being such as set as 100Hz) set by user, it can be set to execute following behaviour
Make:
A) Read Controller state machine state；
B) according to the different conditions of controller state machine, different operation is executed:
I, it is moved if it is point-to-point, linear motion, circular motion, manual teaching, emergency stop returns to origin state.At this point,
It performs the following operations:
If all instructions is sent jointly to telecommunication management mould less than 20 by the control instruction number of instruction buffer
Block, and the state of controller state machine is changed into and waits instruction input state；
If the control instruction number of instruction buffer is greater than 20,20 of instruction fetch queue end, it is sent to logical
Believe management module；
II, it if it is halted state, then does nothing.
(4) for Ec_control_loop_component class, point-to-point movement is defined, is moved along a straight line, circular motion,
Manual teaching, emergency stop return to origin, pause, and the function call interfaces such as recovery are accomplished by
A) point-to-point moves, and linear motion, circular motion, manual teaching returns to the function of origin, and inside is accomplished by
It checks whether controller state machine is in and waits instruction input state.If not then exiting, and by relevant information
Top control module processing is passed to by event reporting interface；
Read the current status information of motor；
According to the current state of motor, point-to-point movement, linear motion are called respectively, and circular motion, manual teaching returns to
The motion planning of origin, and the motor control instruction of generation is saved in instruction buffer；
Controller state machine is set as corresponding state.For example point-to-point moves call back function, then by controller state machine
It is set as point-to-point motion state.
B) suspend function, inside is accomplished by
Check whether controller state machine is point-to-point movement, is moved along a straight line, circular motion, manual teaching returns to origin
Etc. states.If not then exiting, and relevant information is passed into top control module by event reporting interface and is handled；
The current state of current controller state machine is recorded, and the state of controller state machine is changed into halted state.
C) reconstruction, inside are accomplished by
Check whether controller state machine is halted state.Pass through event report if not then exiting, and by relevant information
It accuses interface and passes to top control module processing；
The state of controller state machine is changed into the state before pause.
D) emergency stop function, inside are accomplished by
I, check whether controller state machine is point-to-point movement, is moved along a straight line, circular motion, manual teaching returns to original
The states such as point.Top control module processing is passed to by event reporting interface if not then exiting, and by relevant information；
II, the current status information of motor is read；
III, motor control instruction buffer area is reset；
IV, speed planning motion planning is called, allows motor with the shortest time, speed is reduced to 0, and by the motor control of generation
Instruction is saved in instruction buffer.
(5) Lua language is used, the startup file of algoritic module is write, is arranged to carry out following movement:
A) pass through the import method of OROCOS, loading algorithm module；
D) refreshing frequency of algoritic module, the priority level of thread are defined；
C) assignment is carried out to the attribute of algoritic module；
D) by the connect method of OROCOS, by the input of algoritic module, output interface and top control module and communication tube
The interface of reason module establishes connection.
E) the start method for passing through OROCOS, runs algoritic module, and algoritic module first calls StartHook () function,
Then the refreshing frequency of setting is pressed, in real time periodically invoked UpdateHook () function.
3, for communication management module:
Communication management module can pass through the ttyACM0 and Arm exploitation board communications in linux host minicom, Ke Yi
A CANOpen master station protocol is run on the Arm development board, which can be set an instruction buffer area, at most may be used
With 25 instructions of storage.
Communication management module can use RTT::Input and the RTT::Output method and robot algorithm mould of OROCOS
Block and top control module are communicated.
Equipment state machine is established using rFSM software, the service logic of communication management module is controlled.
Communication management module is connect using RTT::Input and RTT::Output the method and apparatus state machine of OROCOS,
The state of changeable equipment state machine, and reading state.
(1) communication module is created as the Package of ROS using the orocreate-catkin-pkg method of ROS, then exists
In Package, by inheriting the RTT::TaskContext class of OROCOS, the Real time capable module of an OROCOS is created, is denoted as
Ec_component。
In the constructed fuction of Ec_component class, it is arranged to carry out following operation:
A) communication management module utilizes RTT::Input and the RTT::Output method of OROCOS, to input, output interface
It is defined.
The interface wherein inputted includes:
1. the incoming control instruction data of algoritic module；
2. the state of equipment state machine；
The interface of output includes:
1. diagnostic data, output to algoritic module and top control module；
2. motor operation data and mechanical arm status data are exported to algoritic module；
3. state machine events trigger, equipment state machine is given in output.
B) the Operational Caller method defined function calling interface of OROCOS, communication management module definition are utilized
The interface of event report triggers the event report processing function of top control module by the interface.
C) the Properties method of OROCOS is called to define the attribute of communication management module, communication management module defines one
The attribute of a joint of mechanical arm number.
(2) in StartHook () member function of Ec_component, it is arranged to carry out following operation:
A) whether audit log report is normal, if abnormal directly exit, and relevant information is passed by event reporting interface
Top control module is passed to be handled；
B) motor driven initializes:
I, it is communicated by ttyACM0 with motor driver foundation；
II, motor command buffering queue empties；
III, motor is enabled, if enabling successfully, in next step, otherwise exit；
IV, the position of motor, the mechanical arm current state of calculating robot, including joint angles, mechanical arm tail end are read
Pose；
C) mechanical arm state initialization:
According to motor position, judges whether mechanical arm needs to be implemented and return to zero movement.If any joint angles of mechanical arm with
Zero degree differs by more than 0.01 degree, then executes and return to zero movement, calls point-to-point motion planning, plans movement is returned to zero.
D) change the state of equipment state machine:
If the mechanical arm of robot, which needs to be implemented, returns to zero movement, controls equipment state machine and keep Init state constant；
Otherwise, " e_nominal " event is sent to equipment state machine, the state of equipment state machine is converted into Active.Nominal.
(3) for UpdateHook () member function of Ec_component, which is set and is transported in communication management module
When row, with frequency real time execution (being such as set as 1KHz) set by user, it is arranged to carry out following operation:
A) equipment state machine state is read；
B) according to the different conditions of equipment state machine, different operation is executed:
I, if it is Init state, execute mechanical arm returns to zero movement.At this point, performing the following operations:
The clock of reading system, foundation return to zero Motion trajectory as a result, calculating the movement instruction of the moment motor, and will
The single movement instruction is sent to CANOpen main website.
If movement has returned to zero success, " e_nominal " event is sent to equipment state machine, equipment state machine is converted to
Active.Nominal, and the event is reported to top control module.
II, if it is Active.Nominal state.At this point, performing the following operations:
From the input channel of control instruction data, control instruction is read, and store into motor command buffering queue.
The existing number of instructions for reading CANOpen main website instruction buffer then disposably refers to from motor if it is less than 10
15 movement instructions of taking-up in buffering queue are enabled to be sent to CANOpen main website.If the number of instructions of motor command buffering queue
It is less than 15, then disposable to be all sent to CANOpen main website.
III, if it is Active.Recovery state.At this point, communication management module is in recovery state.
At this point, restoring according to diagnostic message to system mode, if being successfully recovered, " e_ is sent to equipment state machine
Equipment state machine is converted to Active.Nominal by nominal " event.And the event is reported to top control module.
If recovery is unsuccessful, " e_fault " event is sent to state machine, state machine is converted to Fault state, by the event
It reports to top control module, and directly exits UpdateHook ().
IV, if it is Active.Halt state.At this point, module placed in a suspend state, performs the following operations: checking control
Whether there is new instruction in the input channel of director data, if there is new command, reads control instruction, and store and arrive motor command
In buffering queue.
V, if it is Active.Hands state.At this point, module is in manual mode, perform the following operations:
The clock of reading system, according to Motion trajectory as a result, calculate the movement instruction of the moment motor, and by the list
Movement instruction is sent to CANOpen main website.
VI, it if it is Fault state, then directly exits UpdateHook ().
C) motor status is read, according to the normatron tool shoulder joint and end movement status information of mechanical arm, and
By output data channel, algoritic module and top control module are passed to；
D) check that diagnostic message is then passed to calculation if there is error message by the control whether wrong report information of main website
Method module and top control module." e_recovery " event is sent to equipment state machine, equipment state machine is converted to
Active.Recovery state simultaneously reports the event to top control module.
(4) for CleanUpHook () member function of Ec_component, the function is when module terminates operation, certainly
Dynamic to call, setting performs the following operations:
A) it is enabled to close motor driven；
B) motor driven connection is closed.
(5) refering to what is shown in Fig. 9, Fig. 9 is the state change schematic diagram of equipment state machine.Shared Init (initialization), Fault
(interruption), Active.Recovery (recovery), Active.Hands (manual teaching), Active.Halt (pause),
Six states of Active.Nominal (operating).Active.Recovery, Active.Hands,Active.Halt,
Tetra- states of Active.Nominal form the state set of an Active (enabled), and the node transition rule of Active is right
Four sub- states are effective.
(6) Lua language is used, the startup file of the module is write, startup file setting executes following movement:
A) the import method for passing through OROCOS, loads communication management module；
B) refreshing frequency of communication management module, the priority level of thread are defined；
C) assignment is carried out to the attribute of communication management module；
D) by the connect method of OROCOS, by the input of communication management module, output interface and top control module and calculation
The interface of method mould etc. establishes connection.
E) the start method for passing through OROCOS, runs communication management module, and communication management module first calls StartHook
() function, then good refreshing frequency by definition, in real time periodically invoked UpdateHook () function.
It for above-mentioned top control module, algoritic module and communication management module, is set as after operation, if in user's needs
Way stops the module, while pressing the ctrl key and D key of keyboard.
To sum up embodiment guarantees the real-time of software program using the real time characteristic of OROCOS based on ROS and OROCOS
Performance；The opening for making full use of ROS, top control module, algoritic module and communication management module based on ROS, OROCOS exploitation
Real time communication is carried out, a complete robot controller software is collectively formed；It further established controller state machine and set
Standby state machine, effectively manages the service logic of top control module, communication management module to realize.
By the RTT::Input of OROCOS, RTT::Output method establishes top control module, algoritic module and telecommunication management
The data input of module, output channel, by the Operational Caller method defined function calling interface of OROCOS,
The attribute of top control module, algoritic module and communication management module is defined by the Properties method of OROCOS.Thus it is guaranteed that
Independence and decoupling between top control module, algoritic module and communication management module.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (9)
1. a kind of robot point-to-point motion control method characterized by comprising
Receive the point-to-point movement instruction of control terminal transmission；Point-to-point movement instruction is parsed, target joint angle is obtained
The time needed with point-to-point movement；
Obtain current joint angle, current joint angular speed and the current joint angular acceleration of mechanical arm；It is moved according to point-to-point
The time calculating machine arm needed is run to the first track of target joint angle process by current joint angle, and is counted respectively
It calculates mechanical arm and 0 institute is reduced to by current joint angular speed and current joint angular acceleration within the time that point-to-point movement needs
The second track and third track passed through；The motion profile of point-to-point is obtained according to the first track, the second track and third track；
The target angle for each position that each joint of calculating machine arm is run on the point-to-point motion profile, target angle speed
Degree and target angular acceleration are forwarded to control main website；
The moving track calculation formula of the point-to-point are as follows:
S (t)=a0+a1t+a2t2+a3t3+a4t4+a5t5
a0=θ0
In formula, S (t) is quintic algebra curve, and t is runing time；ai, i=1 ..., 5 be coefficient, θ0It is the current joint of mechanical arm
Angle, θ1It is the target joint angle of mechanical arm, T is the time that point-to-point movement needs.
2. robot point-to-point motion control method according to claim 1, which is characterized in that the calculating machine arm is each
Target angle, target angular velocity and the target angular acceleration for each position that a joint is run on the point-to-point motion profile
The step of include:
Start to count the run duration t of mechanical arm after the point-to-point motion profile moves in mechanical armn；
If the run duration meets: tn≤ aT, every setting time τ according to the mesh for calculating separately each joint of one-time mechanical arm
Mark angle, target angular velocity and target angular acceleration；A is coefficient；
If run duration tnMeet: aT < tnFlag bit is changed to transition state by < T, and controller state machine state is set as
Preparation state；
If run duration tnMeet: tn>=T, point-to-point movement terminate, and flag bit is changed to wait state.
3. robot point-to-point motion control method according to claim 1, which is characterized in that the joint of mechanical arm
The calculation formula of joint angles, angular speed and angular acceleration when any time t are as follows:
θt=a0+a1t+a2t2+a3t3+a4t4+a5t5
Joint Angle Position θ in formula, when any time tt, angular speedAnd angular acceleration
4. robot point-to-point motion control method according to claim 2, which is characterized in that under the transient state, if
There is new command input, then starts transient motion planning；If inputting without new command, one-time mechanical is calculated every setting time τ
Target angle, target angular velocity and the target angular acceleration in each joint of arm, and it is sent to equipment communication software.
5. robot point-to-point motion control method according to claim 1, which is characterized in that utilize preset communication protocols
It discusses and receives point-to-point movement instruction in a manner of asynchronous remote procedure call.
6. robot point-to-point motion control method according to claim 1, which is characterized in that calling the point-to-point
After motion planning function, joint angles, joint angular speed and the joint angle read under the current state of joint of mechanical arm in real time adds
Speed, and point-to-point is calculated according to the joint angles, joint angular speed and joint angular acceleration and point-to-point movement instruction
Motion profile.
7. robot point-to-point motion control method according to claim 1, which is characterized in that further include:
Before calling point-to-point motion planning function, the point-to-point Motor execution function judge controller state machine whether subject to
Standby state；
If so, point-to-point motion planning function described in the Operational Caller method call for passing through OROCOS, and will control
Device state machine processed, which is switched to, executes point-to-point motion state；It is this time instructed if it is not, then refusing to execute.
8. robot point-to-point motion control method according to claim 7, which is characterized in that further include:
After calling point-to-point motion planning function, point-to-point motion planning stream is executed according to the point-to-point motion planning function
Journey, and check whether controller state machine is to execute point-to-point motion state；If so, executing the movement rail for calculating point-to-point
Otherwise the step of mark, exits execution process.
9. a kind of robot point-to-point kinetic control system characterized by comprising top control module, algoritic module and communication tube
Manage module；
The top control module, for receiving the point-to-point movement instruction of control terminal transmission；
The algoritic module, for parsing to point-to-point movement instruction, obtaining target joint angle and point-to-point movement is needed
The time wanted；Obtain current joint angle, current joint angular speed and the current joint angular acceleration of mechanical arm；According to point-to-point
Move the first track that the time calculating machine arm needed is run to target joint angle process by current joint angle, Yi Jifen
Other calculating machine arm is dropped within the time that point-to-point movement needs by current joint angular speed and current joint angular acceleration
The second track and third track passed through by 0；The movement of point-to-point is obtained according to the first track, the second track and third track
Track；And target angle, the mesh of each position that each joint of calculating machine arm is run on the point-to-point motion profile
Mark angular speed and target angular acceleration；The moving track calculation formula of the point-to-point are as follows:
S (t)=a0+a1t+a2t2+a3t3+a4t4+a5t5
a0=θ0
In formula, S (t) is quintic algebra curve, and t is runing time；ai, i=1 ..., 5 be coefficient, θ0It is the current joint of mechanical arm
Angle, θ1It is the target joint angle of mechanical arm, T is the time that point-to-point movement needs；
The communication management module, each position for running each joint of mechanical arm on the point-to-point motion profile
Target angle, target angular velocity and target angular acceleration be forwarded to control main website.
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| PCT/CN2017/103436 WO2018192178A1 (en) | 2017-04-19 | 2017-09-26 | Point-to-point motion control method and system for robot |
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| CN106985140B (en) * | 2017-04-19 | 2019-05-07 | 广州视源电子科技股份有限公司 | Robot point-to-point motion control method and system |
| CN107263484B (en) * | 2017-08-10 | 2020-04-14 | 南京埃斯顿机器人工程有限公司 | Robot joint space point-to-point motion trajectory planning method |
| CN108037737B (en) * | 2017-12-19 | 2020-08-18 | 苏州谷夫道自动化科技有限公司 | Quick-response point-to-point S-shaped speed planning method |
| JP7285703B2 (en) * | 2019-06-17 | 2023-06-02 | 株式会社ソニー・インタラクティブエンタテインメント | robot control system |
| CN110315543B (en) * | 2019-07-29 | 2021-02-26 | 北京理工大学 | Biped robot gait generation and optimization method |
| CN111890336B (en) * | 2020-06-15 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Robot multi-target-point teaching method and system |
| CN113232018B (en) * | 2021-04-27 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Method for quickly resetting posture of robot |
| CN115431259A (en) * | 2021-10-26 | 2022-12-06 | 珠海友芯人科技有限公司 | A momentum control robot terminal ptp motion control system |
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