CN113305474B - Welding robot welding attitude interpolation method based on PLC - Google Patents
Welding robot welding attitude interpolation method based on PLC Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J9/1656—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
- B25J9/1666—Avoiding collision or forbidden zones
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention provides a welding robot welding attitude interpolation method based on a PLC (programmable logic controller), which comprises the following steps of: teaching swing welding path starting point P s And a termination point P e Obtaining position and attitude information; converting the weld path point pose description to a quaternion representation; calculating quaternion pose intermediate transformation Z of start point and end point se (ii) a Computing intermediate transformations Z of attitude se Normalized constant N of const (ii) a Computing attitude intermediate quaternion transform Z se The transformation angle phi of (c); calculating a welding path P s To P e Intermediate attitude interpolation point P i (ii) a Generating an attitude interpolation point and judging whether the attitude interpolation point is an end point; and combining the spatial position interpolation information and the attitude interpolation information from the starting point to the ending point of the welding path, converting the interpolation information into corresponding joint angle information by the PLC of the welding robot through the inverse solution module, and issuing the joint angle information to the robot actuating mechanism for execution in a bus communication mode.
Description
Technical Field
The invention relates to the technical field of welding robot control, in particular to a welding robot welding attitude interpolation method based on a PLC.
Background
In practical engineering application, a welding robot is often used for welding in a straight line and a circular arc track, but swing welding (referred to as swing welding for short) is often used when a welding seam is large or in order to meet the requirements of a special welding process. The swing welding is a method that a welding rod at the tail end of a robot moves along the direction of a welding seam and swings at a set amplitude and frequency to increase the welding width, so that the welding efficiency and the welding strength are improved. The commonly used swing welding comprises triangular swing welding, L-shaped swing welding, sine swing welding and the like, effectively improves the strength and toughness of a welding line, and is widely applied to automatic welding equipment.
And planning the track of the swing welding on the basis of the motion of the robot to plan the upper layer, and fitting the welding path of the welding seam by using a straight line or other curves according to the welding path taught by the user. In some special application occasions, in order to meet the process requirements or avoid collision between a welding robot and a tool, the tail end posture of the robot needs to be changed in the welding process; particularly, when arc swing welding is performed, the intermediate position and the posture of the arc swing welding need to be taught so as to avoid tool interference.
The existing welding robot swing welding technology mostly researches a swing welding method from a plane position and a space position angle, utilizes different curve fitting welding paths, often only considers position planning when carrying out swing welding track planning, and does not relate to posture planning, and the robot easily collides with a tool in the swing welding process. Meanwhile, the posture of the robot at the welding termination point changes suddenly, and the welding effect is influenced. Chinese patent CN105855672B provides a space circular interpolation welding method based on a teaching robot, the pose is based on rotation matrix interpolation, teaching points in a robot coordinate system need to be converted to a plane where a circular arc is located, and the calculation process is complex.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks mentioned.
Therefore, the invention aims to provide a welding robot welding attitude interpolation method based on PLC.
In order to achieve the above object, an embodiment of the present invention provides a welding robot welding pose interpolation method based on a PLC, including the following steps:
s1, teaching a starting point P of a swing welding path s And a termination point P e Obtaining position and attitude information;
s2, converting the attitude description of the welding path points into quaternion representation;
s3, calculating the quaternion posture intermediate transformation Z of the starting point and the end point se ；
Step (ii) ofS4, calculating intermediate transformation Z of the attitude se Normalized constant N of const ；
Step S5, calculating intermediate quaternion transformation Z of attitude se The transformation angle phi of (1);
step S6, calculating a welding path P s To P e Point of insertion for i i The attitude information of (a); then, the interpolation point P is first calculated i Posture of (2)
Then calculates the interpolation point P i The attitude information of (a);
s7, generating a gesture interpolation point, judging whether the gesture interpolation point is an end point, if so, finishing the interpolation, otherwise, returning to the step S6;
and S8, combining the spatial position interpolation information from the starting point to the ending point of the welding path and the posture interpolation information in the step S7, converting the interpolation information into corresponding joint angle information by the PLC of the welding robot through an inverse solution module, and issuing the joint angle information to a robot execution mechanism for execution in a bus communication mode.
Further, in the step S1, a start point P of the welding path is taught s And a termination point P e Acquiring position and attitude information P (x, y, z, alpha, beta, gamma) based on a robot coordinate system; the robot pose information is jointly described by a position vector (x, y, z) based on a right angle space and an attitude vector (alpha, beta, gamma) based on an Euler space.
Further, in the step S2,
starting point P of welding path s And P e Is converted to quaternion space, the attitude of the point can be described by a unit quaternion, Z = [ Z ] w Z x Z y Z z ] T And is and
the euler angles are converted to quaternions as shown below:
further, in step S3, a welding path start point P is calculated s To a termination point P e An intermediate transformation comprising:
supposing a point P s And P e The attitude quaternion of (a) is Z in order s 、Z e Intermediate conversion of quaternion to Z se And then:
from the properties of the identity matrix, the inverse Z of the identity matrix - Equal to its conjugate Z * Then the above equation can be further converted into the following equation:
further, in the present invention,
then the above-mentioned Z is e And
substituting formula (3) to obtain quaternion intermediate transformation Z se ：
Further, the calculation of the attitude intermediate transformation normalization constant N const The method comprises the following steps:
suppose that
Quaternion Z of the intermediate transform obtained se Is composed of
Then the normalization constant N of the quaternion const Can be represented by the following formula:
further, in said step S4, an intermediate transformation Z is calculated se The transformation angle phi comprises the following steps:
the robot attitude rotation transformation can be described by quaternion or axis-angle relation, namely the attitude transformation represented by quaternion is represented as a rotating axis defined by a unit vector
Rotating a certain angle phi, and obtaining a quaternion transformation angle according to the relation between the quaternion and the three-dimensional rotation:
further, the calculation of the welding path P s To P e Intermediate interpolation point P of attitude change i The method comprises the following steps:
to the starting point P of the welding path s To a termination point P e The attitude interpolation of (A) can be converted into a pair of intermediate transformations Z se Interpolation of the rotation angle phi. Assuming that the swing interpolation frequency of the position of the welding path is N, and the gesture middle interpolation point i is 1,2, (N-1); the attitude middle interpolation point P is calculated i The information of (2):
a) Suppose that the attitude change angle of the ith interpolation point relative to the welding start point is
The first element of the quaternion attitude transformation is then:
b) Combined with intermediate transformation Z se The intermediate calculation variable k can be obtained as the normalization constant of (c):
c) The intermediate attitude transformation interpolation point is relative to the attitude change quaternion Z of the arc starting point si Can be represented by the following formula:
then the attitude quaternion Z of the interpolation point i Comprises the following steps:
Z i ＝Z si ·Z s
d) Will insert the supplement point P i Attitude quaternion Z of i Conversion to Euler Angle (RPY), suppose
P i Has an Euler angle of (alpha) i ,β i ,γ i ) And then:
e) Repeating the steps a-d until all intermediate interpolation points are calculated; the last interpolation point is the weaving welding termination point P e
According to the welding robot swing welding attitude interpolation method based on the PLC, the attitude of a welding path point is planned during swing track planning based on PLC welding robot controller development, and the problem of collision between the robot and a tool in the swing welding process is effectively avoided. Meanwhile, the posture of the welding robot is planned and interpolated in a quaternion space, so that the smoothness of the posture of the robot is ensured, and the welding quality is improved.
1. When the swing track is planned, the posture is planned and interpolated, so that the problem of collision with a tool in the swing welding process of the robot is effectively avoided;
2. the invention carries out planning interpolation on the attitude in the quaternion space, does not relate to coordinate transformation, and has simple and efficient algorithm;
3. the posture interpolation method based on the quaternion is adopted, the posture change of the welding robot is smooth and stable in the swing welding process, and the welding quality is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a welding robot welding pose interpolation method based on PLC according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a welding robot welding pose interpolation method based on a PLC according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
As shown in fig. 1 and fig. 2, a welding robot welding pose interpolation method based on PLC according to an embodiment of the present invention includes the following steps:
s1, teaching a starting point P of an oscillating welding path s And a termination point P e And obtaining position and attitude information.
In this step, the starting point P of the welding path is taught s And a termination point P e Acquiring position and attitude information P (x, y, z, alpha, beta, gamma) based on a robot coordinate system; the robot pose information is jointly described by a position vector (x, y, z) based on a right angle space and an attitude vector (alpha, beta, gamma) based on an Euler space.
Specifically, a starting point P of the swing welding path is taught by a welding robot demonstrator s And a termination point P e Acquiring position and attitude information P based on a robot coordinate system s (x s ,y s ,z s ,α s ,β s ,γ s ) And P e (x e ,y e ,z e ,α e ,β e ,γ e )。
And S2, converting the posture description of the welding path point into quaternion representation.
In an embodiment of the present invention, the starting point P of the welding path is s And P e Is converted to quaternion space, the attitude of the point can be described by a unit quaternion, Z = [ Z ] w Z x Z y Z z ] T And is and
the euler angles are converted to quaternion equations as follows:
starting point P of swing welding by formula (1) s And a termination point P e Is converted into a quaternion description, then P s And P e Corresponding to the attitude quaternion is sequentially
S3, calculating quaternion attitude intermediate transformation Z of the start point and the end point se 。
In this step, a welding path start point P is calculated s To a termination point P e An intermediate transformation comprising:
supposing a point P s And P e The attitude quaternion of (2) is Z in sequence s 、Z e Intermediate conversion of quaternion to Z se And then:
from the properties of the identity matrix, the inverse Z of the identity matrix - Equal to its conjugate Z * Then the above equation can be further converted into the following equation:
wherein,
Z e comprises the following steps:
then the above-mentioned Z is e And
substituting formula (3) to obtain quaternion intermediate transformation Z se ：
Step S4, calculating intermediate transformation Z of the attitude se Normalized constant N of const 。
Specifically, an attitude intermediate transformation normalization constant N is calculated const The method comprises the following steps:
assuming a quaternion Z of the intermediate transformation obtained by equation (3) se Is composed of
Then the quaternion is assignedNormalized constant N const Can be represented by the following formula (4):
step S5, calculating intermediate quaternion transformation Z of attitude se The transformation angle phi of (1).
In particular, the intermediate transformation Z is calculated se The transformation angle phi comprises the following steps:
the robot attitude rotation transformation can be described by quaternion or axis-angle relation, namely the attitude transformation represented by quaternion is represented as a rotation axis defined by a unit vector
Rotating a certain angle phi, combining the quaternion and the three-dimensional rotation front relation to obtain Z se Quaternion transformation angles are available:
step S6, calculating a welding path P s To P e Point of insertion for i i And (4) attitude information.
Specifically, the welding path P is calculated s To P e Intermediate ith interpolation point P of attitude change i Attitude information, comprising the steps of:
to the starting point P of the welding path s To a termination point P e The attitude interpolation of (A) can be converted into a pair of intermediate transformations Z se Interpolation of the rotation angle phi. Assuming that the number of times of the swing interpolation of the welding path position is N, the total number of the posture interpolation cycles is N, and the posture intermediate interpolation point i is 1,2. The attitude middle interpolation point P is calculated i The information of (2): first, an interpolation point P is calculated i Posture of (2)Inserting angle, calculating interpolation point P i The attitude information of (1).
a) The attitude change angle of the ith interpolation point relative to the welding starting point is as follows:
The first element that can get an attitude transformation is:
b) Combined with intermediate transformation Z se The intermediate calculation variable k can be obtained as the normalization constant of (c):
c) Calculating the attitude change quaternion Z of the intermediate attitude change interpolation point relative to the arc starting point si
Then the attitude quaternion Z of the interpolation point i Comprises the following steps:
Z i ＝Z si ·Z s (9)
the attitude quaternion of the swing welding interpolation point i obtained by the combination formulas (6), (7), (8) and (9) is as follows:
d) Will insert the supplement point P i Attitude quaternion Z of i Conversion into Euler angle (alpha) i ,β i ,γ i )：
Suppose that
Then P is i The Euler angle of (D) can be obtained from the formula (10):
combining Z as determined in substep c) i The interpolation point P can be obtained by the formula (10) i Euler angle of (d).
Wherein, the interpolation point P i The attitude information of (a) is described by using the euler angle obtained by the above calculation, and is described by being converted into a quaternion in an actual interpolation operation, and is interpolated by using a rotation angle of the quaternion conversion.
e) Repeating the steps a to d until all intermediate interpolation point postures are calculated; the last interpolation point is the weaving welding termination point P e . And S7, generating a posture interpolation point, judging whether the posture interpolation point is an end point, if so, finishing interpolation, and otherwise, returning to the step S6.
And S8, combining the spatial position interpolation information from the starting point to the ending point of the welding path and the posture interpolation information in the step S7, converting the interpolation information into corresponding joint angle information by the PLC of the welding robot through an inverse solution module, and issuing the joint angle information to the robot actuating mechanism to be executed in a bus communication mode.
According to the welding robot swing welding attitude interpolation method based on the PLC, the attitude of a welding path point is planned during swing track planning based on PLC welding robot controller development, and the problem of collision between the robot and a tool in the swing welding process is effectively avoided. Meanwhile, the invention carries out planning interpolation on the welding robot gesture in the quaternion space, ensures the smoothness of the robot gesture and improves the welding quality.
1. When the swing track is planned, the attitude is planned and interpolated, so that the problem of collision between the robot and a tool in the swing welding process is effectively avoided;
2. the invention carries out planning interpolation on the attitude in the quaternion space, does not relate to coordinate transformation, and has simple and efficient algorithm;
3. the posture interpolation method based on the quaternion is adopted, the posture change of the welding robot is smooth and stable in the swing welding process, and the welding quality is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A welding robot welding attitude interpolation method based on PLC is characterized by comprising the following steps:
s1, teaching a starting point P of a swing welding path s And a termination point P e Obtaining position and attitude information;
s2, converting the posture description of the welding path point into quaternion representation;
s3, calculating the attitude quaternion transformation Z from the starting point to the end point se ；
In step S3, a welding path starting point P is calculated s To a termination point P e Attitude quaternion transformation Z of se The method comprises the following steps:
supposing a point P s And P e The attitude quaternion of (a) is Z in order s 、Z e Attitude quaternion to Z se And then:
from the properties of the identity matrix, the inverse Z of the identity matrix - Equal to its conjugate Z * Then the above equation can be further converted into the following equation:
wherein,
Z e comprises the following steps:
then the above-mentioned Z is e And
the posture quaternion transformation Z can be obtained by substituting the formula (1) se ：
S4, calculating the attitude quaternion transformation Z se Normalized constant N of const ；
Step S5, calculating the attitude quaternion transformation Z se The transformation angle phi of (1);
step S6, calculating a welding path P s To P e Ith intermediate interpolation point P i The attitude information of (a); then, the intermediate interpolation point P is calculated i Angle of change of posture of
Recalculating intermediate interpolation point P i The attitude information of (a);
s7, generating a gesture interpolation point, judging whether the gesture interpolation point is an end point, if so, finishing the interpolation, otherwise, returning to the step S6;
step S8, combining the spatial position interpolation information from the starting point to the ending point of the welding path and the posture interpolation information in the step S7, converting the middle interpolation point information (x, y, z, alpha, beta and gamma) into corresponding joint angle information by a reverse solution module by the PLC of the welding robot, and issuing the joint angle information to a robot actuating mechanism for execution in a bus communication mode; wherein, (x, y, z) is a position vector based on a right-angle space; and (alpha, beta, gamma) is based on an Euler space attitude vector.
2. The PLC-based welding robot welding pose interpolation method as claimed in claim 1, wherein in the step S1, a starting point P of a welding path is taught s And a termination point P e Acquiring position and attitude information P (x, y, z, alpha, beta, gamma) based on a robot coordinate system; the robot pose information is jointly described by a position vector (x, y, z) based on a right angle space and an attitude vector (alpha, beta, gamma) based on a Euler space.
3. The PLC-based welding robot welding pose interpolation method according to claim 1, wherein in the step S2,
starting point P of welding path s And a termination point P e Is converted to quaternion space, the attitude of the point can be described by a unit quaternion, Z = [ Z ] w Z x Z y Z z ] T And is and
the euler angles are converted to quaternion equations as follows:
4. the PLC-based welding robot welding pose interpolation method according to claim 1, wherein the calculation of the pose quaternion transformation normalization constant N const The method comprises the following steps:
suppose that
The quaternion transform Z of the obtained attitude se Is composed of
Then the attitude quaternion transform normalizes constant N const Can be represented by the following formula:
5. the PLC-based welding robot welding pose interpolation method of claim 1, wherein in the step S5, a pose quaternion transformation Z is calculated se The transformation angle phi comprises the following steps:
the robot attitude rotation transformation can be described by quaternion or axis-angle relation, namely the attitude transformation represented by quaternion is represented as a rotating axis defined by a unit vector
Rotating a certain angle phi to obtain a transformation angle according to the relation between quaternion and three-dimensional rotation:
6. the method of claim 1The welding robot welding pose interpolation method based on PLC is characterized in that the welding path P is calculated s To P e Intermediate interpolation point P of attitude change i The method comprises the following steps:
to the starting point P of the welding path s To a termination point P e The attitude interpolation of (A) can be converted into a pairwise attitude quaternion transformation Z se Interpolation of the transformation angle phi; assuming that the swing interpolation times of the welding path position is N, and the middle interpolation point is P i (ii) a The middle interpolation point P is calculated as follows i The information of (2):
a) Suppose that the attitude change angle of the ith interpolation point relative to the welding starting point is
The first element of the quaternion attitude transformation is then:
b) Transform Z in combination with attitude quaternion se The intermediate calculation variable k can be obtained as the normalization constant of (c):
c) Attitude change quaternion Z of intermediate interpolation point relative to arc starting point si Can be represented by the following formula:
then the attitude quaternion Z of the intermediate interpolation point i Comprises the following steps:
Z i ＝Z si ·Z s
d) Inserting the middle point P i Attitude quaternion Z of i Conversion to Euler Angle (RPY), suppose
P i Has an Euler angle of (alpha) i ,β i ,γ i ) And then:
e) Repeating the steps a to d until all the intermediate interpolation points are calculated; the last interpolation point is a swing welding termination point P e 。
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