CN113771031A - Self-adaptive robot speed regulation method and multi-joint robot - Google Patents
Self-adaptive robot speed regulation method and multi-joint robot Download PDFInfo
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- CN113771031A CN113771031A CN202111041037.5A CN202111041037A CN113771031A CN 113771031 A CN113771031 A CN 113771031A CN 202111041037 A CN202111041037 A CN 202111041037A CN 113771031 A CN113771031 A CN 113771031A
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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
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention provides a self-adaptive robot speed regulation method and a multi-joint robot, wherein the method comprises the steps of setting safety parameters of the robot; detecting an operation value of a specific parameter in an operation process, comparing the operation value with a safety parameter, and triggering the robot to regulate the speed in real time when the operation value exceeds the safety parameter; the real-time speed regulation of robot includes: determining a target value of a specific parameter, wherein the target value is less than or equal to a safety parameter, and determining a speed regulation output percentage according to the ratio of the target value to an operation value; and planning position command increment of the robot in each operation period according to the speed regulation output percentage to adjust the operation value of a specific parameter, wherein the total amount of the position command increment sent by the robot before and after speed regulation is consistent. The specific embodiment of the invention has the beneficial effects that: when the robot triggers speed regulation, the speed regulation is carried out according to the mode of planning position command increment, and the running track of the robot before and after the speed regulation is kept unchanged.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a self-adaptive robot speed regulation method and a multi-joint robot.
Background
China is a large country in manufacturing industry, the traditional labor-intensive production mode is difficult to continue along with the decline of population dividends, a machine is imperative to replace manpower, and enterprises are mainly developed towards the upgrading and reconstruction of automatic production. The industrial robot field includes traditional industrial robot and cooperative robot, and traditional industrial robot replaces manual operation in being applied to industrial environment, and neotype cooperative robot mainly used optimizes on having produced the line overall arrangement, and the people and the machine collaborative work of being convenient for, and cooperative robot's work scene makes it provide higher requirement to performance such as security, portability.
In order to ensure the running safety of the cooperative robot, the cooperative robot usually has more safety parameters to limit running conditions, and if the running conditions of the robot do not meet the safety parameters, the robot can be triggered to stop suddenly. The robot can be taught before work is executed, the robot is expected to move along a preset track, even if various parameters of the robot meet requirements during teaching, overspeed alarm is likely to be caused due to some special points during actual movement of the robot, and great movement impact can be caused to a machine body when the robot stops moving suddenly.
In a traditional mode, when the robot is triggered to regulate speed, corresponding motion planning is carried out according to motion parameters at the moment of triggering, and the motion planning is carried out again in the motion process of the robot, so that the original moving path of the robot deviates, the robot cannot perfectly follow the originally set preset track, and the manipulation precision is possibly influenced.
Disclosure of Invention
The invention aims to provide a self-adaptive robot speed regulation method and a multi-joint robot, and aims to solve the problems that in the prior art, the robot suddenly stops when abnormal conditions occur to affect the working stability of the robot, and the speed of the robot is changed through motion planning during the motion process of the robot to affect the robot to follow a preset track.
In order to achieve the above object, the present invention can adopt the following technical solutions: a robot adaptive speed regulation method, wherein a robot can run according to a preset track set by a teaching process to execute a work task, the process of the robot executing the preset track is composed of a plurality of running periods, and the method comprises the following steps: setting safety parameters of the robot, wherein the safety parameters limit the maximum operation value of specific parameters in the operation process of the robot; detecting an operation value of a specific parameter in an operation process, comparing the operation value with a safety parameter, and triggering the robot to regulate speed in real time to decelerate when the operation value exceeds the safety parameter; the real-time speed regulation of robot includes: determining a target value of a specific parameter, wherein the target value is less than or equal to a safety parameter, and determining a speed regulation output percentage according to the ratio of the target value to an operation value; and planning position command increment of each operation period of the robot according to the speed regulation output percentage to adjust the operation value of a specific parameter, wherein the total amount of the position commands sent by the robot before and after speed regulation is consistent.
Further, when the operation value is smaller than the safety parameter, whether the safety parameter of the robot changes or not is detected, and if the safety parameter is detected to be increased, the robot is triggered to regulate the speed in real time to increase the speed.
Further, the robot has a normal operation mode and a reduced mode, and the safety parameter in the normal operation mode is greater than the safety parameter in the reduced mode, and the method includes: and when the operation value is smaller than the current safety parameter, detecting whether mode switching occurs, and triggering the robot to regulate the speed in real time to increase the speed when detecting that the robot is switched from a reduction mode to a conventional operation mode.
Further, the robot comprises a base, a connecting rod and a plurality of joints, wherein the joint connecting the two longer connecting rods is an elbow joint, the robot end is used for connecting a working tool, the specific parameters comprise at least parts of elbow speed, joint speeds and end tool speed, and the safety parameters comprise at least parts of maximum elbow speed, maximum joint speed and end tool speed of the robot.
Further, planning the position command increment of each operation period to adjust the operation value of the specific parameter according to the speed regulation output percentage comprises:
and planning the length of a speed regulation period according to the speed regulation output percentage, and splitting the position command increment of each operation period according to the length of the speed regulation period and the planned total amount of the position commands before speed regulation.
Further, the robot detects at least two specific parameters, and when the running values of at least two specific parameters exceed the safety parameters, a smaller value is selected according to the ratio of the target value and the running value of each specific parameter to be determined as the speed regulation output percentage.
Further, the planning the position command increment of each operation cycle comprises: and planning the speed change trend of the robot into an S-shaped curve by calling an S-shaped acceleration and deceleration function or a seventh polynomial speed regulation function, and planning the position command increment of each operation period according to the speed change trend.
The invention can also adopt the following technical scheme: a multi-joint robot including a base, a link, and a plurality of joints, the robot being capable of operating according to a predetermined trajectory set by a teaching process to perform a work task, the process of the robot performing the predetermined trajectory being composed of a plurality of operation cycles, the robot comprising: the setting module is used for setting safety parameters of the robot, and the safety parameters limit the maximum operation value of specific parameters in the operation process of the robot; the speed regulation module detects an operation value of a specific parameter in the operation process, compares the operation value with a safety parameter, and triggers the robot to regulate the speed in real time to decelerate when the operation parameter exceeds the safety parameter; determining a target value of a specific parameter, wherein the target value is less than or equal to a safety parameter, and determining a speed regulation output percentage according to the ratio of the target value to an operation value; and planning position command increment of each operation period of the robot according to the speed regulation output percentage to adjust the operation value of a specific parameter, wherein the total amount of position commands sent by the robot before and after speed regulation is consistent.
Further, the speed regulation module is used for detecting whether the safety parameters of the robot change or not when the operation value is smaller than the safety parameters, and triggering the robot to regulate the speed in real time to increase the speed if the safety parameters are increased.
Further, the robot has a normal operation mode and a reduced mode, the safety parameters in the normal operation mode are larger than the safety parameters in the reduced mode, and the speed regulation module is used for detecting whether mode switching occurs currently when the operation value is smaller than the current safety parameters, and triggering the robot to regulate speed in real time to increase speed when the robot is detected to be switched from the reduced mode to the normal operation mode.
Further, the speed regulating module is used for planning the length of a speed regulating period according to the speed regulating output percentage and splitting the position command increment of each operation period according to the length of the speed regulating period and the planned total amount of the position command before speed regulation.
Further, the planning the position command increment of each operation cycle comprises: and planning the speed change trend of the robot into an S-shaped curve by calling an S-shaped acceleration and deceleration function or a seventh polynomial speed regulation function, and planning the position command increment of each operation period according to the speed change trend.
Compared with the prior art, the specific implementation mode of the invention has the beneficial effects that: according to the scheme, the operation value of the specific parameter is monitored in real time in the operation process of the robot, and when the safety parameter is exceeded or other preset conditions are met, the robot is triggered to regulate the speed in real time, so that the safety of the robot in the operation process is ensured. Meanwhile, the joint increment of each motion period of the robot is split according to the preset path planning of the robot by adopting a method for planning the position command increment, the planning of the robot in an initial state is not changed, and the robot can be ensured to run along a preset track before and after speed regulation.
Drawings
FIG. 1 is a schematic diagram of a method of governing speed according to an embodiment of the present invention
FIG. 2 is a schematic view of a robot according to an embodiment of the present invention
FIG. 3 is a schematic diagram of a method for regulating speed according to another embodiment of the present invention
FIG. 4 is a schematic diagram of a method for governing speed according to another embodiment of the present invention
FIG. 5 is a block diagram of a multi-joint robot according to an embodiment of the present invention
Detailed Description
In order to make the technical solution of the present invention more clear, embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the detailed description of the embodiments is intended only to teach one skilled in the art how to practice the invention, and is not intended to be exhaustive of all possible ways of practicing the invention, nor is it intended to limit the scope of the practice of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
The invention protects a self-adaptive robot speed regulation method, and referring to fig. 1, fig. 1 is a schematic diagram of a self-adaptive robot speed regulation method according to a specific embodiment of the invention, before a robot is used, a teaching program is set through a teaching device, a tablet computer and other devices, the robot can run according to a preset track set by the teaching process to execute a work task, the process of the robot executing the preset track comprises a plurality of running cycles, and the method comprises the following steps: s1, setting safety parameters of the robot, wherein the safety parameters limit the maximum operation value of specific parameters in the operation process of the robot; and S2, detecting the operation value of the specific parameter in the operation process, comparing the operation value with the safety parameter, and triggering the robot to regulate the speed in real time to decelerate when the operation value exceeds the safety parameter.
Fig. 2 is a schematic diagram of a robot according to an embodiment of the present invention, the robot 100 includes a base 30, a connecting rod 40 and a plurality of joints 20, the joints 20 are used as connecting members to connect adjacent components of the robot 100, wherein the connecting rod 40 is a elbow joint 21, i.e. the elbow joint 21 connects the first and second long connecting rods of the robot, so that the motion range of the elbow joint 21 is large, and the robot end is used to connect a working tool 300, for example, the robot end includes a tool flange 50 to connect a specific working tool 300 for performing grabbing and other work. In particular, the specific parameters include at least part of elbow speed, joint speed and end tool speed, and correspondingly, the safety parameters include at least part of maximum elbow speed, joint speed and end tool speed of the robot. Wherein the elbow speed represents the translation speed of an elbow joint, and the joint speed represents the rotation speed of a joint.
Specifically, the real-time speed regulation of the robot includes: determining a target value of a specific parameter, wherein the target value is less than or equal to a safety parameter, and determining a speed regulation output percentage according to the ratio of the target value to an operation value; and planning position command increment of each operation period of the robot according to the speed regulation output percentage to adjust the operation value of a specific parameter, wherein the total amount of the position commands sent by the robot after speed regulation before and after speed regulation is consistent. By selecting the target value less than or equal to the safety parameter, the running value of the specific parameter after the speed of the robot is adjusted is less than or equal to the safety parameter. The speed of the robot is adjusted according to the number of the planned position commands without changing the original motion planning of the robot, and compared with the speed regulation of the robot before and after the speed regulation, the total amount of the sent position commands is the same, and the robot always moves along a preset track.
Optionally, before executing real-time speed regulation, planning data of the robot is further acquired, where the planning data of the robot includes a planned path, a planned speed, a planned period, and a planned position command increment, and optionally, the robot includes a planning layer, plans the parameters before the robot executes work, and the planned position command increment is a position command increment corresponding to each planning period in a process in which the robot completes the planned path at the planned speed. A set of path motion parameters (including acceleration a, speed v, transfer radius r and the like) matched with the taught motion point positions can correspond to a group of robot motion paths, the motion paths are planning paths, the speed in the motion parameters is a planning speed, and the planning period can be the motion period of the robot; if the robot calculates the pose of one-time operation within 1ms, the planning period is 1ms, and the planned position instruction increment is the position instruction increment output every 1ms in the process that the robot finishes planning the path at the planning speed. Generally, when a robot is regulated, different motion parameters are collocated for motion planning according to known path point positions, so that a motion path may deviate, and meanwhile, the complexity of the motion planning itself is high in the real-time motion planning process of the robot, and the interference is easily generated on the execution of other algorithms of the robot. In the scheme, when the robot adjusts the speed, the position command increment of the motion period is changed through the known motion planning, and the original motion planning of the robot is not changed due to small calculation amount. For example, the robot includes a planning layer and a sending layer, the planning layer plans parameters of the robot before the robot runs, the sending layer receives the parameters planned by the planning layer, and when the speed needs to be adjusted in the running process of the robot, the sending layer sends a position command increment of each running period of the running period planned by the layer adjustment, the position command increment of each running period of the robot corresponds to the angle of rotation of the joint of each running period, so as to adjust the running speed, and the adjusting process does not affect the planning layer to execute other software or algorithm functions of the robot. Further, referring to fig. 3, the method includes: and S3, when the operation value is smaller than the safety parameter, detecting whether the safety parameter of the robot changes, and if the safety parameter is increased, triggering the robot to regulate the speed in real time to increase the speed. When the operation value is detected to be smaller than the safety parameter, the robot does not trigger real-time speed regulation, at the moment, if the safety parameter is detected to be increased, the condition change of the safety parameter is shown, at the moment, the operation value of the robot can be properly increased to improve the operation efficiency of the robot, and therefore when the safety parameter is detected to be increased, the robot is triggered to carry out real-time speed regulation to accelerate.
Or, in another specific embodiment, the robot has a normal operation mode and a reduced mode, the safety parameter in the normal mode is larger than the safety parameter in the reduced mode, and the reduced mode is an environment with more severe safety requirements for the robot, for example, when manual operation occurs simultaneously in the working environment of the robot, the robot is switched from the normal operation mode to the reduced mode, and vice versa. Referring to fig. 4, the method includes: and S4, when the operation value is smaller than the current safety parameter, detecting whether mode switching occurs currently, and when detecting that the robot is switched from a reduction mode to a conventional operation mode, triggering the robot to regulate the speed in real time to increase the speed. It can be understood that no matter the safety parameters of the robot are actively changed or the operation mode of the robot is changed to cause the change of the safety parameters, when the safety parameters of the robot are changed, the robot can automatically update the safety parameters in time, so that the operation value of the specific parameters can be compared with the latest safety parameters, and the accuracy of safety judgment is ensured.
In this embodiment, planning the position command increment of each operation period to adjust the operation value of the specific parameter according to the speed regulation output percentage includes: and planning the length of a speed regulation period according to the speed regulation output percentage, and splitting the position command increment of each operation period according to the length of the speed regulation period and the total amount of the position command before speed regulation. Furthermore, the speed change trend of the robot can be planned into an S-shaped change curve by calling an S-shaped acceleration and deceleration function or a seventh polynomial speed regulation function, and the position command increment of each operation period is planned according to the speed change trend.
The position command includes various forms, in a specific embodiment, the position command is formed as a pulse signal, according to a specific implementation manner, in a determined motion plan, assuming that T is a total plan time length for executing a predetermined track and Period is a length of one operation Period, the total number of motion periods in which the robot will operate is
Setting a robot as a six-axis robot, and after the robot performs motion planning before running, determining the pulse number of each motion period, wherein the pulse number is respectively assumed to be q1i、q2i、q3i、q4i、q5i、q6i(i ═ 0,1, 2.... cndot.n). Based on the determined number of movement periods N, and the pulse increment q per movement period1i、q2i、q3i、q4i、q5i、q6i(i 0,1, 2.... N.) zooming the motion cycle to N according to the throttle output percentage P%′Proportionally adjusting the pulse increment per cycle to q′ 1i、q′2i、q′ 3i、q′ 4i、q′ 5i、q′ 6i(i＝0,1,2,......,N′) The aim of speed regulation is achieved, and the total amount of pulses before and after speed regulation is the same, namely the total amount of joint motion is the same.
The speed regulation percentage and the position command increment have a corresponding relation, and for the condition of determining the motion planning, the position command increment of each motion period is split and scaled according to the known speed regulation output percentage, and the split and scaled proportion is the speed regulation output percentage. In this embodiment, for a confirmed motion plan, the pulse increment per cycle is q1i、q2i、q3i、q4i、q5i、q6i(i ═ 0,1, 2.... N), in a certain transmission period, the duration of the planning period is TPeriodWherein T isPeriodTaking the value of 0 to 1 interpolation period, TPeriodThe ratio to the interpolation period is delta and the pulse increment is q1、q2、q3、q4、q5、q6. Given that the output percentage of the speed regulation is P%, the pulse of the current movement period is split into:
1 st:
The 2 nd:
The nth:
N +1 th:
total planning duration is
An interpolation period. Wherein n is, such that
The largest positive integer of (d); if it is
n is a value of 0, and n is a linear,
for N movement periods, the speed of the robot can finally meet the speed regulation requirement of the speed regulation output percentage only by regularly and continuously splitting the pulse increment of each period.
In a specific embodiment, the robot may detect the operation values of a plurality of specific parameters at the same time, and when at least two operation values of the specific parameters exceed the safety parameters, select a smaller value as the speed-regulating output percentage according to the ratio of the target value to the operation value of each specific parameter. So as to ensure that the operation value of each specific parameter can meet the requirement of the corresponding safety parameter when the speed regulation is finished. The beneficial effects of the above preferred embodiment are: the robot detects the operation value of the specific parameter and compares the operation value with the safety parameter, so that the operation value does not exceed the safety parameter to ensure the working safety of the robot. When the condition of triggering speed regulation is achieved, based on the original motion planning of the robot, the position command increment of each operation period is determined and the position command increment of each operation period is split again, so that the motion trail of the robot is unchanged before and after the speed regulation process of the robot.
The present invention also provides an articulated robot, referring to fig. 2, the articulated robot 100 includes a base 30, a link 40 and a plurality of joints 20, the robot 100 can be operated according to a predetermined trajectory set by a teaching process to perform a work task, the process of the robot performing the predetermined trajectory is composed of a plurality of operation cycles, for example, it takes 2 minutes for the robot to perform the predetermined trajectory, wherein each operation period is 1ms, referring to fig. 5, the robot 100 includes a setting module 1 and a speed regulating module 2, the setting module 1 is used for setting safety parameters of the robot, the safety parameters limit the maximum operation value of specific parameters in the operation process of the robot, and in the running process of the speed regulating module 2, the running value of the specific parameter is detected in each running period, the running value is compared with the safety parameter, and when the running parameter exceeds the safety parameter, the robot is triggered to regulate the speed in real time so as to decelerate. Determining a target value of a specific parameter, wherein the target value is less than or equal to a safety parameter, and determining a speed regulation output percentage according to the ratio of the target value to an operation value; and planning position command increment of each operation period of the robot according to the speed regulation output percentage to adjust the operation value of a specific parameter, wherein the total amount of position commands sent by the robot before and after speed regulation is consistent. Accordingly, the robot can ensure that the running value of the specific parameter is within the range limited by the safety parameter, thereby ensuring the running safety of the robot.
In a specific embodiment, the throttle module 2 is configured to: and when the operation value is smaller than the safety parameter, detecting whether the safety parameter of the robot changes, and if the safety parameter is increased, triggering the robot to regulate the speed in real time so as to increase the speed. In another embodiment, the robot has a normal operation mode and a reduced mode, the safety parameter in the normal operation mode is greater than the safety parameter in the reduced mode, and the speed regulation module 2 is configured to detect whether mode switching currently occurs when the operation value is less than the current safety parameter, and trigger the robot to regulate speed in real time to increase speed when detecting that the robot switches from the reduced mode to the normal operation mode. Therefore, when the safety parameters of the robot are changed and the safety parameters of the robot are increased, the running speed of the robot can be properly increased, and the running efficiency of the robot is further ensured.
In accordance with the foregoing, the joint of the robot connecting the two longer links is an elbow joint, the robot tip is for connecting a work tool, the specific parameters include at least some of elbow velocity, joint velocities, and tip tool velocity, and the safety parameters include at least some of maximum elbow velocity, joint velocities, and tip tool velocity of the robot.
Specifically, when the robot detects the operation values of a plurality of specific parameters at the same time, when at least two operation values of the specific parameters exceed the safety parameters, a smaller value is selected according to the ratio of the target value to the operation value of each specific parameter to be determined as the speed regulation output percentage, so that the operation values of all the specific parameters meet the requirements of the safety parameters when the speed regulation is finished.
Specifically, the speed regulation module 2 is configured to plan a speed regulation cycle length according to the speed regulation output percentage, and split a position command increment of each operation cycle according to the speed regulation cycle length and a planned position command total amount before speed regulation. Wherein planning the position command increment for each operating cycle comprises: and planning the speed change trend of the robot into an S-shaped curve by calling an S-shaped acceleration and deceleration function or a seventh polynomial speed regulation function, and planning the position command increment of each operation period according to the speed change trend. With regard to the articulated robot in the above-described embodiment, the specific manner in which the modules perform operations has been described in detail in the embodiment related to the method, and will not be elaborated upon here.
In an exemplary embodiment, the present application further provides a computer readable storage medium, such as a memory, having a computer program stored thereon, the computer program being executable by a processor to perform a robot adaptive speed regulation method. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
Finally, it is to be noted that the above description is intended to be illustrative and not exhaustive, and that the invention is not limited to the disclosed embodiments, and that several modifications and variations may be resorted to by those skilled in the art without departing from the scope and spirit of the invention as set forth in the appended claims. Therefore, the protection scope of the present invention should be subject to the claims.
Claims (10)
1. An adaptive robot speed regulation method, wherein the robot can run according to a preset track planned by a teaching process to execute a work task, the process of the robot for executing the preset track is composed of a plurality of running cycles, and the method comprises the following steps: setting safety parameters of the robot, wherein the safety parameters limit the maximum operation value of specific parameters in the operation process of the robot; detecting an operation value of a specific parameter in an operation process, comparing the operation value with a safety parameter, and triggering the robot to regulate speed in real time to decelerate when the operation value exceeds the safety parameter;
the real-time speed regulation of robot includes: determining a target value of a specific parameter, wherein the target value is less than or equal to a safety parameter, and determining a speed regulation output percentage according to the ratio of the target value to an operation value;
and planning position command increment of each operation period of the robot according to the speed regulation output percentage to adjust the operation value of a specific parameter, wherein the total amount of the position commands sent by the robot before and after speed regulation is consistent.
2. A method according to claim 1, wherein when the operation value is less than the safety parameter, detecting whether the safety parameter of the robot changes, and if the safety parameter is detected to increase, triggering the robot to adjust the speed in real time to increase the speed.
3. A method of regulating speed according to claim 1, wherein the robot has a normal operation mode and a reduced mode, the safety parameters in the normal operation mode being greater than the safety parameters in the reduced mode, the method comprising: and when the operation value is smaller than the current safety parameter, detecting whether mode switching occurs, and triggering the robot to regulate the speed in real time to increase the speed when detecting that the robot is switched from a reduction mode to a conventional operation mode.
4. A method according to claim 1, wherein the robot comprises a base, a connecting rod and a plurality of joints, wherein the joint connecting the two longer connecting rods is an elbow joint, the robot tip is used for connecting a work tool, the specific parameters comprise at least some of an elbow speed, a joint speed, and a tip tool speed, and the safety parameters comprise at least some of a maximum elbow speed, a joint speed, and a tip tool speed of the robot.
5. The speed governing method of claim 1, wherein planning the position command increments for each operating cycle to adjust the operating value for a particular parameter based on the speed governing output percentage comprises:
and planning the length of a speed regulation period according to the speed regulation output percentage, and splitting the position command increment of each operation period according to the length of the speed regulation period and the planned total amount of the position commands before speed regulation.
6. The speed regulating method according to claim 1, wherein the robot detects at least two specific parameters, and when there are at least two specific parameters whose operating values exceed the safety parameters, selects a smaller value as the speed regulating output percentage according to the ratio of the target value to the operating value of each specific parameter.
7. A method of governing speed according to claim 1, wherein said planning the position command increments for each operating cycle comprises: and planning the speed change trend of the robot into an S-shaped curve by calling an S-shaped acceleration and deceleration function or a seventh polynomial speed regulation function, and planning the position command increment of each operation period according to the speed change trend.
8. A multi-joint robot comprising a base, a connecting rod and a plurality of joints, the robot being capable of operating according to a predetermined trajectory planned by a teaching process to perform a work task, wherein the process of the robot performing the predetermined trajectory consists of a plurality of operating cycles, the robot comprising:
the setting module is used for setting safety parameters of the robot, and the safety parameters limit the maximum operation value of specific parameters in the operation process of the robot;
the speed regulation module detects an operation value of a specific parameter in the operation process, compares the operation value with a safety parameter, and triggers the robot to regulate the speed in real time to decelerate when the operation parameter exceeds the safety parameter;
determining a target value of a specific parameter, wherein the target value is less than or equal to a safety parameter, and determining a speed regulation output percentage according to the ratio of the target value to an operation value;
and planning position command increment of each operation period of the robot according to the speed regulation output percentage to adjust the operation value of a specific parameter, wherein the total amount of position commands sent by the robot before and after speed regulation is consistent.
9. The articulated robot of claim 8, wherein the speed control module is configured to detect whether a safety parameter of the robot changes when the operating value is less than the safety parameter, and trigger the robot to adjust speed in real time to increase speed if the safety parameter is detected to increase.
10. The articulated robot of claim 8, wherein the robot has a normal operation mode and a reduced mode, the safe parameter in the normal operation mode is greater than the safe parameter in the reduced mode, and the speed regulation module is configured to detect whether a mode switch is currently occurring when the operation value is less than the current safe parameter, and trigger the robot to regulate speed in real time to increase speed when detecting that the robot switches from the reduced mode to the normal operation mode.
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| CN202111041037.5A CN113771031B (en) | 2021-09-07 | 2021-09-07 | Robot self-adaptive speed regulation method and multi-joint robot |
| PCT/CN2022/117210 WO2023036116A1 (en) | 2021-09-07 | 2022-09-06 | Method for adaptively regulating speed of robot and multi-joint robot |
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| CN202111041037.5A CN113771031B (en) | 2021-09-07 | 2021-09-07 | Robot self-adaptive speed regulation method and multi-joint robot |
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| CN113771031B (en) | 2023-11-28 |
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