技术领域technical field
本发明属于机械控制技术领域，特别涉及一种机械臂欲动控制方法及系统。The invention belongs to the technical field of mechanical control, and in particular relates to a method and system for controlling the movement of a mechanical arm.
背景技术Background technique
目前在工业现场主要是使用示教以及在线编程的方式控制机械臂的应用，这种方法已经较为成熟并被各大机器人厂商广泛采用。但在很多情况下，例如在需要远程控制机械臂或者没有足够条件安装示教器的情况下上述方法并不适用。尤其是对于安装在移动平台上的机械臂而言，无法通过有线连接示教器的方式来控制机械臂的运动。此外现有技术中还可以使用遥控操作杆对机械臂进行简单的远程控制，但无法达到同时对机械臂进行关节运动控制和末端运动控制的目的。At present, in the industrial field, the application of teaching and online programming is mainly used to control the mechanical arm. This method has been relatively mature and widely adopted by major robot manufacturers. But in many cases, the above method is not suitable, for example, when the robot arm needs to be controlled remotely or the teaching pendant is not equipped enough. Especially for the mechanical arm installed on the mobile platform, it is impossible to control the movement of the mechanical arm by connecting the teach pendant with a cable. In addition, in the prior art, a remote control joystick can be used to perform simple remote control of the mechanical arm, but it cannot achieve the purpose of simultaneously controlling the joint motion and terminal motion of the mechanical arm.
发明内容Contents of the invention
本发明要解决的技术问题是，提供一种能够对机械臂进行远程控制，且能够同时控制机械臂的关机运动和末端运动的机械臂运动控制方法及系统。The technical problem to be solved by the present invention is to provide a motion control method and system for a mechanical arm that can remotely control the mechanical arm and simultaneously control the shutdown motion and end motion of the mechanical arm.
为解决上述技术问题，本发明所提供的机械臂运动控制方法包括以下步骤：In order to solve the above-mentioned technical problems, the motion control method of the mechanical arm provided by the present invention includes the following steps:
S1：机械臂的控制器分别读取3D鼠标的姿态和按键以及机械臂的位置和姿态。S1: The controller of the robotic arm reads the posture and buttons of the 3D mouse and the position and posture of the robotic arm respectively.
S2：用3D鼠标按键切换机械臂为关节运动模式或末端运动模式。S2: Use the 3D mouse button to switch the robot arm to joint motion mode or terminal motion mode.
在关节运动模式下，控制器采集3D鼠标的控制信息并获取机械臂各关节当前位置，控制器根据采集的3D鼠标控制信息计算机械臂对应关节相对于当前位置的增加或者减少值，并将新的关节位置发送到机械臂，机械臂运动到新的坐标位置。In the joint movement mode, the controller collects the control information of the 3D mouse and obtains the current position of each joint of the robotic arm. The controller calculates the increase or decrease value of the corresponding joint of the robotic arm relative to the current position based on the collected 3D mouse control information, and sends the new The joint position of the robot is sent to the robot arm, and the robot arm moves to the new coordinate position.
在末端运动模式下，控制器采集3D鼠标的控制信息并获取机械臂末端当前位置，控制器根据采集的3D鼠标的控制信息计算机械臂末端相对于当前坐标的坐标轴的增加或者减少值，并将新的坐标值发送到机械臂，机械臂运动到新的坐标位置。In the end motion mode, the controller collects the control information of the 3D mouse and obtains the current position of the end of the mechanical arm. The controller calculates the increase or decrease value of the end of the mechanical arm relative to the coordinate axis of the current coordinates according to the collected control information of the 3D mouse, and Send the new coordinate value to the robot arm, and the robot arm moves to the new coordinate position.
在上述技术方案中，控制器采集3D鼠标的控制信号以及机械臂当前的位置和姿态数据，并根据所述控制信号、位置和姿态数据控制机械臂做出相应运动，从而实现了利用3D鼠标对机械臂运动的控制。由于3D鼠标外形小巧，使用方便，因而利用其对机械臂运动进行控制既具有更好的便捷性，又能够扩展适用环境，例如不适合有线连接示教器的环境。上述技术方案利用3D鼠标按键切换机械臂为关节运动模式或末端运动模式，进而控制器根据3D鼠标的控制信息分别对机械臂进行关节运动控制或者末端运动控制，从而达到了同时控制机械臂的关机运动和末端运动的目的，使得机械臂的运动更加精确，加之3D鼠标本身使用的便捷性，也使得机械臂的运动控制的灵活性更高。In the above technical solution, the controller collects the control signal of the 3D mouse and the current position and attitude data of the mechanical arm, and controls the mechanical arm to make corresponding movements according to the control signal, position and attitude data, thereby realizing the use of the 3D mouse to Control of the movement of the robotic arm. Because the 3D mouse is compact and easy to use, it is more convenient to use it to control the movement of the mechanical arm, and it can also expand the applicable environment, such as the environment that is not suitable for wired connection with the teaching pendant. The above technical solution uses the 3D mouse button to switch the mechanical arm to the joint motion mode or the terminal motion mode, and then the controller performs joint motion control or terminal motion control on the mechanical arm according to the control information of the 3D mouse, thereby achieving simultaneous control of the shutdown of the mechanical arm. The purpose of movement and terminal movement makes the movement of the manipulator more precise, and the convenience of the 3D mouse itself also makes the movement control of the manipulator more flexible.
作为本发明技术方案的进一步改进，在关节运动模式下，3D鼠标左右移动控制机械臂第一关节正反转动，3D鼠标前后移动控制机械臂第二关节正反转动，3D鼠标上下移动控制机械臂第三关节正反转动，3D鼠标长按按键加左右移动控制机械臂第四关节正反转动，3D鼠标长按按键加前后移动控制机械臂第五关节正反转动，3D鼠标长按按键加上下移动控制机械臂第六关节正反转动。在末端运动模式下，3D鼠标上下移动控制机械臂末端相对于基坐标系Z轴上下运动，3D鼠标前后移动控制机械臂末端相对于基坐标系X轴前后运动，3D鼠标左右移动控制机械臂末端相对于基坐标系Y轴前后运动，3D鼠标长按按键加上下移动控制机械臂末端相对于基坐标系Z轴正反转动，3D鼠标长按按键加前后移动控制机械臂末端相对于基坐标系X轴正反转动，3D鼠标长按按键加左右移动控制机械臂末端相对于基坐标系Y轴正反转动。As a further improvement of the technical solution of the present invention, in the joint movement mode, the 3D mouse moves left and right to control the positive and negative rotation of the first joint of the mechanical arm, the 3D mouse moves forward and backward to control the positive and negative rotation of the second joint of the mechanical arm, and the 3D mouse moves up and down to control the positive and negative rotation of the mechanical arm The third joint rotates positively and negatively. The 3D mouse long presses the button and moves left and right to control the positive and negative rotation of the fourth joint of the mechanical arm. The 3D mouse long presses the button and moves back and forth to control the positive and negative rotation of the fifth joint of the mechanical arm. The movement controls the forward and reverse rotation of the sixth joint of the robotic arm. In the terminal movement mode, the 3D mouse moves up and down to control the up and down movement of the end of the mechanical arm relative to the Z axis of the base coordinate system; the forward and backward movement of the 3D mouse controls the forward and backward movement of the end of the mechanical arm relative to the X axis of the base coordinate system; the left and right movement of the 3D mouse controls the end of the mechanical arm Relative to the Y-axis of the base coordinate system, the 3D mouse long presses the button and moves up and down to control the positive and negative rotation of the end of the manipulator relative to the Z-axis of the base coordinate system. The 3D mouse long presses the button and moves back and forth to control the end of the manipulator relative to the base coordinate system The X-axis rotates positively and negatively, and the 3D mouse long presses the button and moves left and right to control the positive and negative rotation of the end of the mechanical arm relative to the Y-axis of the base coordinate system.
上述技术方案充分利用了3D鼠标的立体控制功能，通过3D鼠标本身的姿态变化即可实现对机械臂运动的全方位立体控制，控制过程更加便捷灵活。由于机械臂的每个关节均能够得到控制，进一步提高了机械臂运动的精确性。The above technical solution makes full use of the three-dimensional control function of the 3D mouse, and the omnidirectional three-dimensional control of the movement of the mechanical arm can be realized through the posture change of the 3D mouse itself, and the control process is more convenient and flexible. Since each joint of the mechanical arm can be controlled, the precision of the mechanical arm movement is further improved.
作为本发明技术方案的进一步改进，所述控制器与3D鼠标之间和/或所述控制器与机械臂之间采用无线通讯，从而使得本方法不受线路的限制，适合于各种使用情景下，例如在移动平台上或者其他不适合使用线路以及示教器的情景下的机械臂的运动控制，适用范围更广，并且采用无线通讯方式也实现了对机械臂的运动的远程控制。As a further improvement of the technical solution of the present invention, wireless communication is adopted between the controller and the 3D mouse and/or between the controller and the mechanical arm, so that the method is not limited by lines and is suitable for various usage scenarios For example, the motion control of the manipulator on the mobile platform or other situations where the use of lines and teach pendants is not suitable, the scope of application is wider, and the remote control of the movement of the manipulator is also realized by using wireless communication.
作为本发明技术方案的进一步改进，所述控制器与机械臂之间采用基于TCP/IP协议的无线连接，传输距离远，适合于控制器对机械臂的远程控制。As a further improvement of the technical solution of the present invention, the wireless connection based on the TCP/IP protocol is adopted between the controller and the mechanical arm, and the transmission distance is long, which is suitable for the remote control of the mechanical arm by the controller.
所述控制器与机械臂之间采用socket方式进行数据传输，适合于控制器与机械臂之间的数据传输和远程控制。The data transmission between the controller and the mechanical arm is carried out in a socket mode, which is suitable for data transmission and remote control between the controller and the mechanical arm.
为解决上述技术问题，本发明所提供的机械臂运动控制系统包括控制器以及3D鼠标，所述控制器分别与3D鼠标以及机械臂进行数据传输，所述控制器用于采集3D鼠标的控制信号以及机械臂当前的位置和姿态数据，并根据所述控制信号、位置和姿态数据控制机械臂做出相应运动。In order to solve the above-mentioned technical problems, the mechanical arm motion control system provided by the present invention includes a controller and a 3D mouse, the controller performs data transmission with the 3D mouse and the mechanical arm respectively, and the controller is used to collect control signals of the 3D mouse and The current position and attitude data of the mechanical arm, and control the mechanical arm to make corresponding movements according to the control signal, position and attitude data.
在上述技术方案中，控制器采集3D鼠标的控制信号以及机械臂当前的位置和姿态数据，并根据所述控制信号、位置和姿态数据控制机械臂做出相应运动，从而实现了利用3D鼠标对机械臂运动的控制。由于3D鼠标外形小巧，使用方便，因而利用其对机械臂运动进行控制既具有更好的便捷性，又能够扩展适用环境，例如不适合有线连接示教器的环境。In the above technical solution, the controller collects the control signal of the 3D mouse and the current position and attitude data of the mechanical arm, and controls the mechanical arm to make corresponding movements according to the control signal, position and attitude data, thereby realizing the use of the 3D mouse to Control of the movement of the robotic arm. Because the 3D mouse is compact and easy to use, it is more convenient to use it to control the movement of the mechanical arm, and it can also expand the applicable environment, such as the environment that is not suitable for wired connection with the teaching pendant.
作为本发明技术方案的进一步改进，所述机械臂的运动包括关节运动和末端运动，从而控制器根据3D鼠标的控制信息分别对机械臂进行关节运动控制或者末端运动控制，达到了同时控制机械臂的关机运动和末端运动的目的，使得机械臂的运动更加精确，加之3D鼠标本身使用的便捷性，也使得机械臂的运动控制的灵活性更高。As a further improvement of the technical solution of the present invention, the motion of the mechanical arm includes joint motion and terminal motion, so that the controller performs joint motion control or terminal motion control on the mechanical arm according to the control information of the 3D mouse, achieving simultaneous control of the mechanical arm The purpose of the shutdown movement and end movement makes the movement of the manipulator more precise, and the convenience of using the 3D mouse itself also makes the movement control of the manipulator more flexible.
作为本发明技术方案的进一步改进，通过所述3D鼠标按键切换关节运动模式和末端运动模式，切换便利性更高。As a further improvement of the technical solution of the present invention, the joint motion mode and the terminal motion mode are switched through the 3D mouse button, and the switching convenience is higher.
作为本发明技术方案的进一步改进，所述控制器与3D鼠标之间和/或所述控制器与机械臂之间采用无线通讯，从而使得本系统不受线路的限制，适合于各种使用情景下，例如在移动平台上或者其他不适合使用线路以及示教器的情景下的机械臂的运动控制，适用范围更广，并且采用无线通讯方式也实现了对机械臂的运动的远程控制。As a further improvement of the technical solution of the present invention, wireless communication is used between the controller and the 3D mouse and/or between the controller and the mechanical arm, so that the system is not limited by lines and is suitable for various use scenarios For example, the motion control of the manipulator on the mobile platform or other situations where the use of lines and teach pendants is not suitable, the scope of application is wider, and the remote control of the movement of the manipulator is also realized by using wireless communication.
附图说明Description of drawings
图1是本发明具体实施方式的系统示意图。Fig. 1 is a system schematic diagram of a specific embodiment of the present invention.
图2是本发明具体实施方式中六关节机械臂的结构示意图。Fig. 2 is a schematic structural diagram of a six-joint robotic arm in a specific embodiment of the present invention.
图3是本发明具体实施方式中3D鼠标的动作示意图。Fig. 3 is a schematic diagram of the action of the 3D mouse in the specific embodiment of the present invention.
图中：1，3D鼠标；1.1，按键；2，控制器；3，机械臂；6-1，第一关节；6-2，第二关节；6-3，第三关节；6-4，第四关节；6-5，第五关节；6-6，第六关节；6-7，机械臂末端。In the figure: 1, 3D mouse; 1.1, button; 2, controller; 3, mechanical arm; 6-1, first joint; 6-2, second joint; 6-3, third joint; 6-4, The fourth joint; 6-5, the fifth joint; 6-6, the sixth joint; 6-7, the end of the mechanical arm.
具体实施方式Detailed ways
在本文所给出的实施方式中，该机械臂运动控制方法，包括以下步骤：In the embodiment given herein, the method for controlling the movement of the mechanical arm includes the following steps:
S1：机械臂3的控制器2分别读取3D鼠标1的姿态和按键以及机械臂3的位置和姿态。S1: The controller 2 of the robotic arm 3 reads the posture and buttons of the 3D mouse 1 and the position and posture of the robotic arm 3 respectively.
S2：用3D鼠标1的按键切换机械臂3为关节运动模式或末端运动模式，例如可以采用双击按键的方式进行切换。S2: Use the button of the 3D mouse 1 to switch the mechanical arm 3 to the joint motion mode or the terminal motion mode, for example, double-click the button to switch.
在关节运动模式下，控制器2采集3D鼠标1的控制信息并获取机械臂3各关节当前位置，控制器2根据采集的3D鼠标1控制信息计算机械臂3对应关节相对于当前位置的增加或者减少值，并将新的关节位置发送到机械臂3，机械臂3运动到新的坐标位置。In the joint motion mode, the controller 2 collects the control information of the 3D mouse 1 and obtains the current position of each joint of the robotic arm 3, and the controller 2 calculates the increase or decrease of the corresponding joints of the robotic arm 3 relative to the current position based on the collected control information of the 3D mouse 1 Decrease the value, and send the new joint position to the robot arm 3, and the robot arm 3 moves to the new coordinate position.
在末端运动模式下，控制器2采集3D鼠标1的控制信息并获取机械臂末端6-7当前位置，控制器2根据采集的3D鼠标1的控制信息计算机械臂末端6-7相对于当前坐标的坐标轴的增加或者减少值，并将新的坐标值发送到机械臂3，机械臂3运动到新的坐标位置。In the terminal motion mode, the controller 2 collects the control information of the 3D mouse 1 and obtains the current position of the end 6-7 of the mechanical arm, and the controller 2 calculates the relative current coordinates of the end 6-7 of the mechanical arm according to the collected control information of the 3D mouse 1 Increase or decrease the value of the coordinate axis, and send the new coordinate value to the robot arm 3, and the robot arm 3 moves to the new coordinate position.
如图1所示，在本文所给出的实施方式中，用于实现上述机械臂运动控制方法的机械臂运动控制系统包括控制器2以及3D鼠标1，控制器2分别与3D鼠标1以及机械臂3进行无线通讯，控制器2用于采集3D鼠标1的控制信号以及机械臂3当前的位置和姿态数据，并根据控制信号、位置和姿态数据控制机械臂3做出相应运动。机械臂3的运动包括关节运动和末端运动，且是通过3D鼠标1的按键1.1来切换关节运动模式和末端运动模式，例如可以采用双击按键1.1的方式进行切换。As shown in Figure 1, in the embodiment given herein, the mechanical arm motion control system for realizing the above-mentioned mechanical arm motion control method includes a controller 2 and a 3D mouse 1, and the controller 2 is connected with the 3D mouse 1 and the mechanical arm respectively. The arm 3 performs wireless communication, and the controller 2 is used to collect the control signal of the 3D mouse 1 and the current position and attitude data of the mechanical arm 3, and control the mechanical arm 3 to make corresponding movements according to the control signal, position and attitude data. The movement of the mechanical arm 3 includes joint movement and terminal movement, and the joint movement mode and the terminal movement mode are switched through the button 1.1 of the 3D mouse 1, for example, the switch can be performed by double-clicking the button 1.1.
如图2所示，上述机械臂运动控制方法和系统中，机械臂3为六臂结构，各个臂之间通过关节连接。具体的，臂Ⅰ的一端通过第一关节6-1与底座相连，臂Ⅰ的另一端通过第二关节6-2与臂Ⅱ的一端相连，臂Ⅱ的另一端通过第三关节6-3与臂Ⅲ的一端相连，臂Ⅲ的另一端通过第四关节6-4与臂Ⅳ的一端相连，臂Ⅳ的另一端与第五关节6-5与臂Ⅴ的一端相连，臂Ⅴ的另一端通过第六关节6-6与臂Ⅵ相连，臂Ⅵ的另一端与机械臂末端6-7相连。每个关节配置有关节电机，控制器2控制关节电机的运行。As shown in FIG. 2 , in the above-mentioned method and system for controlling the movement of a robotic arm, the robotic arm 3 has a six-arm structure, and the arms are connected by joints. Specifically, one end of arm I is connected to the base through the first joint 6-1, the other end of arm I is connected to one end of arm II through the second joint 6-2, and the other end of arm II is connected to the base through the third joint 6-3. One end of the arm III is connected, the other end of the arm III is connected with one end of the arm IV through the fourth joint 6-4, the other end of the arm IV is connected with the fifth joint 6-5 and one end of the arm V, and the other end of the arm V is connected through The sixth joint 6-6 is connected with the arm VI, and the other end of the arm VI is connected with the end 6-7 of the mechanical arm. Each joint is equipped with a joint motor, and the controller 2 controls the operation of the joint motor.
如图3所示，3D鼠标1具有功能切换按键1.1，上述机械臂运动控制方法和系统中，3D鼠标1具有六种运动姿态，分别是面对按键左右移动(图3中1-1所示，下文简称左右移动)、面对按键前后移动(图3中1-2所示，下文简称前后移动)、面对按键上下移动(图3中1-3所示，下文简称上下移动)、长按按键加左右移动、长按按键加前后移动、长按按键加上下移动。As shown in Figure 3, the 3D mouse 1 has a function switching button 1.1. In the above-mentioned method and system for controlling the movement of the mechanical arm, the 3D mouse 1 has six motion postures, which are respectively moving left and right facing the buttons (shown in 1-1 in Figure 3 , hereinafter referred to as left and right movement), facing the button to move forward and backward (shown in 1-2 in Figure 3, hereinafter referred to as forward and backward movement), facing the button to move up and down (shown in Figure 3 1-3, hereinafter referred to as up and down movement), long Press the button to move left and right, long press the button to move forward and backward, long press the button to move up and down.
控制器2与3D鼠标1之间采用无线通讯，例如可以采用蓝牙通讯，也可以使用其他合适方式。控制器2与机械臂3之间同样采用无线通讯，例如采用基于TCP/IP协议的无线连接，机械臂3的各关节和末端位置(或坐标)和姿态信息通过socket的方式发送至控制器2，控制器2的控制指令通过socket的方式发送到机械臂3。Wireless communication is adopted between the controller 2 and the 3D mouse 1 , for example, bluetooth communication can be adopted, and other suitable methods can also be used. Wireless communication is also used between the controller 2 and the robotic arm 3, for example, a wireless connection based on the TCP/IP protocol is used, and the joints, end positions (or coordinates) and posture information of the robotic arm 3 are sent to the controller 2 through sockets , the control command of the controller 2 is sent to the mechanical arm 3 through the socket.
在上述机械臂运动控制方法和系统中，在关节运动模式下，控制器2采集3D鼠标1的控制信息(即3D鼠标1的运动姿态)并获取机械臂3各关节当前位置，控制器2根据采集的3D鼠标1的控制信息计算机械臂3对应关节相对于当前位置的增加或者减少值，例如将对应关节相对于当前位置增加或者减少0.1rad(数据可更改，用于调节速度和精度)，即需要对应关节正、反转(或顺、逆时针转)0.1rad，从而得到新的关节坐标位置，并将计算出的新的关节坐标位置发送到机械臂3，机械臂3执行控制器2的控制指令，对应关节的关节电机运行使关节转动到相应位置，也就相当于机械臂3运动到新的坐标位置。In the above method and system for controlling the motion of the mechanical arm, in the joint motion mode, the controller 2 collects the control information of the 3D mouse 1 (ie, the motion posture of the 3D mouse 1) and obtains the current position of each joint of the mechanical arm 3, and the controller 2 according to The collected control information of the 3D mouse 1 calculates the increase or decrease value of the corresponding joint of the mechanical arm 3 relative to the current position, for example, the corresponding joint is increased or decreased by 0.1 rad relative to the current position (the data can be changed to adjust the speed and accuracy), That is, the corresponding joint needs to be forward and reverse (or clockwise and counterclockwise) 0.1rad, so as to obtain the new joint coordinate position, and send the calculated new joint coordinate position to the robot arm 3, and the robot arm 3 executes the controller 2 According to the control command, the joint motors corresponding to the joints run to make the joints rotate to the corresponding positions, which is equivalent to the movement of the mechanical arm 3 to a new coordinate position.
特别地，在关节运动模式下，3D鼠标1左右移动控制机械臂3第一关节6-1正反转动，对此进一步说明如下：3D鼠标1左右移动时，3D鼠标1内部会发出与其左右移动相对应的姿态信号并发送至控制器2，控制器2将姿态信号对等或者翻译为控制机械臂3第一关节6-1正反转动的信号(例如需要第一关节6-1相对于当前位置正或反转动0.1rad)，从而得到新的关节坐标位置，并将计算出的新的坐标位置发送给机械臂3。通过控制器2发出的信号机械臂3第一关节电机运行，使第一关节6-1做出相应的转动。其后若控制器2检测到3D鼠标1仍处于左右移动状态，则机械臂3第一关节6-1继续转动(每次的转动单位可以设置为0.1rad或其他合适量)。In particular, in the joint movement mode, the left and right movement of the 3D mouse 1 controls the positive and negative rotation of the first joint 6-1 of the mechanical arm 3. This is further explained as follows: The corresponding attitude signal is sent to the controller 2, and the controller 2 is equivalent to or translates the attitude signal into a signal for controlling the positive and negative rotation of the first joint 6-1 of the mechanical arm 3 (for example, the first joint 6-1 needs to be relative to the current The position is rotated forward or backward by 0.1rad), so as to obtain a new joint coordinate position, and send the calculated new coordinate position to the mechanical arm 3 . The motor of the first joint of the mechanical arm 3 runs according to the signal sent by the controller 2, so that the first joint 6-1 makes a corresponding rotation. Afterwards, if the controller 2 detects that the 3D mouse 1 is still moving left and right, the first joint 6-1 of the mechanical arm 3 continues to rotate (the unit of each rotation can be set to 0.1 rad or other suitable amount).
同上原理，3D鼠标1前后移动控制机械臂3第二关节6-2正反转动，3D鼠标1上下移动控制机械臂3第三关节6-3正反转动。Same principle as above, the 3D mouse 1 moves back and forth to control the positive and negative rotation of the second joint 6-2 of the mechanical arm 3, and the 3D mouse 1 moves up and down to control the positive and negative rotation of the third joint 6-3 of the mechanical arm 3.
若长按按键1.1加左右移动3D鼠标1，则向控制器2发出较长时间的稳定的按键信号，且控制器2收到左右移动的姿态信号，控制器2将收到这两种3D鼠标信号对等或者翻译为控制机械臂3第四关节6-4正反转动的信号(例如需要第四关节6-4相对于当前位置正或反转动0.1rad)，从而得到新的关节坐标位置，并将计算出的新的坐标位置发送给机械臂3。通过控制器2发出的信号机械臂3第四关节电机运行，使第四关节6-4做出相应的转动。其后若控制器2检测到3D鼠标1仍处于长按按键1.1加左右移动状态，则机械臂3第四关节6-4继续转动(可以将每次的转动单位设置为0.1rad或其他合适量)。If you press the button 1.1 for a long time and move the 3D mouse 1 left and right, it will send a stable button signal for a long time to the controller 2, and the controller 2 will receive the gesture signal of the left and right movement, and the controller 2 will receive these two kinds of 3D mouse The signal is equivalent or translated into a signal to control the positive and negative rotation of the fourth joint 6-4 of the robotic arm 3 (for example, the fourth joint 6-4 needs to rotate 0.1 rad relative to the current position), so as to obtain a new joint coordinate position , and send the calculated new coordinate position to the robot arm 3. The motor of the fourth joint of the mechanical arm 3 runs according to the signal sent by the controller 2, so that the fourth joint 6-4 makes a corresponding rotation. Afterwards, if the controller 2 detects that the 3D mouse 1 is still in the state of long pressing the button 1.1 and moving left and right, the fourth joint 6-4 of the mechanical arm 3 continues to rotate (the unit of each rotation can be set to 0.1 rad or other suitable amount ).
同上原理，3D鼠标1长按按键1.1加前后移动控制机械臂3第五关节6-5正反转动，3D鼠标1长按按键1.1加上下移动控制机械臂3第六关节6-6正反转动。The same principle as above, 3D mouse 1 long press the button 1.1 and move back and forth to control the positive and negative rotation of the fifth joint 6-5 of the mechanical arm 3, and the 3D mouse 1 long press the button 1.1 plus down movement to control the positive and negative rotation of the sixth joint 6-6 of the mechanical arm 3 .
在末端运动模式下，控制器2采集3D鼠标1的控制信息(即3D鼠标1的运动姿态)并获取机械臂末端6-7当前位置，控制器2根据采集的3D鼠标1的控制信息计算机械臂末端6-7相对于当前坐标的坐标轴的增加、减少值或者相对于坐标轴的正、反转动值，例如将机械臂末端6-7相对于当前位置对应的某个或某些坐标轴增加或者减少0.01或者相对于某个坐标轴正、反转(或顺、逆时针转)0.1rad(数据可更改，用于调节速度和精度)，从而得到新的机械臂末端6-7坐标位置，并将计算出的新的机械臂末端6-7坐标值发送到机械臂3，机械臂3执行控制器2的控制指令，机械臂末端6-7运动到相应位置，也就相当于机械臂3运动到新的坐标位置。In the end motion mode, the controller 2 collects the control information of the 3D mouse 1 (that is, the motion posture of the 3D mouse 1) and obtains the current position of the end 6-7 of the mechanical arm, and the controller 2 calculates the mechanical The increase or decrease value of the arm end 6-7 relative to the coordinate axis of the current coordinate, or the forward and reverse rotation value relative to the coordinate axis, for example, the end of the mechanical arm 6-7 relative to one or some coordinates corresponding to the current position The axis is increased or decreased by 0.01 or forward or reverse (or clockwise or counterclockwise) 0.1rad relative to a certain coordinate axis (the data can be changed to adjust the speed and accuracy), so as to obtain the new 6-7 coordinates of the end of the mechanical arm Position, and send the calculated new coordinates of the end of the mechanical arm 6-7 to the mechanical arm 3, the mechanical arm 3 executes the control command of the controller 2, and the end of the mechanical arm 6-7 moves to the corresponding position, which is equivalent to the mechanical Arm 3 moves to a new coordinate position.
特别地，在末端运动模式下，3D鼠标1上下移动控制机械臂末端6-7相对于基坐标系Z轴上下运动，对比进一步说明如下：3D鼠标1上下移动时，3D鼠标1内部会发出与其上下移动相对应的姿态信号并发送至控制器2，控制器2将姿态信号对等或者翻译为控制机械臂末端6-7相对于基坐标系Z轴上下运动的信号(例如需要机械臂末端6-7相对于基坐标系Z轴增加或者减少0.01)，从而得到新的机械臂末端6-7坐标位置，并为控制器2内部的机械臂逆运动学算法输入机械臂末端6-7沿Z轴上或下移动后的齐次变换矩阵，通过程序运算得到机械臂3各个关节需要转动的角度。控制器2将机械臂末端6-7的新坐标值发送至机械臂3，在控制器2的控制下，各个关节电机运行使各个关节转动相应的角度，使得机械臂末端6-7运动到新的坐标位置。其后若控制器2检测到3D鼠标1仍处于左右移动状态，则机械臂末端6-7继续运动(每次的运动单位可以设置为0.01或其他合适量)。In particular, in the end motion mode, the 3D mouse 1 moves up and down to control the end 6-7 of the mechanical arm to move up and down relative to the Z-axis of the base coordinate system. The comparison is further explained as follows: Move the corresponding attitude signal up and down and send it to the controller 2, and the controller 2 will equalize or translate the attitude signal into a signal that controls the movement of the end of the mechanical arm 6-7 relative to the Z-axis of the base coordinate system (for example, the end of the mechanical arm 6-7 is required -7 is increased or decreased by 0.01 relative to the Z axis of the base coordinate system, so as to obtain the new coordinate position of the end of the mechanical arm 6-7, and input the inverse kinematics algorithm of the mechanical arm inside the controller 2 along the Z axis of the end of the mechanical arm 6-7 The homogeneous transformation matrix after the axis moves up or down, and the angles that each joint of the mechanical arm 3 needs to be rotated are obtained through program calculations. The controller 2 sends the new coordinates of the end 6-7 of the mechanical arm to the mechanical arm 3. Under the control of the controller 2, the motors of each joint run to make each joint rotate by a corresponding angle, so that the end 6-7 of the mechanical arm moves to the new position. coordinate position. Afterwards, if the controller 2 detects that the 3D mouse 1 is still moving left and right, the end 6-7 of the mechanical arm continues to move (each movement unit can be set to 0.01 or other suitable amount).
同上原理，3D鼠标1前后移动控制机械臂末端6-7相对于基坐标系X轴前后运动，3D鼠标1左右移动控制机械臂末端6-7相对于基坐标系Y轴前后运动。The same principle as above, the 3D mouse 1 moves back and forth to control the movement of the end 6-7 of the mechanical arm relative to the X axis of the base coordinate system, and the left and right movement of the 3D mouse 1 controls the movement of the end 6-7 of the mechanical arm relative to the Y axis of the base coordinate system.
若长按按键1.1加上下移动3D鼠标1，则向控制器2发出较长时间的稳定的按键信号，且控制器2收到上下移动的姿态信号，控制器2将收到这两种3D鼠标信号对等或者翻译为控制机械臂末端6-7相对于基坐标系Z轴正反转动的信号(例如需要机械臂末端6-7相对于Z轴正或反转动0.1rad)，从而得到新的机械臂末端6-7坐标位置，并为控制器2内部的机械臂逆运动学算法输入机械臂末端6-7沿Z轴正或反转后的齐次变换矩阵，通过程序运算得到机械臂3各个关节需要转动的角度。控制器2将机械臂末端6-7的新坐标值发送至机械臂3，在控制器2的控制下，各个关节电机运行使各个关节转动相应的角度，使得机械臂末端6-7运动到新的坐标位置。其后若控制器2检测到3D鼠标1仍处于长按按键1.1加上下移动状态，则机械臂末端6-7继续运动(每次的运动单位可以设置为0.01或其他合适量)。If you press button 1.1 for a long time and move 3D mouse 1 up and down, it will send a stable button signal for a long time to controller 2, and controller 2 will receive the gesture signal of moving up and down, and controller 2 will receive these two kinds of 3D mouse The signal is equivalent or translated into a signal that controls the positive and negative rotation of the end 6-7 of the mechanical arm relative to the Z-axis of the base coordinate system (for example, the positive or negative rotation of the end 6-7 of the mechanical arm is required to be 0.1 rad relative to the Z-axis), so as to obtain a new The coordinate position of the end 6-7 of the manipulator is input to the inverse kinematics algorithm of the manipulator 2 inside the controller 2. The homogeneous transformation matrix of the end 6-7 of the manipulator after positive or reversed along the Z axis is input, and the manipulator is obtained through program operation 3 The angle that each joint needs to rotate. The controller 2 sends the new coordinates of the end 6-7 of the mechanical arm to the mechanical arm 3. Under the control of the controller 2, the motors of each joint run to make each joint rotate by a corresponding angle, so that the end 6-7 of the mechanical arm moves to the new position. coordinate position. Afterwards, if the controller 2 detects that the 3D mouse 1 is still in the state of long pressing the button 1.1 and moving up and down, the end 6-7 of the mechanical arm continues to move (each movement unit can be set to 0.01 or other suitable amount).
同上原理，3D鼠标1长按按键1.1加前后移动控制机械臂末端6-7相对于基坐标系X轴正反转动，3D鼠标1长按按键1.1加左右移动控制机械臂末端6-7相对于基坐标系Y轴正反转动。The same principle as above, 3D mouse 1 long press button 1.1 and move back and forth to control the positive and negative rotation of the end 6-7 of the mechanical arm relative to the X axis of the base coordinate system. The Y axis of the base coordinate system rotates positively and negatively.
上述虽然结合附图对本发明的具体实施方式进行了描述，但并非对本发明保护范围的限制，所属领域技术人员应该明白，在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201810238375.XACN108466266A (en) | 2018-03-22 | 2018-03-22 | Mechanical arm motion control method and system |
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| CN201810238375.XACN108466266A (en) | 2018-03-22 | 2018-03-22 | Mechanical arm motion control method and system |
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| CN201810238375.XAPendingCN108466266A (en) | 2018-03-22 | 2018-03-22 | Mechanical arm motion control method and system |
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