CN115741678A - Robot motion simulation method and simulation system - Google Patents
Robot motion simulation method and simulation system Download PDFInfo
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- CN115741678A CN115741678A CN202211370534.4A CN202211370534A CN115741678A CN 115741678 A CN115741678 A CN 115741678A CN 202211370534 A CN202211370534 A CN 202211370534A CN 115741678 A CN115741678 A CN 115741678A
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Abstract
The invention discloses a robot motion simulation method, which comprises the steps of establishing a three-dimensional entity model of a robot and a claw, constructing a three-dimensional entity model of a motion environment, calculating position deviation generated in the motion process in the simulated motion model according to a motion instruction, obtaining the amount of deviation of a kinematic pair from an initial position after the motion instruction is executed according to the obtained positions of a plurality of mechanical arms, a plurality of joints, the motion distances of the plurality of mechanical arms and the rotation angles of the plurality of joints, calculating a final position according to the initial position, comparing the final position with an expected position of the instruction, and repeatedly executing the operation until a position error threshold is reduced to be within a preset threshold range, so that the optimal operation and the corresponding operation steps can be obtained.
Description
Technical Field
The invention relates to the technical field of virtual simulation, in particular to a robot motion simulation method and a robot motion simulation system.
Background
In the process of realizing robot positioning simulation, a robot claw is required to be controlled to move to a positioning point through a demonstrator, misoperation easily occurs in the process, the robot is caused to have problems of insufficient accuracy in control and the like, redundant actions occur in the robot positioning moving process, when a specified positioning point is visited, the robot can repeat all actions in the positioning process, and many of the actions are redundant and need to be removed.
Therefore, the present invention provides a robot motion simulation method and a simulation system, which at least partially solve the above problems.
Disclosure of Invention
The invention aims to provide a robot motion simulation method to solve the problem of low efficiency caused by the fact that misoperation easily occurs and redundant actions cannot be avoided in the prior virtual simulation technology in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a robot motion simulation method is provided, the robot comprises a plurality of mechanical arms and a plurality of joints, the mechanical arms are connected into a kinematic pair with multiple degrees of freedom through the joints, the robot is used for controlling a claw of the robot to move to a specified positioning point, the robot motion simulation method is used for simulating the motion process, and the robot motion simulation method comprises the following steps:
acquiring positions of a plurality of mechanical arms and a plurality of joints;
acquiring the movement distances of a plurality of mechanical arms and the rotation angles of a plurality of joints;
receiving a motion instruction;
obtaining the amount of deviation of a kinematic pair from an initial position after executing a motion instruction according to the obtained positions of the plurality of mechanical arms and the plurality of joints, the motion distances of the plurality of mechanical arms and the rotation angles of the plurality of joints, calculating a final position according to the initial position, comparing the final position with an expected position of the instruction, and if the error is within a preset threshold value, saving the instruction operation and generating a simulation animation of the motion process; if the error is outside the preset threshold, correcting the motion execution operation until the error is restored to be within the preset threshold range, and then storing the corrected instruction operation and generating a corresponding motion process simulation animation;
establishing a three-dimensional solid model of the robot and the clamping jaws;
establishing a three-dimensional solid model of a motion environment;
the motion distances of a plurality of mechanical arms and the rotation angles of a plurality of joints under different motion instructions are simulated in a three-dimensional solid model of a motion environment.
As a preferable technical solution, the acquiring the positions of the plurality of mechanical arms and the plurality of joints comprises the steps of:
the method comprises the following steps: completing the construction of a robot model by using three-dimensional software;
step two: determining two-dimensional projection of a working space according to the angle range value of each joint of the robot and the length of each mechanical arm;
step three: establishing a D-H coordinate system according to the length of the mechanical arm and the joint angle;
step four: determining a D-H parameter table according to the D-H coordinate system;
as a preferred technical scheme, 3Dmax is adopted in the process of establishing the three-dimensional entity models of the robot and the jaws to complete the construction of the robot model and the robot model is exported into an FBX format model, the model is imported into unity, and the parent-child relationship between the models is determined.
As a preferred technical solution, the process of simulating the motion of the robot includes the following steps:
1) Importing the three-dimensional entity models of the robot, the clamping jaws and the motion environment into a motion simulation model which is stored in a computer in advance;
2) The robot joint moves under a coordinate system through a plurality of functions, the tail end control point keeps horizontal movement in the axial direction and obtains posture information, and the robot user moves under the coordinate system through inverse dynamics.
As a preferred technical solution, after a motion process is simulated, setting an action set by defining a plurality of single operation actions, and after a final result of the action set comprising a plurality of single operation actions is realized, judging under the same coordinate system, if any action result in the action set appears, judging that the previous action is a redundant action, and removing the redundant action; when two operations exist simultaneously, each operation mode conversion needs to be taken as a node, and the operation result before the node is not changed by the operation after the node.
As a preferred technical scheme, animation generation is realized by taking the operation type, the moving object, the position of the moving object and the rotation of the moving object in the action set as parameters into a specific function.
A robot motion simulation system comprises a computer and a display device, wherein the robot motion simulation method is stored in the computer, and a simulation result obtained by the computer through the robot motion simulation method is displayed to a user through the display device.
Compared with the prior art, the invention has the beneficial effects that:
the method comprises the steps of establishing three-dimensional entity models of a robot and a jaw, constructing the three-dimensional entity model of a motion environment, calculating position deviation generated in a motion process in a simulation motion model according to a motion instruction, obtaining the amount of deviation of a kinematic pair from an initial position after the motion instruction is executed according to the obtained positions of a plurality of mechanical arms, a plurality of joints, the motion distances of the mechanical arms and the rotation angles of the joints, calculating a final position according to the initial position, comparing the final position with an expected position of the instruction, and repeatedly executing the operation until a position error threshold is reduced to be within a preset threshold range, so that the optimal operation and the corresponding operation steps can be obtained, the robot jaw does not need to be controlled to move to a positioning point through a demonstrator, the possibility of misoperation is greatly reduced, and the control precision of the robot is improved.
Drawings
FIG. 1 is a schematic view of a robot according to the present invention;
FIG. 2 is a two-dimensional projection of the robot's joint angle range values and link lengths defining a workspace;
FIG. 3 is a D-H coordinate system established by the length and the joint angle of the connecting rod;
FIG. 4 is a first screenshot of a presentation video;
fig. 5 is a second screenshot of a demonstration video.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: a robot motion simulation method and a simulation system are provided, the robot comprises a plurality of mechanical arms and a plurality of joints, the mechanical arms are connected into a kinematic pair with multiple degrees of freedom through the joints, the robot is used for controlling a claw of the robot to move to a designated positioning point, the robot motion simulation method is used for simulating the motion process, and the robot motion simulation method comprises the following steps: acquiring the positions of a plurality of mechanical arms and a plurality of joints; acquiring the movement distances of a plurality of mechanical arms and the rotation angles of a plurality of joints; receiving a motion instruction; obtaining the amount of deviation of the kinematic pair from an initial position after the kinematic instruction is executed according to the obtained positions of the plurality of mechanical arms, the plurality of joints, the motion distances of the plurality of mechanical arms and the rotation angles of the plurality of joints, calculating a final position according to the initial position, comparing the final position with an expected position of the instruction, and if the error is within a preset threshold value, saving the instruction operation and generating a simulation animation of the motion process; if the error is outside the preset threshold value, correcting the motion execution operation until the error is reduced to be within the preset threshold value range, storing the corrected instruction operation and generating a corresponding motion process simulation animation; establishing a three-dimensional solid model of the robot and the clamping jaws; establishing a three-dimensional solid model of a motion environment; and simulating the movement distances of the mechanical arms and the rotation angles of the joints under different movement instructions in a three-dimensional solid model of the movement environment.
The method specifically comprises the following steps:
1. according to the real robot model, completing the construction of the robot model at 3Dmax and exporting the robot model into an FBX format model;
(1) The robot structure is shown in fig. 1, and has 6-axis free rotation motions, i.e., J1, J2, J3, J4, J5 and J6.
(2) The two-dimensional projection for determining the working space according to the angle range values of each joint and the length of each connecting rod of the robot is shown in fig. 2:
(3) A D-H coordinate system is established according to the link length and the joint angle, as shown in fig. 3.
(4) Determining a D-H parameter table according to the D-H coordinate system, wherein the D-H parameter table comprises the following tables:
D-H connecting rod parameter table
(5) And (3) importing the model into unity, determining the parent-child relationship of the model, namely J1 is a J2 parent object and J2 is a J3 parent object, and setting the Transform value of each joint point of the robot according to the D-H coordinate parameters, wherein the style is shown in FIG. 4.
2. The robot motion realizes that the motion under a robot joint coordinate system is realized by mainly passing through a transform.
3. Description of data class:
(1) Single operation:
the robot motion is divided into joint coordinate system motion and user coordinate system motion, 0 is defined as the joint coordinate system motion through int numerical value type numerical value, and 1-bit user coordinate system motion is realized; (Joint coordinate System movement through Single Joint rotational movement, user coordinate System movement through end control Point axial)
1) Defining a Transform type (unity object component) which refers to an object which is currently moving;
2) Defining a Vector3 three-dimensional Vector for storing the position of the moving object after moving;
3) Defining a Vector3 three-dimensional Vector for storing a rotation angle of the moving object after moving;
and (3) action set:
defining a Vector3 three-dimensional Vector and storing the position of the robot on the track;
defining a list set, and storing a robot action set;
4. how to judge the redundant actions:
taking the example of controlling the rotation of the robot J1 by a joint coordinate system, transform. LocalEulergongles of the current J1 object is Vector3 (0, 70);
stp1: operation J1 increased by 30, then Vector3 (0, 100) for transform.
Stp2: run J1 increased by 20, then transform. LocaleEurangiles is Vector3 (0, 120);
stp3 reduction of operation J1 by 40, transform. LocalEulerLength is Vector3 (0, 80);
completing the 3 steps of operation, wherein the final rotation of the robot is Vector3 (0, 0 and 80), st1 and st2 are redundant actions, and only the motion result of the stp3 operation needs to be stored;
judging similarity under a user coordinate system, and when two operations exist simultaneously, changing the operation mode each time into a node is required, and the operation result before the node is not changed by the operation after the node;
5. the animation generation method comprises the following steps:
animation generation is achieved by substituting the operation type, moving object position, and moving object rotation into parameters in the action set to transform.
6. The specific comparison method comprises the following steps:
(1) Defining single operation type curStep for storing the operation result
(2) Judging an operation object through a switch cycle, and storing an operation result into a curStep, wherein 1-6 are J1-J6 rotation results under a joint coordinate system respectively; 7-9 respectively corresponding to the position of the tail end point in the user coordinate system and the rotation result;
(3) And (3) directly adding the result to the myLis set in the first operation, judging whether the node is refreshed or not in the subsequent operation according to whether the operation system is consistent or not, circularly judging whether the operation set is consistent with the current operation joint or not under the condition of consistency, covering the current operation result to the corresponding element result in the set if yes, and directly adding the current operation to the myLis set if not. Directly adding the result into the myLis set under the condition that the operation systems are inconsistent;
7. the data dictionary < anchor point, action result set after optimization > states:
according to the line number matching data field int type key, recording operation result information (RobotMessage) of the robot according to shift + F3 to form a corresponding data dictionary;
the position register in the demonstrator is preset with some recording points (can be added by oneself)
Judging whether the record is recorded or not according to the Key value of the data dictionary, updating if the record is recorded, and directly adding the record if the record is not recorded (UpIndex is a line number);
8. analyzing and generating animation description:
selecting a corresponding record list through a direction key on a position register interface of the demonstrator, and playing the animation through a PlayRobot () method;
according to endpos information in the RobotMessage class, animation is realized by moving the robot to the corresponding position of the guide rail through a DoLocalMove () method;
circularly traversing type sets in the RobotMessage class, switching a robot operation coordinate system according to type information, and realizing robot motion flow analysis by means of DoLocalMove () and DoLocalRotate () methods according to trans, pos and rot information;
fig. 4 and 5 are partial screenshots of related presentation videos.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A robot motion simulation method is characterized in that a robot comprises a plurality of mechanical arms and a plurality of joints, the mechanical arms are connected into a multi-freedom-degree kinematic pair through the joints, the robot is used for controlling a claw of the robot to move to a specified positioning point, the robot motion simulation method is used for simulating the motion process, and the robot motion simulation method comprises the following steps:
acquiring positions of the plurality of mechanical arms and the plurality of joints;
acquiring the movement distances of the mechanical arms and the rotation angles of the joints;
receiving a motion instruction;
obtaining the amount of deviation of the kinematic pair from the initial position after the kinematic instruction is executed according to the obtained positions of the plurality of mechanical arms, the plurality of joints, the motion distances of the plurality of mechanical arms and the rotation angles of the plurality of joints, calculating a final position according to the initial position, comparing the final position with an expected position of the instruction, and if the error is within a preset threshold value, saving the instruction operation and generating a simulation animation of the motion process; if the error is outside the preset threshold value, correcting the motion execution operation until the error is reduced to be within the preset threshold value range, storing the corrected instruction operation and generating a corresponding motion process simulation animation;
establishing a three-dimensional solid model of the robot and the clamping jaws;
establishing a three-dimensional solid model of a motion environment;
and simulating the movement distances of the mechanical arms and the rotation angles of the joints under different movement instructions in the three-dimensional solid model of the movement environment.
2. A robot motion simulation method according to claim 1, wherein the acquiring the positions of the plurality of robot arms and the plurality of joints comprises the steps of:
the method comprises the following steps: completing the construction of a robot model by using three-dimensional software;
step two: determining two-dimensional projection of a working space according to the angle range value of each joint of the robot and the length of each mechanical arm;
step three: establishing a D-H coordinate system according to the length of the mechanical arm and the joint angle;
step four: and determining a D-H parameter table according to the D-H coordinate system.
3. The method according to claim 1, wherein the process of establishing the three-dimensional entity models of the robot and the jaws is performed by using 3Dmax to complete the construction of the robot model and the derivation is performed as an FBX format model, and the model is imported into unity and the parent-child relationship between the models is determined.
4. The robot motion simulation method according to claim 1, wherein the process of simulating robot motion comprises the steps of:
1) Importing the three-dimensional entity models of the robot and the clamping jaws and the three-dimensional entity model of the motion environment into a motion simulation model which is pre-stored in a computer;
2) The robot joint moves under a coordinate system through a plurality of functions, the tail end control point keeps horizontal movement in the axial direction and obtains posture information, and the robot user moves under the coordinate system through inverse dynamics.
5. The robot motion simulation method according to claim 1, wherein after a motion process is simulated, an action set is set by defining a plurality of single operation actions, after a final result of the action set comprising a plurality of single operation actions is realized, judgment is performed in the same coordinate system, and if any action result in the action set appears, the previous operation is judged as a redundant action and is removed; when two operations exist simultaneously, each operation mode conversion needs to be taken as a node, and the operation result before the node is not changed by the operation after the node.
6. The robot motion simulation method according to claim 1, wherein animation generation is implemented by taking an operation type, a moving object position, and a moving object rotation in an action set as parameters to a specific function.
7. A robot motion simulation system, comprising a computer in which the robot motion simulation method according to any one of claims 1 to 6 is stored, and a display device for displaying a simulation result obtained by the computer using the robot motion simulation method to a user.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115990889A (en) * | 2023-03-23 | 2023-04-21 | 武汉益模科技股份有限公司 | Multi-receptive field-based composite positioning method, device and computer system |
| CN117773954A (en) * | 2024-02-27 | 2024-03-29 | 深圳威洛博机器人有限公司 | Robot joint module motion control system and method |
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2022
- 2022-11-03 CN CN202211370534.4A patent/CN115741678A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115990889A (en) * | 2023-03-23 | 2023-04-21 | 武汉益模科技股份有限公司 | Multi-receptive field-based composite positioning method, device and computer system |
| CN117773954A (en) * | 2024-02-27 | 2024-03-29 | 深圳威洛博机器人有限公司 | Robot joint module motion control system and method |
| CN117773954B (en) * | 2024-02-27 | 2024-06-11 | 深圳威洛博机器人有限公司 | Robot joint module motion control system and method |
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