CN112809671A - Interactive kinematics modeling method of universal serial robot - Google Patents
Interactive kinematics modeling method of universal serial robot Download PDFInfo
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- CN112809671A CN112809671A CN202011616977.8A CN202011616977A CN112809671A CN 112809671 A CN112809671 A CN 112809671A CN 202011616977 A CN202011616977 A CN 202011616977A CN 112809671 A CN112809671 A CN 112809671A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Abstract
The invention discloses an interactive kinematics modeling method of a universal serial robot, which comprises the following steps: building a modeling tree of the series robots, and adding connecting rod child nodes to connecting rod parent nodes according to the connecting rod parent-child relationship between the series robots; selecting a connecting rod model for each connecting rod node, specifying a connecting rod coordinate system, selecting a joint type and a joint axis, and setting a joint limit value; generating a robot configuration file and storing the robot configuration file to the local; the invention can quickly establish a kinematics model of the universal serial robot for robot simulation.
Description
Technical Field
The invention relates to the research field of robot technology and computer graphics, in particular to an interactive kinematics modeling method of a universal serial robot.
Background
The robot consists of a connecting rod and a joint, and when the joint is driven by a motor, the connecting rod of the robot generates relative motion to enable the tail end of the robot to reach a target pose. After the robot kinematics model is established, forward kinematics and reverse kinematics calculation can be carried out so as to carry out motion control on the robot.
At present, a DH method is generally adopted to perform kinematic modeling on a robot, and in the method, a kinematic equation of the robot is established by establishing a connecting rod coordinate system and determining DH parameters. For different robot types, the DH parameters are different, and the process of determining the DH parameters is relatively cumbersome, which brings inconvenience to robot simulation.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provide an interactive kinematics modeling method of a universal serial robot.
The purpose of the invention is realized by the following technical scheme:
an interactive kinematics modeling method of a universal serial robot is characterized by comprising the following steps:
building a modeling tree of the series robots, and adding connecting rod child nodes to connecting rod parent nodes according to the connecting rod parent-child relationship between the series robots; forming a kinematic Chain Chain in a KDL kinematics library;
selecting a connecting rod model for each connecting rod node, specifying a connecting rod coordinate system, selecting a joint type and a joint axis, and setting a joint limit value; the connecting rod coordinate system is a coordinate system formed by intersection points of adjacent connecting rod axes, the joint type comprises a turning joint and a moving joint, and the joint limit value represents the motion range of the joint;
and generating a robot configuration file and storing the robot configuration file to the local to obtain a serial robot description file URDF.
Further, the modeling tree is a data structure describing the robot; the data structure describing the robot defines a modeling interface, links, joints, joint types, joint limit attributes and methods corresponding to the attributes.
Further, the link parent-child relationship is a connection relationship of the robot links, a previous link of the series robot is regarded as a link parent node, and an adjacent link behind the link parent node is regarded as a link child node.
Further, the link model refers to a three-dimensional model of a robot link.
Further, the specified link coordinate system is located at a robot joint.
Further, the joint types include a rotational joint and a translational joint.
Further, the joint axis is a rotation axis of the joint; the axis of rotation is a certain coordinate axis of the link coordinate system.
Further, the joint limit value is a rotation range of the joint around the joint axis, and the value range is 0-360 degrees.
Further, the robot configuration file is a file in an XML format, and is a robot description file.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention does not depend on three-dimensional modeling software, can realize interactive modeling of a common serial robot, has simple operation, is compatible with a multi-axis serial robot structure, is convenient to use, and brings a more convenient modeling mode for robot simulation.
Drawings
FIG. 1 is a flow chart of an interactive kinematic modeling method of a universal serial robot according to the present invention;
FIG. 2 is a schematic view of a robot linkage connection according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a robot profile in accordance with an embodiment of the present invention;
fig. 4 is a schematic diagram of UR5 robot and its modeled coordinate system in the embodiment of the present invention.
In the drawing, link 1-first link, link 2-second link, link 3-third link, link 4-fourth link, joint 1-first joint, joint 2-second joint and joint 3-third joint.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Example (b):
an interactive kinematic modeling method for a universal serial robot, as shown in fig. 1, includes the following steps:
s1, constructing a modeling tree, and adding the child nodes of the connecting rods to the parent nodes of the connecting rods according to the parent-child relationship of the connecting rods;
s2, selecting a connecting rod model, specifying a connecting rod coordinate system, selecting a joint type and a joint axis and setting a joint limit value for each connecting rod node;
and S3, generating a robot configuration file and storing the robot configuration file to the local.
Specifically, in step S1, the modeling tree is a data structure describing the robot, and the data structure defines attributes such as modeling interface, links, joints, joint types, joint limits, and the like, and corresponding methods. The parent-child relationship refers to the connection relationship of the robot connecting rods, and the front connecting rod of the robot is the parent connecting rod of the rear connecting rod. As shown in fig. 2, which is a schematic connection diagram of the robot link of the present invention, link1, link2, link3, and link4 respectively represent the links of the robot, specifically: link 1-first link, link 2-second link, link 3-third link, link 4-fourth link; joint1, joint2, and joint3 represent joints of the robot, respectively, and specifically include: joint 1-first joint, joint 2-second joint, and joint 3-third joint.
The figure marks the connecting rod, the joint and the connecting rod coordinate system of the robot, and the joint is used for connecting the parent-child connecting rod.
Specifically, in step S2, the link model is a three-dimensional model representing a robot link, the link coordinate system is located at a robot joint, the joint types include a rotation joint and a translation joint, the joint axis refers to a rotation axis of a joint, the rotation axis is a coordinate axis of the link coordinate system, and the joint limit value is a rotation range of the joint around the joint axis.
Specifically, in step S3, the robot configuration file is a robot description file, called URDF, which is a file in XML format, as shown in fig. 3:
the configuration file may store information such as the name of the robot, links, joints, etc.
Fig. 4 is a schematic diagram of a UR5 robot and its modeled coordinate system according to an embodiment of the present invention, where Y and Z respectively represent two coordinate axes of a link coordinate system.
The figure shows the modeled coordinate system as the link coordinate system of the robot, the joint types in this embodiment are all rotational joints, and the joint axes are the Z-axes of the modeled coordinate system.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (9)
1. An interactive kinematics modeling method of a universal serial robot is characterized by comprising the following steps:
building a modeling tree of the series robots, and adding connecting rod child nodes to connecting rod parent nodes according to the connecting rod parent-child relationship between the series robots;
selecting a connecting rod model for each connecting rod node, specifying a connecting rod coordinate system, selecting a joint type and a joint axis, and setting a joint limit value; the connecting rod coordinate system is a coordinate system formed by intersection points of adjacent connecting rod axes, the joint type comprises a turning joint and a moving joint, and the joint limit value represents the motion range of the joint;
and generating a robot configuration file and storing the robot configuration file to the local to obtain a serial robot description file URDF.
2. The interactive kinematics modeling method of a generic tandem robot according to claim 1, wherein the modeling tree is a data structure describing the robot; the data structure describing the robot defines a modeling interface, links, joints, joint types, joint limit attributes and methods corresponding to the attributes.
3. The interactive kinematics modeling method of the generic tandem robot according to claim 2, wherein the link parent-child relationship is a connection relationship of robot links, a previous link of the tandem robot is considered as a link parent node, and an adjacent link behind the link parent node is considered as a link child node.
4. The interactive kinematics modeling method of a generic tandem robot according to claim 1, wherein the link model is a three-dimensional model of a robot link.
5. The method of claim 4, wherein the specified link coordinate system is located at a robot joint.
6. The method of claim 5, wherein the joint types include a rotation joint and a translation joint.
7. The interactive kinematics modeling method of a universal serial robot according to claim 6, wherein the joint axis is a rotation axis of a joint; the axis of rotation is a certain coordinate axis of the link coordinate system.
8. The method according to claim 7, wherein the joint limit value is a rotation range of the joint around the joint axis, and the value range is 0-360 °.
9. The method of claim 1, wherein the robot configuration file is an XML-formatted file and is a robot description file.
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| CN202011616977.8A CN112809671A (en) | 2020-12-30 | 2020-12-30 | Interactive kinematics modeling method of universal serial robot |
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| CN202011616977.8A CN112809671A (en) | 2020-12-30 | 2020-12-30 | Interactive kinematics modeling method of universal serial robot |
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Application publication date: 20210518 |