CN107263469B - Manipulator attitude compensation method, device, storage medium and manipulator - Google Patents

Abstract

The embodiment of the invention discloses a method for compensating the posture of a mechanical arm, which is used for solving the problem that the coordinate system of a control component and the coordinate system of the mechanical arm deviate when the joint of the existing mechanical arm moves. The method provided by the embodiment of the invention comprises the following steps: detecting the motion angle of the joint in real time in the process of controlling the mechanical arm to move by drawing the control component, wherein the motion angle is the angle rotated relative to the position at the previous moment when the joint moves; and correcting the corresponding relation between the coordinate system of the mechanical arm and the coordinate system of the operating component according to the motion angle. The embodiment of the invention also provides a mechanical arm posture compensation device, a storage medium and a mechanical arm.

Description

Manipulator attitude compensation method, device, storage medium and manipulator

technical field

The present invention relates to the field of robotics technology, and in particular, to a method, device, storage medium and a robotic arm for posture compensation of a robotic arm.

Background technique

With the acceleration of industrial upgrading and technological progress of enterprises, the robotic arm has become an automated mechanical device that has been widely used in the field of robotics. This type of robotic arm has multiple degrees of freedom and allows movement in two-dimensional or three-dimensional space. Control commands to complete various jobs.

At present, some of the manipulators of the manipulator are mounted on the joints of the manipulator. As shown in Figures 1a and 1b, the manipulator is configured with a first joint a1 and a second joint a2, the first joint a1 is connected to the base of the manipulator through a rotating shaft 01, and the second joint a2 is connected to the first joint a2 through a rotating shaft 02 The joint a1 is connected and installed, and the operating part b is installed at the end of the second joint a2. The user can achieve the purpose of pulling the movement of the mechanical arm by pulling the manipulation part b, which is more convenient for the use of the robot arm.

However, when the manipulation part b is installed on the joint of the manipulator, since the correspondence between the coordinate system of the manipulation part b and the coordinate system of the manipulator is established in advance, during the use of the manipulator, with the movement of the manipulator joint, It will cause an offset between the coordinate system of the manipulation part b and the coordinate system of the manipulator, destroy the pre-established correspondence, and cause inaccurate control of the manipulator by the manipulation part b.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a method, a device, a storage medium and a robotic arm for attitude compensation of a robotic arm. Even if the robotic arm joints move, the corresponding relationship between the manipulation components installed on the joints and the coordinate system of the robotic arm can be obtained in real time. The correction can avoid the situation of offset between the two coordinate systems caused by the movement of the manipulation member, and improve the accuracy of the control of the manipulator by the manipulation member to a certain extent.

An embodiment of the present invention provides a method for compensating an attitude of a manipulator. The method for compensating a manipulator is applied to a manipulator. The manipulator is configured with at least one joint and a manipulation member, and the manipulation member is mounted on the joint. superior;

The robotic arm attitude compensation method includes:

In the process of controlling the movement of the mechanical arm by pulling the manipulation member, the movement angle of the joint is detected in real time, and the movement angle is the angle rotated relative to the position at the previous moment when the joint moves;

The corresponding relationship between the coordinate system of the robotic arm and the coordinate system of the manipulation member is corrected according to the movement angle.

Optionally, the mechanical arm is configured with two or more joints, and after the two or more joints are sequentially connected by a rotating shaft, one end is installed on the base of the mechanical arm through the rotating shaft, and the other end is installed with the control mechanism. part;

The real-time detection of the motion angle of the joint is specifically:

The movement angle of the joint where the manipulation component is located is detected in real time.

Optionally, the real-time detection of the motion angle of the joint where the manipulation component is located specifically includes:

Acquiring in real time the rotated angle of the rotation axis of each of the two or more joints, where the rotated angle is the rotated angle of the current position of the rotation axis relative to the initial position;

The movement angle of the joint where the manipulation component is located is calculated according to the respective rotated angles corresponding to the respective joints.

Optionally, before acquiring the rotated angle of the rotation axis of each of the two or more joints in real time, the method further includes:

If the rotation axis of each joint rotates, record the rotated angle of the rotated rotation axis.

Optionally, include:

When the movement angle is an angle based on the coordinate system of the robotic arm, the correction of the correspondence between the coordinate system of the robotic arm and the coordinate system of the manipulation component according to the movement angle includes:

Adjust the coordinate system of the robotic arm along the direction of the movement angle to adjust the angle value of the movement angle; or, adjust the coordinate system of the manipulation component to adjust the movement angle along the opposite direction of the movement angle. angle value;

When the movement angle is an angle based on the coordinate system of the manipulation member, the correction of the correspondence between the coordinate system of the robotic arm and the coordinate system of the manipulation member according to the movement angle includes:

Adjust the coordinate system of the robotic arm along the opposite direction of the movement angle to adjust the angle value of the movement angle; or, adjust the coordinate system of the manipulation member along the direction of the movement angle to adjust the movement angle angle value.

An embodiment of the present invention provides an attitude compensation device for a robotic arm. The attitude compensation device for a robotic arm is applied to a robotic arm. The robotic arm is configured with at least one joint and a manipulation component, and the manipulation component is installed on the joint. superior;

The robotic arm attitude compensation device includes:

The movement angle detection module is used to detect the movement angle of the joint in real time during the process of controlling the movement of the mechanical arm by pulling the manipulation component, and the movement angle is the rotation angle of the joint relative to the position at the previous moment when the joint moves. angle;

A coordinate system correction module, configured to correct the correspondence between the coordinate system of the robotic arm and the coordinate system of the manipulation component according to the movement angle.

Optionally, the mechanical arm is configured with two or more joints, and after the two or more joints are sequentially connected by a rotating shaft, one end is installed on the base of the mechanical arm through the rotating shaft, and the other end is installed with the control mechanism. part;

The motion angle detection module includes:

The joint angle detection unit is used for real-time detection of the movement angle of the joint where the manipulation component is located.

Optionally, the joint angle detection unit specifically includes:

The rotated angle acquisition subunit is used to acquire the rotated angle of the rotation axis of each of the two or more joints in real time, and the rotated angle is the rotated angle of the current position of the rotation axis relative to the initial position. angle;

A motion angle calculation subunit, configured to calculate the motion angle of the joint where the manipulation component is located according to the respective rotated angles corresponding to the respective joints.

Optionally, include:

When the movement angle is an angle based on the coordinate system of the robotic arm, the coordinate system correction module includes:

a first manipulator coordinate system adjustment unit for adjusting the coordinate system of the manipulator along the direction of the motion angle to adjust the angle value of the motion angle; or, a first manipulation component coordinate system adjustment unit for adjusting the motion angle The coordinate system of the manipulation component adjusts the angle value of the movement angle along the opposite direction of the movement angle;

When the movement angle is an angle based on the coordinate system of the manipulation component, the coordinate system correction module includes:

The second coordinate system adjustment unit of the manipulator is used to adjust the coordinate system of the manipulator along the opposite direction of the movement angle to the angle value of the movement angle; or, the second manipulator coordinate system adjustment unit is used for The coordinate system of the manipulation member is adjusted along the direction of the movement angle to adjust the angle value of the movement angle.

An embodiment of the present invention provides a robotic arm, wherein the robotic arm is configured with at least one joint and a manipulation component, and the manipulation component is mounted on the joint;

The manipulator further includes the above-mentioned manipulator posture compensation device.

As can be seen from the above technical solutions, the embodiments of the present invention have the following advantages:

In the embodiment of the present invention, the method for compensating the posture of a manipulator is applied to a manipulator, and the manipulator is configured with at least one joint and a manipulation part, and the manipulation part is mounted on the joint; In the process of controlling the movement of the mechanical arm, the component detects the movement angle of the joint in real time, and the movement angle is the rotation angle relative to the position at the previous moment when the joint moves; corrects the movement angle of the mechanical arm according to the movement angle. The correspondence between the coordinate system and the coordinate system of the manipulation component. In this way, even if the joints of the manipulator move, the corresponding relationship between the manipulator components installed on the joints and the coordinate system of the manipulator can be corrected in real time, avoiding the offset between the two coordinate systems caused by the movement of the manipulator parts. To a certain extent, the accuracy of the control of the manipulator by the manipulator is improved.

Description of drawings

Fig. 1a is the front view structure schematic diagram of a kind of mechanical arm;

Fig. 1b is a schematic top view of the structure of the manipulator shown in Fig. 1a;

Fig. 2a is a schematic diagram of the position of the first joint a1 and the second joint a2 with a coordinate system of the robot arm in the posture A;

2b is a schematic diagram of the position of the first joint a1 and the second joint a2 with a coordinate system of a robotic arm in a posture B;

Fig. 2c is a schematic diagram of the angle calculation principle of the manipulator shown in Fig. 2b in attitude B;

FIG. 3 is a flowchart of an embodiment of a method for compensating the attitude of a manipulator in an embodiment of the present invention;

4a is a schematic diagram of the position of the first joint A with a coordinate system of another mechanical arm in the previous posture;

4b is a schematic diagram of the position of the first joint A with a coordinate system of another mechanical arm in the latter posture;

FIG. 5 is a schematic diagram of a specific flow of real-time detection of a movement angle in a method for compensating for attitude of a manipulator in an embodiment of the present invention;

6 is a structural diagram of an embodiment of a robotic arm attitude compensation device in an embodiment of the present invention;

FIG. 7 is a schematic diagram of a robotic arm according to an embodiment of the present invention.

Detailed ways

Embodiments of the present invention provide a method, a device, a storage medium, and a mechanical arm for attitude compensation of a manipulator, which are used to solve the problem of offset between the coordinate system of the manipulating component and the coordinate system of the manipulator when the joints of the existing manipulator move. question.

In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

For the current manipulator, such as the manipulator shown in Fig. 1a and Fig. 1b, when the manipulator moves from one posture to another, since the manipulator b is installed on the first joint a1, the coordinate system of the manipulator b will be caused Offset from the coordinate system of the robot arm. For the convenience of description, Fig. 2a and Fig. 2b show the position diagrams of the first joint a1 and the second joint a2 of the robotic arm in the posture A and the posture B, respectively.

As shown in Figure 2a, it is assumed that the first joint a1 and the second joint a2 are parallel to each other in the posture A, and the coordinate system (X1, Y1) of the manipulator on the horizontal plane and the coordinate system (X2) of the manipulator b on the horizontal plane are established in advance , Y2). At this time, the coordinate system (X1, Y1) is parallel to the coordinate system (X2, Y2). When the point P on the manipulating part b is moved to the X2 direction, the manipulator moves in the X1 direction, thus realizing the manipulating part b. Accurate control of the robotic arm. When the robotic arm moves from posture A to posture B, the first joint a1 and the second joint a2 form a certain angle. Since the manipulation part b is installed at the end of the second joint a2, the manipulation part b will follow the second joint a2. The joint a2 moves, and the coordinate system (X2, Y2) moves with it, but the coordinate system (X1, Y1) of the robotic arm is fixed, so the coordinate system (X1, Y1) and the coordinate system (X2, Y2) are also A certain angle, no longer parallel. At this time, when the point P on the traction control part b moves in the direction of X2, due to the pre-established correspondence between the coordinate system (X1, Y1) and the coordinate system (X2, Y2), the robot arm will move to the direction shown in Figure 2b. Obviously, the control result of the manipulator b on the robotic arm is inaccurate at this time, and it is not the control effect that the user wants to achieve.

In order to overcome the above problems, an embodiment of the present invention provides a method for compensating the attitude of a manipulator to correct the correspondence between the coordinate system of the manipulator and the coordinate system of the manipulator during the movement of the manipulator. Referring to FIG. 3, in one embodiment, the method for compensating the attitude of the robotic arm includes:

Step 301 , in the process of controlling the movement of the mechanical arm by pulling the manipulation member, real-time detection of the movement angle of the joint, where the movement angle is the rotation angle relative to the position at the previous moment when the joint moves;

Step 302: Correct the correspondence between the coordinate system of the robotic arm and the coordinate system of the manipulation component according to the movement angle.

The method for compensating the posture of a manipulator in this embodiment is applied to a manipulator. The manipulator is provided with at least one joint and a manipulation member, and the manipulation member is mounted on the joint.

For the above step 301, since the manipulation component is installed on the joint, the offset of the coordinate system of the manipulation component is closely related to the movement angle offset of the joint where it is located. The movement angle is the rotation angle relative to the position at the previous moment when the joint moves, the moment when the movement angle of the joint is detected is the current moment, and the moment when the movement angle of the joint was detected last time is the previous moment. It can be known that the position of the joint at the previous moment is the position at the previous moment. In this embodiment, the time interval between the current moment and the previous moment is determined by the time interval of "real-time detection". It can be understood that the movement angle may be based on the coordinate system of the manipulator or the coordinate system of the manipulating component, and when correcting, the coordinate system corresponding to the movement angle may be corrected.

In order to ensure the real-time performance of the correction, the above step 301 needs to detect the movement angle of the joint in real time, and every time a movement angle of the joint at the current moment is detected, the movement angle at the current moment is sent to step 302 for correction processing. The "real-time" in this embodiment means that an operation is performed every predetermined time interval, for example, the movement angle of the joint is detected every 0.1 seconds.

For the above step 302, each time the motion angle of the joint at the current moment is obtained, the corresponding relationship between the two coordinate systems is corrected according to the motion angle, so that the coordinate system between the coordinate system of the robotic arm and the coordinate system of the manipulation member is The correspondence is always consistent.

Further, step 302 can be specifically divided into the following two ways for correction:

The first way: when the movement angle is an angle based on the coordinate system of the robot arm, the coordinate system of the robot arm can be adjusted along the direction of the movement angle to adjust the angle value of the movement angle; or , adjust the angle value of the movement angle along the coordinate system of the manipulation component along the opposite direction of the movement angle.

The second way: when the movement angle is an angle based on the coordinate system of the manipulation component, the coordinate system of the robotic arm can be adjusted along the opposite direction of the movement angle to the angle value of the movement angle; Or, the coordinate system of the manipulation member is adjusted along the direction of the movement angle to adjust the angle value of the movement angle.

For the above-mentioned first and second methods, since their principles are basically similar, when the correction calculation process of the coordinate system is specifically described in the following content, only the “movement angle is based on the coordinate system of the robot arm, the The coordinate system of the robotic arm adjusts the angle value of the motion angle along the direction of the motion angle" will be described in detail, and the corrections in other cases are similar and will not be repeated here.

For ease of understanding, in the first application scenario, as shown in Figures 4a and 4b, the robotic arm is configured with a first joint A and a manipulation part B, and the manipulation part B is mounted on the first joint A. The coordinate system of the robot arm is (X1, Y1), and the coordinate system of the manipulation part B is (X2, Y2). Among them, Figure 4a is the previous posture of the robot arm, and Figure 4b is the latter posture of the robot arm. It can be seen that when moving from the previous posture to the latter posture, the coordinate system (X1, Y1) and the coordinate system (X2, Y2) are between There is an offset between them, and the offset angle is M1. As shown in Figure 4b, from the previous posture to the next posture, the movement angle of the first joint A can be obtained as M2, at this time, M2=M1, that is, the movement angle of the first joint A is exactly equal to the two coordinate systems offset angle. Therefore, during the correction, after the coordinate system (X1, Y1) is adjusted to the M2 angle value in the direction of the M2 movement angle, the coordinate system (X1, Y1) and the coordinate system (X2, Y2) coincide again, that is, the two coordinate systems The corresponding relationship is restored to the same, and the attitude compensation is completed.

The above-mentioned first application scenario mainly describes the specific correction process of the coordinate system when the robotic arm has only one joint. When the robotic arm is configured with two or more joints, after these two or more joints are connected in sequence through a rotating shaft, one end is mounted on the base of the robotic arm through the rotating shaft, and the other end is mounted with the manipulation component. In this case, the correction of the correspondence between the coordinate system of the robotic arm and the coordinate system of the manipulation member will be more complicated than the case of only one joint.

In this embodiment, in order to solve the correction of the coordinate system or the posture compensation of the manipulator in the case of more than two joints, further, the above step 301 may specifically be: in the process of controlling the motion of the manipulator by pulling the manipulator, The movement angle of the joint where the manipulation component is located is detected in real time. It can be understood that, since the manipulation component is mounted on the joint where it is located, the movement of the coordinate system of the manipulation component is only related to the movement angle of the joint where it is located.

However, since there are more than two joints on the manipulator, in the process of controlling the motion of the manipulator by pulling the manipulator, when other joints are also moving, the reference point of the joint where the manipulator is located changes, so , it is also necessary to calculate the motion angle of the joint where the manipulation component is located by using the rotated angles of other joints. As shown in FIG. 5 , specifically, the real-time detection of the motion angle of the joint where the manipulation component is located may include:

501. Acquire in real time the rotated angle of the rotation axis of each of the two or more joints, where the rotated angle is the rotated angle of the current position of the rotation axis relative to the initial position;

502. Calculate, according to each of the rotated angles corresponding to each of the joints, a movement angle of the joint where the manipulation component is located.

Further, in order to improve the acquisition efficiency of the rotated angle of each rotation axis, thereby improving the real-time calculation efficiency of the motion angle, when the rotation axis of each joint rotates, record the rotated rotation angle of the rotation axis. . In this way, when the motion angle of the joint where the manipulation part is located needs to be calculated, the rotated angle of each joint can be obtained from the record in real time, so that the motion angle of the joint where the manipulation part is located can be calculated.

For ease of understanding, the following describes in detail the case where the robotic arm is configured with more than two joints. In the second application scenario, please refer to Fig. 2a, Fig. 2b and Fig. 2c, Fig. 2c is a schematic diagram of the angle calculation principle of the manipulator shown in Fig. 2b in the posture B. The robotic arm is configured with two joints, namely the first joint a1 and the second joint a2, the relationship between them has been described in the above content, and will not be repeated here.

Assuming that the set posture A is the initial state of the robot arm, the rotation axis 01 and the rotation axis 02 are in the initial position. In the initial position, the rotated angle of the rotation axis 01 and the rotation axis 02 can be set to 0. The posture B is the posture of the robotic arm at the next moment. As can be seen from Figure 2c, when the robotic arm moves from posture A to posture B, the rotated angle of the rotation axis 01 is N1, and the rotated angle of the rotation axis 02 is N2. The offset angle of the coordinate system of the manipulation part is K1, K1=K2, and K2 is the movement angle of the second joint a2. It can be seen that K1=K2=N2-N1'=N2-N1, thus, by calculating the difference between the rotated angle of the rotating shaft 02 and the rotated angle of the rotating shaft 01, the second joint a2 where the manipulation member b is located can be obtained. Movement angle.

In the second application scenario, after the movement angle of the second joint a2 is obtained, the corresponding relationship between the coordinate system (X1, Y1) and the coordinate system (X2, Y2) can be corrected according to the movement angle K2. The coordinate system (X1, Y1) is parallel to the coordinate system (X2, Y2), the corresponding relationship is restored to the same, and the robot arm posture compensation is completed.

It should be noted that, in this embodiment of the present invention, the manipulation component may specifically be a 3D mouse or a joystick component, which may be installed at the end of the robotic arm when it is turned off, and the traction control of the robotic arm can be realized by pulling the 3D mouse or joystick.

As described above, in the embodiment of the present invention, even if the joint of the manipulator moves, the corresponding relationship between the manipulator installed on the joint and the coordinate system of the manipulator can be corrected in real time, avoiding the two The offset between the two coordinate systems improves the accuracy of the control of the manipulator by the manipulator to a certain extent.

The above mainly describes a method for compensating the attitude of a manipulator, and a device for compensating the attitude of a manipulator will be described in detail below.

FIG. 6 shows a structural diagram of an embodiment of a robot arm attitude compensation device in an embodiment of the present invention.

A mechanical arm posture compensation device, the mechanical arm posture compensation device is applied to a mechanical arm, the mechanical arm is configured with at least one joint and a manipulation part, and the manipulation part is mounted on the joint;

The robotic arm attitude compensation device includes:

The motion angle detection module 601 is used to detect the motion angle of the joint in real time during the process of controlling the motion of the mechanical arm by pulling the manipulation member, and the motion angle is the rotation of the joint relative to the position at the previous moment. Angle;

The coordinate system correction module 602 is configured to correct the corresponding relationship between the coordinate system of the robotic arm and the coordinate system of the manipulation component according to the movement angle.

Further, the mechanical arm is configured with two or more joints, and after the two or more joints are sequentially connected by a rotating shaft, one end is installed on the base of the mechanical arm through the rotating shaft, and the other end is installed with the manipulation component. ;

The motion angle detection module may include:

The joint angle detection unit is used for real-time detection of the movement angle of the joint where the manipulation component is located.

Further, the joint angle detection unit may specifically include:

The rotated angle acquisition subunit is used to acquire the rotated angle of the rotation axis of each of the two or more joints in real time, and the rotated angle is the rotated angle of the current position of the rotation axis relative to the initial position. angle;

A motion angle calculation subunit, configured to calculate the motion angle of the joint where the manipulation component is located according to the respective rotated angles corresponding to the respective joints.

Further, the robotic arm attitude compensation device may also include:

The angle recording module is configured to record the rotated angle of the rotated axis if the rotation axis of each joint rotates.

Further, include:

When the movement angle is an angle based on the coordinate system of the robotic arm, the coordinate system correction module may include:

a first manipulator coordinate system adjustment unit for adjusting the coordinate system of the manipulator along the direction of the motion angle to adjust the angle value of the motion angle; or, a first manipulation component coordinate system adjustment unit for adjusting the motion angle The coordinate system of the manipulation component adjusts the angle value of the movement angle along the opposite direction of the movement angle;

When the movement angle is an angle based on the coordinate system of the manipulation component, the coordinate system correction module may include:

The second coordinate system adjustment unit of the manipulator is used to adjust the coordinate system of the manipulator along the opposite direction of the movement angle to the angle value of the movement angle; or, the second manipulator coordinate system adjustment unit is used for The coordinate system of the manipulation member is adjusted along the direction of the movement angle to adjust the angle value of the movement angle.

An embodiment of the present invention further provides a robotic arm, the robotic arm is configured with at least one joint and a manipulation component, and the manipulation component is mounted on the joint; the robotic arm also includes any of the components described in the corresponding embodiments of FIG. 6 . A mechanical arm attitude compensation device.

FIG. 7 is a schematic diagram of a robotic arm provided by an embodiment of the present invention. As shown in FIG. 7 , the robotic arm 7 of this embodiment includes: a processor 70 , a memory 71 , and a computer program 72 stored in the memory 71 and executable on the processor 70 , such as a robotic arm posture compensation program . When the processor 70 executes the computer program 72 , the steps in each of the above-mentioned embodiments of the manipulator posture compensation method are implemented, for example, steps 301 to 302 shown in FIG. 3 . Alternatively, when the processor 70 executes the computer program 72 , the functions of the modules/units in the foregoing device embodiments, such as the functions of the modules 601 to 602 shown in FIG. 6 , are implemented.

Exemplarily, the computer program 72 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 71 and executed by the processor 70 to complete the this invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 72 in the robotic arm 7 .

The robotic arm 7 may include, but is not limited to, a processor 70 and a memory 71 . Those skilled in the art can understand that FIG. 7 is only an example of the robot arm 7 , and does not constitute a limitation to the robot arm 7 , and may include more or less components than shown, or combine some components, or different components For example, the robotic arm may further include input and output devices, network access devices, buses, and the like.

The processor 70 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 71 may be an internal storage unit of the robotic arm 7 , such as a hard disk or a memory of the robotic arm 7 . The memory 71 may also be an external storage device of the robotic arm 7, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the robotic arm 7 card, flash card (Flash Card) and so on. Further, the memory 71 may also include both an internal storage unit of the robotic arm 7 and an external storage device. The memory 71 is used to store the computer program and other programs and data required by the computer. The memory 71 may also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above may refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, removable hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes.

As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: The technical solutions described in the embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (5)

1. A method for compensating the posture of a mechanical arm, wherein the method for compensating the posture of a mechanical arm is applied to a kind of mechanical arm, and the mechanical arm is configured with a joint and a manipulation member, and the manipulation member is mounted on the joint; The robotic arm attitude compensation method includes: Pre-establishing the correspondence between the coordinate system of the robotic arm and the coordinate system of the manipulation component; In the process of controlling the movement of the mechanical arm by pulling the manipulation member, the movement angle of the joint is detected in real time, and the movement angle is the angle rotated relative to the position at the previous moment when the joint moves; Correcting the correspondence between the coordinate system of the robotic arm and the coordinate system of the manipulation component according to the movement angle; The mechanical arm is configured with two or more joints, and after the two or more joints are sequentially connected by a rotating shaft, one end is installed on the base of the mechanical arm through the rotating shaft, and the other end is installed with the manipulation component; The step of detecting the motion angle of the joint in real time is specifically: Detecting the movement angle of the joint where the manipulation component is located in real time; The step of detecting the motion angle of the joint where the manipulation component is located in real time includes: When the rotating shaft of the joint rotates, record the rotated angle of the rotating shaft; Acquiring in real time the rotated angle of the rotation axis of each of the two or more joints, where the rotated angle is the rotated angle of the current position of the rotation axis relative to the initial position; Calculate the motion angle of the joint where the manipulation component is located according to the respective rotated angles corresponding to the respective joints; When the movement angle is an angle based on the coordinate system of the robotic arm, the step of correcting the correspondence between the coordinate system of the robotic arm and the coordinate system of the manipulation component according to the movement angle includes: Adjust the coordinate system of the robotic arm along the direction of the movement angle to adjust the angle value of the movement angle; or, adjust the coordinate system of the manipulation component to adjust the movement angle along the opposite direction of the movement angle. angle value; When the movement angle is an angle based on the coordinate system of the manipulation member, the step of correcting the correspondence between the coordinate system of the robotic arm and the coordinate system of the manipulation member according to the movement angle includes: Adjust the coordinate system of the robotic arm along the opposite direction of the movement angle to adjust the angle value of the movement angle; or, adjust the coordinate system of the manipulation member along the direction of the movement angle to adjust the movement angle angle value. 2. A mechanical arm posture compensation device, characterized in that, the mechanical arm posture compensation device is applied to a mechanical arm, the mechanical arm is configured with a joint and a manipulation component, and the manipulation component is mounted on the joint; The robotic arm attitude compensation device includes: a corresponding relationship establishing module for pre-establishing the corresponding relationship between the coordinate system of the robotic arm and the coordinate system of the manipulation component; The movement angle detection module is used to detect the movement angle of the joint in real time during the process of controlling the movement of the mechanical arm by pulling the manipulation component, and the movement angle is the rotation angle of the joint relative to the position at the previous moment when the joint moves. angle; a coordinate system correction module, configured to correct the correspondence between the coordinate system of the robotic arm and the coordinate system of the manipulation component according to the movement angle; The mechanical arm is configured with two or more joints, and after the two or more joints are sequentially connected by a rotating shaft, one end is installed on the base of the mechanical arm through the rotating shaft, and the other end is installed with the manipulation component; The motion angle detection module includes: a joint angle detection unit, used for real-time detection of the movement angle of the joint where the manipulation component is located; The joint angle detection unit specifically includes: The rotated angle recording subunit is used to record the rotated angle of the rotated rotation axis when the rotation axis of the joint rotates; The rotated angle acquisition subunit is used to acquire the rotated angle of the rotation axis of each of the two or more joints in real time, and the rotated angle is the rotated angle of the current position of the rotation axis relative to the initial position. angle; a motion angle calculation subunit, configured to calculate the motion angle of the joint where the manipulation component is located according to the respective rotated angles corresponding to the respective joints; When the movement angle is an angle based on the coordinate system of the robotic arm, the coordinate system correction module includes: a first manipulator coordinate system adjustment unit for adjusting the coordinate system of the manipulator along the direction of the motion angle to adjust the angle value of the motion angle; or, a first manipulation component coordinate system adjustment unit for adjusting the motion angle The coordinate system of the manipulation component adjusts the angle value of the movement angle along the opposite direction of the movement angle; When the movement angle is an angle based on the coordinate system of the manipulation component, the coordinate system correction module includes: The second coordinate system adjustment unit of the manipulator is used to adjust the coordinate system of the manipulator along the opposite direction of the movement angle to the angle value of the movement angle; or, the second manipulator coordinate system adjustment unit is used for The coordinate system of the manipulation member is adjusted along the direction of the movement angle to adjust the angle value of the movement angle. 3. A robotic arm, characterized in that the robotic arm is provided with a joint and a manipulation member, and the manipulation member is mounted on the joint; The manipulator further comprises the manipulator posture compensation device according to claim 2 . 4. A robotic arm comprising a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor implements the computer program as claimed in the claims 1. The steps of the robot arm attitude compensation method. 5 . A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the method for compensating the attitude of a robotic arm according to claim 1 are implemented.

Images