CN106475999B - The acceleration control method of Dual-Arm Coordination based on impedance model under hard conditions - Google Patents
The acceleration control method of Dual-Arm Coordination based on impedance model under hard conditions Download PDFInfo
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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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
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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Abstract
The invention discloses a kind of acceleration control methods of the Dual-Arm Coordination based on impedance model under hard conditions, include the following steps：S1：Robot controller acquires the information of six-dimension force sensor, is filtered first to collected information, then carries out gravity compensation, finally obtains with expected force or it is expected the departure data of moment values；S2：The departure data of the departure data of power or moment values are changed into the acceleration that robot end moves in cartesian space and the angular acceleration being pivoted according to impedance model；S3：Acquire corresponding position function, velocity function, acceleration function and acceleration function；S4：According to inverse kinematics and then acquire the joint angles function in joint space；S5：Servo-driver will be sent to by the bus of controller after the isochronous interpolation of joint angles function progress joint space, and then controls the action of robot.Real-time force tracking effect may be implemented in the present invention, and motion smoothing when robot follows.
Description
Technical field
The present invention relates to high-precision traction teaching robot field, more particularly under hard conditions based on impedance model
High-precision draws the method for control speed of teaching robot.
Background technology
Multi-robot cooperation system in work compound ability, adapts to complex task and adaptation for single robot
Complex environment etc. embodies advantage, and is also a very important link in co-melting robot, is intelligent group
The basis of realization.By taking multi-robot Cooperation welds as an example, the key scientific problems of more core are in multi-robot Cooperation welding：
Position power coordination problem between both arms (two transfer robots), current difficult point are embodied in internal force difficulty control between both arms, existing
Control algolithm realizes that difficulty is big etc..Three kinds of intuitive solutions of position power coordination are between traditional solution both arms：1) it establishes double
Kinetic model under robot closed chain：Both arms and the Coupling Dynamic Model of the object to be operated are established, and is attempted theoretically
The problems such as solving system modelling error and external interference；2) hybrid position/power control：Contact force to robot end and position
Orthogonal control is carried out, carries out power control in a direction, other directions carry out position control.3) mechanical arm is established and by operation object
Internal impedance between body solves the problems, such as the internal force in the machine human world；It establishes by the external impedance between operation object and environment, solves object
The external force problem of body and environment；Internal impedance and external impedance fused controlling.However, these three schemes have the following disadvantages：1. being directed to
Scheme 1 and scheme 3, at present most of research rest on the theory analysis stage, and experiment also stays at simply both arms cooperation clamping
Workpiece is simply moved.2. being directed to scheme 2, hybrid position/power control is only applicable to some direction under non-critical tight coordination
The case where by force constraint, such as cooperation is carried, crawl and assembly task, be not appropriate for it is stringent tight coordinate lower 6 DOF degree by
The industrial applications of force constraint, such as multi-robot Cooperation welding workpiece.3. being directed to scheme 3, do not solve stringent in practical control
Tight the problem of coordinating poor lower both arms real-time and internal force difficulty control.
Invention content
Goal of the invention：The object of the present invention is to provide a kind of hard conditions that can solve defect existing in the prior art
Under the Dual-Arm Coordination based on impedance model acceleration control method.
Technical solution：To reach this purpose, the present invention uses following technical scheme：
The acceleration control method of Dual-Arm Coordination based on impedance model under hard conditions of the present invention, including it is following
Step：
S1：Robot controller acquires the information of six-dimension force sensor, is filtered first to collected information,
Then gravity compensation is carried out, finally obtains with expected force or it is expected the departure data of moment values；
S2：The departure data of the departure data of power or moment values are changed into robot end according to impedance model
The acceleration moved in cartesian space and the angular acceleration being pivoted；
S3：Smooth interpolation is carried out to movement according to the S types speed control curve of deformation, acquires corresponding position function, speed
Spend function, acceleration function and acceleration function；
S4：According to inverse kinematics and then acquire the joint angles function in joint space；
S5：It is watched being sent to by the bus of controller after the isochronous interpolation of joint angles function progress joint space
Driver is taken, and then controls the action of robot.
Further, in the step S1, the information of robot controller acquisition six-dimension force sensor is in specified force control week
Phase reads the power and moment information of six-dimension force sensor by UDP communication ports.
Further, it in the step S2, acceleration that robot end moves in cartesian space and is pivoted
The matrix a of angular acceleration compositioniIt indicates, aiFor the matrix of 6*1, matrix aiMiddle first three rows are robot ends in Descartes's sky
Between middle movement acceleration, rear three row is the angular acceleration that robot end is pivoted in cartesian space, aiFor：
In formula (1), FzmaxIndicate the maximum six-dimensional force and moment information that can bear, amaxIndicate that robot end allows
Peak acceleration, FdIndicate that the six-dimensional force for it is expected to track, f are a monotonic function, S indicates that diagonal line function is 0 or 1 pair
Angular moment battle array.
Further, the step S3 includes the following steps：
S3.1：Position function θ (t), velocity function v (t), acceleration function a (t) and acceleration are acquired according to formula (2)
Function j (t)：
In formula (2), θiFor initial position, viFor initial velocity, aiFor initial acceleration, ai+1For desired terminal velocity, t
For the normalized time, T is the communication cycle of robot controller and servo-driver；
S3.2：Judge ai+1With aiAbsolute value of the difference whether more than amax, viAbsolute value whether more than Vmax, amaxIt indicates
The maximum acceleration of robot end of permission, VmaxIndicate the maximum speed of robot end allowed：If ai+1With aiIt
Absolute value of the difference is more than amax, viAbsolute value be not above Vmax, then step S3.3 is carried out；If ai+1With aiAbsolute value of the difference
More than amax, viAbsolute value also above Vmax, then step S3.4 is carried out；
S3.3：Judge ai+1With aiSize：If ai> ai+1, then position function θ (t), speed are recalculated according to formula (3)
Spend function v (t), acceleration function a (t) and acceleration function j (t)；If ai< ai+1, then position is recalculated according to formula (4)
Set function # (t), velocity function v (t), acceleration function a (t) and acceleration function j (t)；
S3.4：Position function θ (t), velocity function v (t), acceleration function a (t) are recalculated according to formula (5) and plus are added
Velocity function j (t)；
Further, in the step S5, the bus of controller is EtherCAT buses.
Further, the robot controller is divided into six levels from top to bottom, i.e., client layer, six-dimensional force signal acquisition and
Process layer, impedance control layer, Acceleration Control layer, joint interpolation layer and EtherCAT bus communication layers；Wherein, client layer, six
It ties up force signal acquisition and process layer, impedance control layer is opened to the outside world, Acceleration Control layer, joint interpolation layer and EtherCAT buses
Communication Layer is not developed externally.
Further, the client layer provides user's interactive interface of user's secondary development, six-dimensional force Signal sampling and processing
Layer provides the six-dimensional force acquisition of user's secondary development and Processing Interface, impedance control layer provide the impedance control of user's secondary development
Interface.
Advantageous effect：Compared with prior art, the present invention has following advantageous effect：
1) actual industrial is solved the problems, such as：Dissect present actual industrial scene there are the problem of, analyze its essential characteristic, propose
Corresponding solution, not only rests on the theory analysis stage and simple both arms carry application；
2) method versatility：Compared to traditional hybrid position power coordination approach be only applicable to it is non-critical it is tight coordinate (only certain
A direction or certain several direction are constrained by power) task, the scheme carried is non-critical tight coordination with more versatility
Task and stringent tight two kinds of situations of coordination of tasks (six dimensions are by force constraint) provide solution；
3) improve the real-time of coordination to follow effect and solve the problems, such as that internal force is uncontrollable.Compared to traditional power prosecutor case
Speech, real-time force tracking effect may be implemented in the present invention, and motion smoothing when robot follows, and efficiently solves between both arms
Internal force difficulty control problem；
4) open second development interface is provided.For user open interface include：User's interactive interface of task layer,
The model interface of impedance layer, user oneself can change flexible parameter and modification impedance model according to demand.
Description of the drawings
Fig. 1 is the schematic diagram for the Dual-Arm Coordination control system that the method for the specific embodiment of the invention is directed to；
Fig. 2 is the Acceleration Control Organization Chart of the specific embodiment of the invention；
Fig. 3 be the specific embodiment of the invention hard conditions under Dual-Arm Coordination the unit force control period flow chart；
Fig. 4 is the block diagram of the impedance control of the specific embodiment of the invention；
Fig. 5 is the correspondence figure of the F and a based on impedance model of the specific embodiment of the invention；
Fig. 6 is the speed control schematic diagram based on deformation S type curves of the specific embodiment of the invention；
Fig. 7 is the position based on speed control curve, speed, acceleration and the acceleration of the specific embodiment of the invention
Schematic diagram.
Specific implementation mode
Technical scheme of the present invention is further introduced With reference to embodiment.
Present embodiment discloses a kind of Acceleration Control of the Dual-Arm Coordination based on impedance model under hard conditions
Method includes the following steps：
S1：Robot controller acquires the information of six-dimension force sensor, is filtered first to collected information,
Then gravity compensation is carried out, finally obtains with expected force or it is expected the departure data of moment values；
S2：The departure data of the departure data of power or moment values are changed into robot end according to impedance model
The acceleration moved in cartesian space and the angular acceleration being pivoted；
S3：Smooth interpolation is carried out to movement according to the S types speed control curve of deformation, acquires corresponding position function, speed
Spend function, acceleration function and acceleration function；
S4：According to inverse kinematics and then acquire the joint angles function in joint space；
S5：It is watched being sent to by the bus of controller after the isochronous interpolation of joint angles function progress joint space
Driver is taken, and then controls the action of robot.
Fig. 1 is the structural schematic diagram of Dual-Arm Coordination control system.A definition wherein robot is leading robot, clamping
A part for the object to be operated, and the track of leading movement；An other robot is auxiliary robot, and the object to be operated is clamped
Another part, six-dimension force sensor is installed in auxiliary robot end, to prevent from causing internal force excessive due to position and attitude error
Force snesor is damaged, protective device is installed between robot end and six-dimension force sensor, auxiliary robot is according to end
The movement locus of robot is dominated in the feedback information tracking of six-dimension force sensor.
Robot controller is divided into six levels from top to bottom, as shown in Fig. 2, i.e. client layer, six-dimensional force signal acquisition and
Process layer, impedance control layer, Acceleration Control layer, joint interpolation layer and EtherCAT bus communication layers；Wherein, 1) client layer master
It is used to interact with user interface, such as is interacted with teaching box, the effect of this layer is relevant according to user demand setting
Parameter, such as flexible parameter that auxiliary robot need to be shown in universal time coordinated.2) six-dimensional force Signal sampling and processing layer is mainly used
In the acquisition, filtering, gravity compensation etc. of sextuple force signal.3) impedance control layer mainly establishes six-dimensional force deviation and auxiliary machinery
The relationship of people's end movement, establishes power deviation F in of the invention and auxiliary robot end moves in cartesian space and adds
The transformation relation of speed a, the schematic diagram of specific relational expression as shown in figure 4, the model used for impedance Control Model.4) accelerate
Degree control layer is mainly that the relationship model established according to Fig. 4 realizes the smooth control based on accelerating curve in cartesian space
System is that auxiliary robot draws lower end final behavior table based on impedance model in cartesian space in leading robot
It is existing：Real-time tracking dominates the movement locus of robot.5) joint interpolation layer mainly in joint space to each axis etc. whens
Interpolation synchronous planning.6) EtherCAT bus communications layer mainly completes conversion of the joint angle angle value to pulsed quantity, and passes through
The pulses switch amount is sent to servo slave station by EtherCAT main websites, while receiving the status information from servo slave station, including
State value, present position values, velocity amplitude, acceleration value etc..
Most crucial layer is in robot controller：Force signal acquires and process layer, impedance layer and Acceleration Control layer, this
Three layers are commonly referred to as Dual-Arm Coordination power control packet.1) force signal acquisition and handling result affect the precision of traction, and force signal is generally logical
The method removal dither signal for crossing filtering, then carries out gravity compensation to auxiliary robot under various poses.2) impedance layer
Core is impedance model, the linear function transformation or quadratic polynomial functional transformation that user oneself can set according to demand, but
It is the requirement that need to meet monotonic function.3) Acceleration Control layer is the S types deformation acceleration planning of quintic algebra curve, specified
Smooth interpolation is carried out to acceleration in the unit force control period, keep auxiliary robot end movement smooth and ensures to follow in real time leading
Robot.
In fig. 2, " open " in open architecture controller is embodied in：The interface of secondary development is provided the user with, including
Three open interfaces：User's interactive interface (User Interface, UI), six-dimensional force acquisition and Processing Interface (Force/
Torque Acquire Interface, FTAI) and impedance control interface (Impedance Control Interface,
ICI), other layers (speed control layer, joint interpolation layer and Communication Layer) are related to specifically controlling and realize, therefore not to external-open
It puts.
Fig. 3 is the unit force control cyclic flow graph of Dual-Arm Coordination under hard conditions.User (such as can show according to user interface
Teach box) start auxiliary robot coordination tracing mode, and relevant robot flexibility tracking parameter is set, such as robot it is expected
Inertia (M), damping (B) and rigidity (K) coefficient for showing etc..Robot controller is in real time acquired sextuple force information,
Filtering and processing, then into obtaining current six-dimensional force departure after the gravity compensation of line sensor, and then according to based on modulus of impedance
The Acceleration Control algorithm of type acquires pose departure, and the final auxiliary robot that controls tracks leading machine according to pose offset
The track of people.
Fig. 4 is the structure chart of impedance control, is an introduction about the construction to Fig. 3 flow charts.
In step S2, on the basis of step S1, according to robot flexibility parameter set by user and selectable impedance
Types of models initializes the parameter of impedance layer, and flexible parameter can set inertia, damping and the rigidity that performance it is expected by robot, together
When can be according to the functional relation in impedance model type set such as Figure of description 5, under normal circumstances, according to the flexibility of user
Parameter can automatically select corresponding functional relation (a certain functional relation in Fig. 5), and general function expression is as follows：
In formula (1), aiThe acceleration moved in cartesian space for robot end and the angular acceleration being pivoted
The matrix of composition, aiFor the matrix of 6*1, matrix aiMiddle first three rows are the acceleration that robot end moves in cartesian space,
Three rows are the angular acceleration that robot end is pivoted in cartesian space afterwards；FzmaxIndicate that the maximum that can be born is sextuple
Power and moment information, FzmaxIt is a matrix being made of three-dimensional force and three-dimensional moment, amaxIndicate that robot end allows most
High acceleration, FdIndicate that the six-dimensional force for it is expected to track, f indicate that function shown in Fig. 5, S indicate that diagonal line function is 0 or 1
Diagonal matrix.
For choosing curve herein 3., i.e. linear functional relation, then corresponding function expression is as follows：
S in above formula is the matrix of sextuple degree, and S is pair of horns matrix, and specified diagonal entry is only 0 or 1.Member
Element is set as the position offset of 0 expression in this direction and does not stress the influence of deviation signal, i.e. the direction does not stress constraint；Element
The 1 expression direction is set as by force constraint, is set herein according to actual demand.
Step S3 includes the following steps：
S3.1：On the basis of step S2, the power control period is defined first, and the principle of definition is：Controller and driving at present
Communication cycle between device is 1ms or 4ms, and controlling cycle defines suitable timeslice to realize on the basis of 1ms or 4ms
The control in one power control period, definition unit interval piece are 20 controlling cycles, i.e. 20ms or 80ms are a timeslice,
Controller bottom ensure that the power control period is short enough.
Known initial position θi, initial velocity vi, initial acceleration ai, initial jerk ji=0, desired terminal speed
Spend vi+1, desired terminal acceleration ai+1With desired terminal acceleration ji+1=0, establish following quintic algebra curve equation：
Wherein, w0,w1,w2,w3,w4,w5For the coefficient of quintic algebra curve, according to " acceleration of a certain moment Mo with it is next
Acceleration at the beginning of moment is continuous " constraints obtain the constraint equation to should look like this.
The coefficient of quintic algebra curve can be calculated according to above-mentioned constraints, corresponding Acceleration Control curve is as said
Shown in bright attached drawing 6.And then derive the function of corresponding position, acceleration and acceleration, expression is as follows：
In formula (5), θiFor initial position, viFor initial velocity, aiFor initial acceleration, ai+1For desired terminal velocity, t
For the normalized time, T is the communication cycle of robot controller and servo-driver；Position function θ is acquired according to formula (5)
(t), velocity function v (t), acceleration function a (t) and acceleration function j (t)；
S3.2：Judge ai+1With aiAbsolute value of the difference whether more than amax, viAbsolute value whether more than Vmax, amaxIt indicates
The maximum acceleration of robot end of permission, VmaxIndicate the maximum speed of robot end allowed：If ai+1With aiIt
Absolute value of the difference is more than amax, viAbsolute value be not above Vmax, then step S3.3 is carried out；If ai+1With aiAbsolute value of the difference
More than amax, viAbsolute value also above Vmax, then step S3.4 is carried out；
S3.3：Judge ai+1With aiSize：If ai> ai+1, then position function θ (t), speed are recalculated according to formula (6)
Spend function v (t), acceleration function a (t) and acceleration function j (t)；If ai< ai+1, then position is recalculated according to formula (7)
Set function # (t), velocity function v (t), acceleration function a (t) and acceleration function j (t)；
S3.4：Position function θ (t), velocity function v (t), acceleration function a (t) are recalculated according to formula (8) and plus are added
Velocity function j (t)；
For present embodiment with two artificial experimental subjects of ESTUN ER16 industrial machines, it is 16Kg to load, and one
For platform as robot is dominated, one is used as auxiliary robot.The case where now only considering auxiliary robot, it is assumed that initial position θi=
0, initial velocity vi=0, initial acceleration ai=0, initial jerk ji=0, desired terminal acceleration ai+1=500mm/
s2With desired terminal acceleration (ji+1=0), corresponding position, speed, acceleration and acceleration are in unit interval piece
Curve graph it is as shown in Figure 7.
Above-mentioned attached drawing to specifications 1 is built into dual arm system, the level in by specification attached drawing 2 is controlling above-mentioned algorithm
It is achieved in device processed, you can robot draws the effect of robot.
Claims (7)
1. the acceleration control method of the Dual-Arm Coordination based on impedance model under hard conditions, it is characterised in that：Including following step
Suddenly：
S1：Robot controller acquires the information of six-dimension force sensor, is filtered first to collected information, then
Gravity compensation is carried out, finally obtains with expected force or it is expected the departure data of moment values；
S2：The departure data of the departure data of power or moment values are changed into robot end in flute according to impedance model
The acceleration moved in karr space and the angular acceleration being pivoted；
S3：Smooth interpolation is carried out to movement according to the S types speed control curve of deformation, acquires corresponding position function, speed letter
Number, acceleration function and acceleration function；
S4：According to inverse kinematics and then acquire the joint angles function in joint space；
S5：It is driven servo is sent to by the bus of controller after the isochronous interpolation of joint angles function progress joint space
Dynamic device, and then control the action of robot.
2. the acceleration control method of the Dual-Arm Coordination based on impedance model under hard conditions according to claim 1,
It is characterized in that：In the step S1, the information that robot controller acquires six-dimension force sensor was passed through in the specified force control period
UDP communication ports read the power and moment information of six-dimension force sensor.
3. the acceleration control method of the Dual-Arm Coordination based on impedance model under hard conditions according to claim 1,
It is characterized in that：In the step S2, the acceleration that robot end moves in cartesian space and the angle acceleration being pivoted
Spend the matrix a of compositioniIt indicates, aiFor the matrix of 6*1, matrix aiMiddle first three rows are that robot end moves in cartesian space
Dynamic acceleration, rear three row are the angular acceleration that robot end is pivoted in cartesian space, aiFor：
In formula (1), Fz maxIndicate the maximum six-dimensional force and moment information that can bear, amaxIndicate that robot end allows most
High acceleration, FdIndicate that the six-dimensional force for it is expected to track, f are a monotonic function, S indicates diagonal line function for 0 or 1 to angular moment
Battle array.
4. the acceleration control method of the Dual-Arm Coordination based on impedance model under hard conditions according to claim 1,
It is characterized in that：The step S3 includes the following steps：
S3.1：Position function θ (t), velocity function v (t), acceleration function a (t) and acceleration function j are acquired according to formula (2)
(t)：
In formula (2), θiFor initial position, viFor initial velocity, aiFor initial acceleration, ai+1For desired terminal velocity, t is to return
One time changed, T are the communication cycle of robot controller and servo-driver；
S3.2：Judge ai+1With aiAbsolute value of the difference whether more than amax, viAbsolute value whether more than Vmax, amaxIt indicates to allow
The maximum acceleration of robot end, VmaxIndicate the maximum speed of robot end allowed：If ai+1With aiDifference
Absolute value is more than amax, viAbsolute value be not above Vmax, then step S3.3 is carried out；If ai+1With aiAbsolute value of the difference be more than
amax, viAbsolute value also above Vmax, then step S3.4 is carried out；
S3.3：Judge ai+1With aiSize：If ai> ai+1, then position function θ (t), speed letter are recalculated according to formula (3)
Number v (t), acceleration function a (t) and acceleration function j (t)；If ai< ai+1, then position letter is recalculated according to formula (4)
Number θ (t), velocity function v (t), acceleration function a (t) and acceleration function j (t)；
S3.4：Position function θ (t), velocity function v (t), acceleration function a (t) and acceleration are recalculated according to formula (5)
Function j (t)；
5. the acceleration control method of the Dual-Arm Coordination based on impedance model under hard conditions according to claim 1,
It is characterized in that：In the step S5, the bus of controller is EtherCAT buses.
6. the acceleration control method of the Dual-Arm Coordination based on impedance model under hard conditions according to claim 1,
It is characterized in that：The robot controller is divided into six levels, i.e. client layer, six-dimensional force Signal sampling and processing from top to bottom
Layer, impedance control layer, Acceleration Control layer, joint interpolation layer and EtherCAT bus communication layers；Wherein, client layer, six-dimensional force
Signal sampling and processing layer, the opening of impedance control layer, Acceleration Control layer, joint interpolation layer and EtherCAT bus communications
Layer is not developed externally.
7. the acceleration control method of the Dual-Arm Coordination based on impedance model under hard conditions according to claim 6,
It is characterized in that：The client layer provides user's interactive interface of user's secondary development, and six-dimensional force Signal sampling and processing layer provides
The six-dimensional force of user's secondary development acquires and Processing Interface, and impedance control layer provides the impedance control interface of user's secondary development.
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