CN110948504B - Normal constant force tracking method and device for robot machining operation - Google Patents
Normal constant force tracking method and device for robot machining operation 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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention provides a normal constant force tracking method and a normal constant force tracking device for robot machining operation, wherein the method comprises the following steps: giving an initial reference track; controlling the robot to move along the reference track; iteratively calculating and updating the position of the current reference track according to the error between the actual contact force and the expected contact force; calculating the attitude of the reference trajectory based on the updated position of the reference trajectory and the direction of the actual contact force. The method introduces a reference track into the existing robot machining force control system, obtains the high-precision reference track through iterative learning and attitude estimation, reflects the outline of a machined workpiece and the attitude which a robot machining tool needs to keep, performs machining according to the reference track, and can realize normal constant force tracking in the process of various curved surface machining operations. Meanwhile, the invention can be realized only by a 3-dimensional force sensor, and the cost increase caused by adopting a 6-dimensional force sensor is avoided.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a robot control technology, and specifically relates to a normal constant force tracking method and device in robot machining operation.
Background
At present, the 3C industry has a great demand on the application of robot grinding, polishing and the like. The traditional robot adopts position control, which is difficult to ensure constant contact force in grinding and polishing operations, resulting in uneven processing quality. Force sensor based robotic manual machining solutions have therefore been introduced by many companies.
Most of the current methods used in force control machining are impedance/admittance control (the control block diagram is shown in fig. 1). In performing robotic machining (grinding, polishing) operations, the contact force and relative position between the robot end tool and the part being machined can be expressed as aA determined impedance relationship. Error of actual contact force from expected contact force
Can be expressed as:
wherein the content of the first and second substances,
the parameters of the inertia are represented by,
the damping parameter is represented by a value representing the damping parameter,
which is indicative of a stiffness parameter of the steel,
representing a desired trajectory
And the actual trajectory
Position error therebetween.
When the contact force is stable, the above formula is simplified to
I.e. for a fixed stiffness parameter
As long as the position error can be ensured
It is ensured that the contact force is kept in conformity with the desired force. This requires a sufficiently accurate machining reference trajectory
To improve force tracking accuracy.
Assuming that the contour trace of the surface of the workpiece is
The track that the robot end tool should travel is
Then exist
。
Typically, the profile path of the workpiece surface is readily available (e.g., taught) if the contact stiffness between the tool tip and the workpiece surface is high
If also known, can pass
（
For target contact force) to calculate a position error
. Then the position error is determined
And the required track position of the tail end can be obtained by superposing the tail end on the contour track of the surface of the workpiece. However, for most processing scenarios, it is difficult to obtain the stiffness parameter
And therefore it is also difficult to obtain an accurate machining locus in the end
。
In addition, if normal constant force tracking in machining operations is to be achieved, it is often necessary to employ 6-dimensional force sensors, which undoubtedly increases production costs. Meanwhile, due to the friction force between the end tool of the robot and the workpiece, accurate normal tracking is difficult to realize.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a normal constant force tracking method and a control system in robot machining operation, so that the machining precision in the robot machining operation is effectively improved, and meanwhile, the cost is reduced.
The invention provides a normal constant force tracking method for robot machining operation on one hand, which comprises the following steps:
giving an initial reference trajectory comprising a position and a pose;
controlling the robot to move along the initial reference track, and ensuring that a tool at the tail end of the robot is always in contact with a workpiece in the moving process;
according to the error between the actual contact force and the expected contact force, iteratively calculating and updating the position of the current reference track to be used as the reference track of the next movement;
carrying out interpolation and difference on the updated reference track to obtain a speed vector of each control period;
converting the actual contact force vector of each control period into a base coordinate system, and calculating the projection of the actual contact force vector on a plane perpendicular to the velocity vector of the corresponding period in the base coordinate system to be used as the attitude of the updated reference track;
and controlling the robot to move according to the reference track obtained after the iteration, including the position and the posture, and using the reference track for formally processing the workpiece.
Optionally, the initial reference trajectory is obtained through teaching point location, model derivation, or traction teaching.
Optionally, a force control method based on impedance or admittance control is adopted to control the robot to move along the initial reference trajectory, and ensure that the end tool of the robot and the workpiece are always kept in contact in the moving process.
Optionally, the iteratively calculating and updating the position of the current reference trajectory according to the error between the actual contact force and the expected contact force in the motion process, as the reference trajectory of the next motion, includes:
collecting the actual contact force between the robot tail end tool and the workpiece in the motion process;
calculating an error between the actual contact force and the desired contact force;
updating the position of the current reference track according to the error;
the robot moves next time along the updated reference track;
and repeating the steps until the error between the actual contact force and the expected contact force converges to a set value or the movement times reach the set value, and finishing the iteration.
Optionally, the position of the current reference track is iteratively calculated and updated according to the following rules:
wherein the content of the first and second substances,
in order to refer to the position of the track,
for the number of iterations to be performed,
in order to iterate the scaling factor,
in order to iterate the differential coefficients, the coefficients are,
the error of the expected contact force from the actual contact force.
Optionally, the interpolating and differentiating the updated reference trajectory to obtain the velocity vector of each control period includes:
smoothing the updated reference track;
carrying out spline curve interpolation to obtain the position information of each control period;
and obtaining a velocity vector according to the change difference of the position.
Optionally, the method for obtaining the velocity vector according to the change difference of the position includes:
assume that the position at time T is
The position at time T-1 is
Velocity vector at time T
Wherein
Indicating a control period.
In another aspect, the present invention further provides a normal constant force tracking apparatus for robot machining operation, including: robot force control unit, robot position control unit, actual contact force collection system, position feedforward unit, wherein:
the actual contact force acquisition device is used for measuring the actual contact force between the tail end processing tool of the robot and the workpiece and feeding back the actual contact force to the robot power control unit;
the robot force control unit is used for generating a robot tail end position adjusting instruction according to the error between the actual contact force and the expected contact force and sending the robot tail end position adjusting instruction to the robot position control unit;
the position feedforward unit is used for sending the current reference track to the robot position control unit; iteratively updating the position of the current reference track according to the error between the actual contact force and the expected contact force, and calculating the posture of the current reference track based on the updated reference track;
and the robot position control unit controls the position and the posture of the robot to make corresponding adjustment according to the received robot tail end position adjustment instruction and the current reference track.
Optionally, the position feedforward unit iteratively updates the position of the current reference trajectory according to the following formula:
wherein the content of the first and second substances,
in order to refer to the position of the track,
for the number of iterations to be performed,
in order to iterate the scaling factor,
in order to iterate the differential coefficients, the coefficients are,
the error of the expected contact force from the actual contact force.
Optionally, the method for calculating the attitude of the position feedforward unit based on the updated reference trajectory includes:
carrying out interpolation and difference on the updated reference track to obtain a speed vector of each control period;
and converting the actual contact force vector of each control period into a base coordinate system, and calculating the projection of the actual contact force vector on a plane perpendicular to the velocity vector of the corresponding period in the base coordinate system to be used as the attitude of the updated reference track.
Optionally, the actual contact force collecting device adopts a 3-dimensional force sensor, and the robot end processing tool is fixedly mounted on the 3-dimensional force sensor.
The invention improves the force control precision by adding the reference track in the robot machining operation, and simultaneously obtains the accurate reference track including the position and the posture by introducing the preprocessing step for subsequent formal machining. Therefore, on one hand, the position of the reference track is updated through an iterative learning method, namely the surface contour of the workpiece is obtained, on the other hand, the tail end attitude of the robot in the motion process along the reference track is estimated by utilizing the tail end speed information of the robot and the actual contact force information contained in the reference track, the influence of friction force is avoided, the position and the attitude of a tail end processing tool of the robot are controlled according to the obtained reference track, and normal constant force tracking in processing operation on various curved surfaces can be realized. In addition, the invention can be realized only by a 3-dimensional force sensor, and the cost increase caused by adopting a 6-dimensional force sensor is avoided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic structural diagram of a conventional robot machining operation force control system (impedance/admittance control method);
FIG. 2 is a flow chart of one embodiment of a method for constant normal force tracking for robotic work operations according to the present disclosure;
FIG. 3 is a flow chart of one embodiment of a method for constant normal force tracking for robotic work operations according to the present disclosure;
FIG. 4 is a schematic structural diagram of an embodiment of a normal constant force tracking device for robotic work operations according to the present disclosure;
fig. 5 is a graph comparing the effect of an exemplary embodiment of a method for tracking a constant normal force in a robot machining operation with the prior art.
Detailed Description
Reference will now be made in detail to various exemplary embodiments of the invention, the detailed description should not be construed as limiting the invention but as a more detailed description of certain aspects, features and embodiments of the invention. Many modifications and variations may be made to the specific embodiments of the present disclosure without departing from the scope or spirit of the present disclosure.
Fig. 2 and 3 are flow charts of an embodiment of a method for tracking a constant normal force in a robotic work operation according to the present disclosure.
Example one
As shown in fig. 2, the method for tracking the constant normal force of the robot machining operation in this embodiment includes the following steps:
step S101: given an initial reference trajectory, including position and attitude
I.e. given a rough reference track
Including position and attitude, where attitude refers to the attitude direction of the robot end tooling.
Optionally, the initial reference trajectory may be derived from teaching point positions, models, or traction teaching.
Step S102: and controlling the robot to move along the initial reference track, and ensuring that a tool at the tail end of the robot is always in contact with the workpiece in the moving process.
And setting the robot to move along a reference track, starting a force control function, and setting appropriate force control parameters such as reference force, damping and the like so as to ensure that a tool at the tail end of the robot is always in contact with a workpiece in the movement process.
Optionally, the robot is controlled to complete the above movement by using a currently common force control method based on impedance or admittance control.
Step S103: and iteratively calculating and updating the position of the current reference track according to the error between the actual contact force and the expected contact force to serve as the reference track of the next movement.
In the motion process, the robot force control unit can automatically adjust the position of the robot to ensure the force tracking precision, but due to the inaccurate track, certain errors exist between the actual contact force and the expected reference force. Updating the position of the reference track according to the error so as to reduce the error;
then, according to the updated reference track, the next movement is carried out, namely step S102 is repeated, the track is further updated, and the error is reduced;
through such a plurality of iterative updates, the iteration is terminated when the error converges to a desired range or the number of movements reaches a predetermined set value.
Optionally, the iteratively calculating and updating the position of the current reference trajectory according to the error between the actual contact force and the expected contact force in the motion process, as the reference trajectory of the next motion, includes:
collecting the actual contact force between the robot tail end tool and the workpiece in the motion process;
calculating an error between the actual contact force and the desired contact force;
updating the position of the current reference track according to the error;
the robot moves next time along the updated reference track;
and repeating the steps until the error between the actual contact force and the expected contact force converges to a set value or the movement times reach the set value, and finishing the iteration.
Optionally, the position of the current reference track is iteratively calculated and updated according to the following rules:
wherein the content of the first and second substances,
in order to refer to the position of the track,
for the number of iterations to be performed,
in order to iterate the scaling factor,
in order to iterate the differential coefficients, the coefficients are,
the error of the expected contact force from the actual contact force.
The track update may also adopt other existing update rules. These rules are updated based on the error in the force.
And obtaining the position information of the reference track in the base coordinate system at the end of the iteration.
Step S104: calculating the attitude based on the position of the reference trajectory obtained after the last update, namely when the iteration is finished, specifically comprising:
carrying out interpolation and difference on the updated reference track to obtain a speed vector of each control period;
converting the actual contact force vector of each control period into a base coordinate system;
the projection of the actual contact force vector on a plane perpendicular to the velocity vector of the corresponding period is calculated in the basis coordinate system as the pose of the updated reference trajectory.
For normal constant force tracking, the force application direction of the robot end machining tool is always perpendicular to the velocity vector, and a plane perpendicular to the velocity direction at each moment, namely a tool attitude plane at each moment, can be determined according to the constraint relation. And then calculating the projection of the actual contact force vector on the plane, wherein the projection direction is the normal direction of the workpiece surface in the control period, namely the attitude direction which the machining tool at the tail end of the robot needs to reach.
Optionally, the interpolating and differentiating the updated reference trajectory to obtain the velocity vector of each control period includes:
smoothing the updated reference track;
carrying out spline curve interpolation to obtain the position information of each control period;
and obtaining a velocity vector according to the change difference of the position.
Optionally, the method for obtaining the velocity vector according to the change difference of the position includes:
assume that the position at time T is
The position at time T-1 is
Velocity vector at time T
Wherein
Indicating a control period.
In each recording period of the robot machining process, actual contact force information is continuously acquired through the force acquisition device. Suppose the force information at time T is
At this time
For the force vector in the sensor coordinate system, by transforming the matrix
Can be converted into vectors in the base coordinate system
I.e. by
Calculating an actual contact force vector
The projection in the plane perpendicular to the velocity vector results in the tool attitude perpendicular to the velocity direction during machining, i.e., the normal force application direction.
Therefore, high-precision reference track position and posture information can be completely obtained, and the follow-up robot applies constant force along the track and the posture, so that normal constant force machining can be realized.
Step S105: and controlling the robot to move according to the reference track obtained after the iteration, including the position and the posture, and using the reference track for formally processing the workpiece.
Example two
As shown in fig. 3, the difference between the present embodiment and the first embodiment is that after the track position is updated, the posture is updated each time. This method increases the amount of calculation, but can further improve the accuracy of the reference trajectory.
Figure 4 provides one embodiment of a robotic work operation normal constant force tracking device according to the present disclosure. As shown in fig. 4, the apparatus includes:
the force sensor is used as one of the actual contact force acquisition devices of the robot, is used for measuring the actual contact force between a machining tool at the tail end of the robot and a workpiece and feeds back the actual contact force to the force controller;
the force controller is a robot force control unit and is used for generating a robot tail end position adjusting instruction according to the error between the actual contact force and the expected contact force and sending the robot tail end position adjusting instruction to the robot position control unit;
the position feedforward unit is used for sending the current reference track to the robot position control unit; iteratively updating the position of the current reference track according to the error between the actual contact force and the expected contact force, and calculating the posture of the current reference track based on the updated reference track;
the robot is a position control unit of the robot, and the position and the posture of the robot are controlled to be correspondingly adjusted according to the received tail end position adjusting instruction of the robot and the current reference track;
in addition, the expected force in the figure is the preset expected contact force.
Optionally, the position feedforward unit iteratively updates the position of the current reference trajectory according to the following formula:
wherein the content of the first and second substances,
in order to refer to the position of the track,
for the number of iterations to be performed,
in order to iterate the scaling factor,
in order to iterate the differential coefficients, the coefficients are,
the error of the expected contact force from the actual contact force.
Optionally, the method for calculating the attitude of the position feedforward unit based on the updated reference trajectory includes:
carrying out interpolation and difference on the updated reference track to obtain a speed vector of each control period;
and converting the actual contact force vector of each control period into a base coordinate system, and calculating the projection of the actual contact force vector on a plane perpendicular to the velocity vector of the corresponding period in the base coordinate system to be used as the attitude of the updated reference track.
Optionally, the force sensor in this embodiment is a 3-dimensional force sensor, and the robot end-of-line processing tool is fixedly mounted on the 3-dimensional force sensor.
As can be seen from fig. 1, in this embodiment, a position feedforward unit is introduced into a currently-used force control processing control system, and on one hand, the unit stores a current reference trajectory and continuously sends the current reference trajectory to a position control unit in a robot movement process; meanwhile, in the preprocessing process, the position of the current reference track is continuously iteratively corrected through iterative learning, and the normal posture of the robot terminal processing tool is calculated based on the corrected reference track. After the final correction of the reference track is completed, in formal processing, the reference track (including the position and the attitude) recorded in the position feedforward unit is only required to be continuously sent to the position control unit.
Therefore, the contour position and normal posture of the surface of the workpiece can be obtained, the tail end of the robot is always perpendicular to the surface of the workpiece in the machining operation process, and the force tracking precision of the force control unit in a complex curved surface environment is greatly improved.
The effects are as follows:
given a desired force of 10N, the curve is constant-force tracked using a conventional force tracking method and a normal constant-force tracking method as described in the first embodiment, respectively, and the comparison of the actual contact force and the desired contact force is shown in fig. 5. It can be seen that, by adopting the normal constant force tracking method described in this embodiment, the actual contact force is substantially identical to the expected contact force, and compared with the prior art, the stability of the normal force in the robot machining operation is significantly improved, thereby improving the machining precision.
The foregoing is merely an illustrative embodiment of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principle of the present invention should fall within the protection scope of the present invention.
Claims (11)
1. A robot machining operation normal constant force tracking method comprises the following steps:
giving an initial reference trajectory comprising a position and a pose;
controlling the robot to move along the initial reference track, and ensuring that a tool at the tail end of the robot is always in contact with a workpiece in the moving process;
according to the error between the actual contact force and the expected contact force, iteratively calculating and updating the position of the current reference track to be used as the reference track of the next movement;
carrying out interpolation and difference on the updated reference track to obtain a speed vector of each control period;
converting the actual contact force vector of each control period into a base coordinate system, and calculating the projection of the actual contact force vector on a plane perpendicular to the velocity vector of the corresponding period in the base coordinate system to be used as the attitude of the updated reference track;
and controlling the robot to move according to the reference track obtained after the iteration, including the position and the posture, and using the reference track for formally processing the workpiece.
2. The normal constant force tracking method of claim 1, wherein the initial reference trajectory is derived from teach point locations, model derivation, or pull teaching.
3. The normal constant force tracking method of claim 1, wherein a force control method based on impedance or admittance control is used to control the robot to move along the initial reference trajectory and ensure that the robot end tool and the workpiece remain in contact at all times during the movement.
4. The normal constant force tracking method of claim 1, wherein the iteratively calculating and updating the position of the current reference trajectory as the reference trajectory for the next movement according to the error between the actual contact force and the expected contact force during the movement comprises:
collecting the actual contact force between the robot tail end tool and the workpiece in the motion process;
calculating an error between the actual contact force and the desired contact force;
updating the position of the current reference track according to the error;
the robot moves next time along the updated reference track;
and repeating the steps until the error between the actual contact force and the expected contact force converges to a set value or the movement times reach the set value, and finishing the iteration.
5. The normal constant force tracking method of claim 1, wherein the position of the current reference trajectory is iteratively calculated and updated according to the following rules:
wherein the content of the first and second substances,
in order to refer to the position of the track,
for the number of iterations to be performed,
in order to iterate the scaling factor,
in order to iterate the differential coefficients, the coefficients are,
the error of the expected contact force from the actual contact force.
6. The normal constant force tracking method of claim 1, wherein the interpolating and differentiating the updated reference trajectory to derive the velocity vector for each control cycle comprises:
smoothing the updated reference track;
carrying out spline curve interpolation to obtain the position information of each control period;
and obtaining a velocity vector according to the change difference of the position.
7. The normal constant force tracking method of claim 6, wherein the method of differentiating the velocity vector as a function of position is:
assume that the position at time T is
The position at time T-1 is
Velocity vector at time T
Wherein
Indicating a control period.
8. A robotic work normal constant force tracking device applying the method of any one of claims 1-7, comprising: robot force control unit, robot position control unit, actual contact force collection system, position feedforward unit, wherein:
the actual contact force acquisition device is used for measuring the actual contact force between the tail end processing tool of the robot and the workpiece and feeding back the actual contact force to the robot power control unit;
the robot force control unit is used for generating a robot tail end position adjusting instruction according to the error between the actual contact force and the expected contact force and sending the robot tail end position adjusting instruction to the robot position control unit;
the position feedforward unit is used for sending the current reference track to the robot position control unit; iteratively updating the position of the current reference track according to the error between the actual contact force and the expected contact force, and calculating the posture of the current reference track based on the updated reference track;
and the robot position control unit controls the position and the posture of the robot to make corresponding adjustment according to the received robot tail end position adjustment instruction and the current reference track.
9. The robotic work normal constant force tracking device of claim 8, wherein the position feed forward unit iteratively updates the position of the current reference trajectory according to:
wherein the content of the first and second substances,
in order to refer to the position of the track,
for the number of iterations to be performed,
in order to iterate the scaling factor,
in order to iterate the differential coefficients, the coefficients are,
the error of the expected contact force from the actual contact force.
10. The robotic work normal constant force tracking device of claim 8, wherein the method of the position feed forward unit calculating its pose based on the updated reference trajectory comprises:
carrying out interpolation and difference on the updated reference track to obtain a speed vector of each control period;
and converting the actual contact force vector of each control period into a base coordinate system, and calculating the projection of the actual contact force vector on a plane perpendicular to the velocity vector of the corresponding period in the base coordinate system to be used as the attitude of the updated reference track.
11. A robotic work operation normal constant force tracking device as defined in claim 8, wherein said actual contact force pick-up means employs a 3-dimensional force sensor, and wherein the robotic end-of-line work tool is fixedly mounted to said 3-dimensional force sensor.
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| CN113459085A (en) * | 2021-05-24 | 2021-10-01 | 南京航空航天大学 | Complex curved surface robot fitting method based on force feedback |
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