CN113021359A - Mechanical arm control method, device, equipment, system, storage medium and mechanical arm - Google Patents

Mechanical arm control method, device, equipment, system, storage medium and mechanical arm Download PDF

Info

Publication number
CN113021359A
CN113021359A CN202110581850.5A CN202110581850A CN113021359A CN 113021359 A CN113021359 A CN 113021359A CN 202110581850 A CN202110581850 A CN 202110581850A CN 113021359 A CN113021359 A CN 113021359A
Authority
CN
China
Prior art keywords
joint
electronic skin
admittance
module
robot arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110581850.5A
Other languages
Chinese (zh)
Other versions
CN113021359B (en
Inventor
黄睿
姜宇
郎需林
刘主福
刘培超
庄飞飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Yuejiang Technology Co Ltd
Original Assignee
Shenzhen Yuejiang Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Yuejiang Technology Co Ltd filed Critical Shenzhen Yuejiang Technology Co Ltd
Priority to CN202110581850.5A priority Critical patent/CN113021359B/en
Priority to CN202111053135.0A priority patent/CN113733089B/en
Publication of CN113021359A publication Critical patent/CN113021359A/en
Application granted granted Critical
Publication of CN113021359B publication Critical patent/CN113021359B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1666—Avoiding collision or forbidden zones

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention discloses a mechanical arm control method, a device, equipment, a system, a storage medium and a mechanical arm, wherein the mechanical arm control method comprises the following steps: obtaining the approaching degree of the barrier, wherein the approaching degree is obtained by calculating the monitoring data of the electronic skin module; converting said proximity to a repulsive force; acquiring an admittance output position capable of avoiding the barrier, wherein the admittance output position is obtained by calculating the repulsive force through an admittance control model; and sending the admittance output position to each joint controller. According to the mechanical arm control method provided by the invention, the electronic skin module is used for sensing the obstacles around the mechanical arm, when the obstacles are sensed, the approaching degree of the mechanical arm and the obstacles is converted into the corresponding repulsive force, and the repulsive force is input into the admittance control model, so that the admittance output position capable of avoiding the obstacles is output through the admittance control model, the collision between the mechanical arm and the obstacles is avoided, and the safety of the mechanical arm is improved.

Description

Mechanical arm control method, device, equipment, system, storage medium and mechanical arm
Technical Field
The invention relates to the field of mechanical arms, in particular to a mechanical arm control method, a device, equipment, a system, a storage medium and a mechanical arm.
Background
Industrial robots have been widely used in production automation, and most industrial robots are operated by a pre-programmed program, which is called position control. However, when the external conditions change, the working state of the mechanical arm changes, and in order to make the mechanical arm perform correct actions, the mechanical arm should make corresponding adjustments according to the changes of the external conditions.
In order to make the mechanical arm respond to the external change, a visual sensor, a force sensor and the like are generally adopted to sense the external change, and then information is fed back to a control system, so that the mechanical arm is controlled to move according to the external change. Compliance control is the acquisition of control signals from the force sensor that are used to control the robot arm to respond to this change.
In the prior art, an industrial robot arm usually adopts an admittance control strategy to realize the flexible control of the robot arm. However, in the conventional admittance control strategy, the collision force generated after the collision of the robot arm is used as the acting force input to the admittance control model, so that the safety risk may be caused.
Disclosure of Invention
The invention mainly aims to provide a mechanical arm control method, and aims to solve the technical problem that an admittance control strategy adopted by the existing mechanical arm has safety risks.
In order to achieve the above object, the present invention provides a robot arm control method, including:
obtaining the approaching degree of the barrier, wherein the approaching degree is obtained by calculating the monitoring data of the electronic skin module;
converting said proximity to a repulsive force;
acquiring an admittance output position capable of avoiding the barrier, wherein the admittance output position is obtained by calculating the repulsive force through an admittance control model;
and sending the admittance output position to each joint controller.
Preferably, before converting the proximity into the repulsive force, the method further comprises:
converting the proximity to a repulsive force when the proximity exceeds a threshold.
Preferably, the electronic skin module comprises a detection circuit and an electrode, the electrode being electrically connected with the detection circuit;
the electrode can form a capacitor with a close conductor and transmit an electric signal for representing the capacitor or the variation of the capacitor to the detection circuit;
the detection circuit is used for converting the electric signal representing the capacitance or the variation thereof into the electric signal representing the capacitance or the variation thereof.
Preferably, the obtaining the proximity of the obstacle includes:
calculating the proximity of the obstacles sensed by each joint and the electronic skin module arranged on the corresponding joint arm, wherein the proximity is calculated by the following formula:
Figure 534211DEST_PATH_IMAGE001
wherein d isikThe distance of the sensed obstacle of the kth electronic skin module on the ith joint is epsilon, epsilon is the dielectric constant of a medium between the electronic skin module and the obstacle, SikIs the facing area of the kth electronic skin module on the ith joint, CikFor the k electronic skin on the ith jointCapacitance sensed by the module.
Preferably, said converting the proximity into the repulsive force comprises:
calculating the virtual force sensed by each electronic skin module according to the proximity;
on each joint, calculating repulsive force generated on the joint due to virtual force according to the relation between force and moment, wherein the repulsive force is calculated by the following formula:
Figure 400536DEST_PATH_IMAGE002
wherein, the value of τ isiThe joint max is the total number of joints of the robot, the serial number of each joint is marked from the lower end to the upper end of the robot, the serial number of the lowermost joint is 1, the serial number of the lowermost joint is 2, 3, 4 … … n, and the joint max is skinnmaxnIs the total number of electronic skin modules on the nth joint of the robot, fnkThe repulsion value l corresponding to the detected approach degree of the k electronic skin module on the ith jointi,nkIs the distance from the kth electronic skin module on the nth joint to the coordinate origin of the ith joint.
Preferably, the virtual force sensed by each electronic skin module is calculated by the following formula:
Figure 863879DEST_PATH_IMAGE003
wherein, the fikThe virtual force sensed by the k electronic skin module on the i joint, dmaxThe maximum distance at which the electronic skin module can perceive the obstacle, dikThe closeness of the k electronic skin module on the ith joint to the obstacle, fminIs the minimum virtual force corresponding to when the distance of the electronic skin module from the obstacle is maximum, said fmaxIs the set maximum virtual force.
Preferably, the virtual force sensed by each electronic skin module is calculated by the following formula:
Figure 614797DEST_PATH_IMAGE004
wherein, the fikIs a virtual force sensed by the kth electronic skin module on the ith joint, eta is a repulsive force field coefficient, eta is greater than 0, and dikThe closeness of the k electronic skin module on the ith joint to the obstacle is dmaxIs the farthest distance at which the electronic skin module can perceive the obstacle.
Preferably, the calculating the repulsive force through the admittance control model to obtain a speed of controlling the mechanical arm to retreat relative to the obstacle includes:
establishing an admittance equation based on an admittance control principle:
Figure 847195DEST_PATH_IMAGE005
adjusting the admittance equation can result in an acceleration equation:
Figure 415580DEST_PATH_IMAGE006
performing discrete integration on the acceleration to obtain a velocity formula:
Figure 772743DEST_PATH_IMAGE007
and carrying out discrete integration on the speed to obtain an admittance output position:
Figure 389669DEST_PATH_IMAGE008
wherein, the
Figure 538891DEST_PATH_IMAGE009
、
Figure 215860DEST_PATH_IMAGE010
、
Figure 57389DEST_PATH_IMAGE011
Respectively, an admittance output acceleration, an admittance output velocity, and an admittance output position of the robot arm, the
Figure 274744DEST_PATH_IMAGE012
、
Figure 481734DEST_PATH_IMAGE013
、
Figure 267288DEST_PATH_IMAGE014
A non-admittance acceleration, a non-admittance velocity and a non-admittance position, respectively, issued for the command, MdIs the inertia of the mechanical arm, BdFor damping of the arm, KdFor the stiffness of the arm, the value τiThe repulsion force generated on the joint i, the n +1 is the numerical value of the next moment, the n is the numerical value of the current moment, and the Δ t is the discrete time period.
The invention further provides a mechanical arm control method, which comprises the following steps:
receiving an admittance output position;
converting the admittance output position into a motion control instruction through a motion control algorithm;
and sending the motion control command to a joint motor.
The present invention further provides a robot arm control apparatus, including:
the approach degree acquisition module is used for acquiring the approach degree of the barrier, and the approach degree is obtained by calculating monitoring data of the electronic skin module;
the first repulsion conversion module is used for converting the proximity into repulsion;
the admittance output position acquisition module is used for acquiring admittance output positions capable of avoiding the obstacles, and the admittance output positions are obtained by calculating the repulsive force through an admittance control model;
and the first sending module is used for sending the admittance output position to each joint controller.
Preferably, the robot arm control device further includes:
and the second repulsion conversion module is used for converting the proximity degree into the repulsion when the proximity degree exceeds a threshold value.
Preferably, the electronic skin module comprises a detection circuit and an electrode, the electrode being electrically connected with the detection circuit;
the electrode can form a capacitor with a close conductor and transmit an electric signal for representing the capacitor or the variation of the capacitor to the detection circuit;
the detection circuit is used for converting the electric signal representing the capacitance or the variation thereof into the electric signal representing the capacitance or the variation thereof.
Preferably, the proximity obtaining module includes:
the proximity calculation unit is used for calculating the proximity of the obstacles sensed by each joint and the electronic skin module arranged on the corresponding joint arm, and the proximity is calculated by the following formula:
Figure 926939DEST_PATH_IMAGE015
wherein d isikThe distance of the sensed obstacle of the kth electronic skin module on the ith joint is epsilon, epsilon is the dielectric constant of a medium between the electronic skin module and the obstacle, SikIs the facing area of the kth electronic skin module on the ith joint, CikThe capacitance sensed by the electronic skin module of the kth joint is shown.
Preferably, the first repulsive force conversion means includes:
the virtual force calculating unit is used for calculating the virtual force sensed by each electronic skin module according to the proximity degree;
the repulsive force calculation unit is used for calculating the repulsive force generated on each joint due to the virtual force according to the relation between the force and the moment, and the repulsive force is calculated by the following formula:
Figure 682405DEST_PATH_IMAGE016
wherein, the value of τ isiThe joint max is the total number of joints of the robot, the serial number of each joint is marked from the lower end to the upper end of the robot, the serial number of the lowermost joint is 1, the serial number of the lowermost joint is 2, 3, 4 … … n, and the joint max is skinnmaxnIs the total number of electronic skin modules on the nth joint of the robot, fnkThe repulsion value l corresponding to the detected approach degree of the k electronic skin module on the ith jointi,nkIs the distance from the kth electronic skin module on the nth joint to the coordinate origin of the ith joint.
The present invention further provides a robot arm control apparatus, including:
a receiving module for receiving the admittance output location;
the instruction conversion module is used for converting the admittance output position into a motion control instruction through a motion control algorithm;
and the second sending module is used for sending the motion control command to the joint motor.
The present invention further provides a robot arm control apparatus including:
a memory for storing a computer program;
a processor for implementing the robot control method described above when executing the computer program, the robot control method comprising at least the steps of:
obtaining the approaching degree of the barrier, wherein the approaching degree is obtained by calculating the monitoring data of the electronic skin module;
converting said proximity to a repulsive force;
acquiring an admittance output position capable of avoiding the barrier, wherein the admittance output position is obtained by calculating the repulsive force through an admittance control model;
and sending the admittance output position to each joint controller.
The present invention further provides a storage medium storing a computer program which, when executed by a processor, implements the robot control method described above, the robot control method comprising at least the steps of:
obtaining the approaching degree of the barrier, wherein the approaching degree is obtained by calculating the monitoring data of the electronic skin module;
converting said proximity to a repulsive force;
acquiring an admittance output position capable of avoiding the barrier, wherein the admittance output position is obtained by calculating the repulsive force through an admittance control model;
and sending the admittance output position to each joint controller.
The present invention further provides a robot arm control apparatus including:
a memory for storing a computer program;
a processor for implementing the robot control method described above when executing the computer program, the robot control method comprising at least the steps of:
receiving an admittance output position;
converting the admittance output position into a motion control instruction through a motion control algorithm;
and sending the motion control command to a joint motor.
The present invention further provides a storage medium storing a computer program which, when executed by a processor, implements the robot control method described above, the robot control method comprising at least the steps of:
receiving an admittance output position;
converting the admittance output position into a motion control instruction through a motion control algorithm;
and sending the motion control command to a joint motor.
The invention also proposes a robot arm comprising:
a base;
the moving component is connected to the base and can swing, rotate or linearly move relative to the base;
the driving component is used for driving the moving component to move or braking the moving component;
the electronic skin module covers at least part of the surface of the moving part and is used for detecting the proximity of an external obstacle to the mechanical arm;
and a control system for executing the robot arm control method described in steps S10-S40 and S100-S300.
The present invention also provides a robot arm control system, including:
a storage module for storing a computer program;
a main controller that realizes the robot arm control method described in steps S10-S40 when the computer program is executed by the main controller;
a plurality of joint controllers, wherein when the computer program is executed by the joint controllers, the robot arm control method described in steps S100-S300 is implemented;
and the joint motors work according to the motion control instruction.
Compared with the prior art, the embodiment of the invention has the beneficial technical effects that:
according to the mechanical arm control method provided by the invention, the electronic skin module is used for sensing the obstacles around the mechanical arm, when the obstacles are sensed, the approaching degree of the mechanical arm and the obstacles is converted into corresponding repulsive force, and the repulsive force is input into the admittance control model, so that the admittance output position capable of avoiding the obstacles is output through the admittance control model, the collision between the mechanical arm and the obstacles is avoided, and the safety of the mechanical arm is improved.
Drawings
FIG. 1 is a flowchart of a first embodiment of a method of controlling a robotic arm of the present invention;
FIG. 2 is a flowchart of a robot control method according to a second embodiment of the present invention;
FIG. 3 is a first functional block diagram of the robot control apparatus of the present invention;
FIG. 4 is a second functional block diagram of the robot control apparatus of the present invention;
FIG. 5 is a schematic structural view of the robot arm control apparatus of the present invention;
FIG. 6 is a schematic view of a robot arm according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of the robot arm control system of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
The invention provides a mechanical arm control method, and referring to fig. 1, the mechanical arm control method comprises the following steps:
step S10, obtaining the approach degree of the barrier, wherein the approach degree is obtained by calculating the monitoring data of the electronic skin module;
the mechanical arm comprises a joint and a joint arm, an electronic skin module is arranged on the joint and/or the joint arm, the electronic skin module comprises an electrode and a detection circuit, the electrode and the detection circuit are covered on the joint and/or the joint arm, the detection circuit is electrically connected with the electrode, the electrode can form a capacitor with an approaching obstacle and transmit an electric signal for representing the capacitor or the variation of the capacitor to the detection circuit, and the detection circuit is used for converting the electric signal for representing the capacitor or the variation of the capacitor into an electric signal for representing the capacitor or the variation of the capacitor. The obstacle is a high dielectric constant object that can form a capacitance with the electrode.
The electrode may be a copper foil coated on the joint surface of the mechanical arm, which is merely exemplary and not limiting, and may also be a silver, aluminum or ITO material. The electrode-air-barrier forms a capacitor, the distance between the electrode and the barrier changes, so that the capacitance formed by the electrode and the barrier changes, and the electrode can transmit an electric signal for representing the capacitance or the change amount of the capacitance to the detection circuit so as to be converted into an electric signal for representing the capacitance or the change amount of the capacitance by the detection circuit.
It should be noted that the electronic skin module can only detect the obstacle within the preset distance range, and the obstacle outside the detection range cannot be sensed by the electronic skin module. For example, assume that the predetermined distance of the electronic skin module is N centimeters, i.e., an obstacle within N centimeters from the electronic skin module can be detected by the electronic skin module. After the obstacle is detected, if the obstacle gradually approaches the electronic skin module, the capacitance formed by the electronic skin module and the obstacle changes along with the obstacle; conversely, obstacles that are outside of N centimeters from the electronic skin module are not perceived by the electronic skin module.
The detection circuit can detect the capacitance value or the variation thereof in real time, under the condition of knowing the capacitance value or the variation thereof, the proximity degree of the electronic skin module and the obstacle can be calculated and obtained based on the capacitance calculation formula, and the proximity degree of the electronic skin module and the obstacle, namely the proximity degree of the mechanical arm and the obstacle, is obtained because the electronic skin module is arranged on the mechanical arm.
Step S20, converting the proximity into repulsive force;
step S30, acquiring admittance output positions capable of avoiding obstacles, wherein the admittance output positions are obtained by calculating repulsive force through an admittance control model;
in step S40, the admittance output position is sent to each joint controller.
In this embodiment, when the electronic skin module senses an obstacle, the detection circuit of the electronic skin module sends the detected capacitance value or the detected variation to the main controller of the mechanical arm, the main controller of the mechanical arm determines the proximity between the mechanical arm and the obstacle according to the capacitance value or the detected variation, the proximity between the mechanical arm and the obstacle is converted into a corresponding repulsive force according to a preset mapping rule, and the repulsive force is introduced into the admittance control model.
And after receiving the input repulsive force, the admittance control model outputs admittance output positions for avoiding the barrier and sends the admittance output positions to each joint controller, so that the mechanical arm is prevented from colliding with the barrier, and the safety of the mechanical arm is improved. In this embodiment, the robotic arm is controlled to retract relative to the obstacle by the admittance output position.
The mechanical arm control method provided by the embodiment can be applied to the interactive scene of people and mechanical arms, and particularly, when the hands appear in the perception distance of the electronic skin module, if the hands are close to the mechanical arms, the mechanical arms can move backwards relative to the hands, and if the hands move continuously, the mechanical arms can also move backwards continuously.
Preferably, before converting the proximity degree into the repulsive force, the robot arm control method provided in the embodiment of the present invention determines whether the proximity degree exceeds a set threshold, and if the proximity degree of the obstacle detected by the electronic skin module does not exceed the set threshold, the proximity degree is not converted into the corresponding repulsive force, that is, the obstacle does not collide with or threaten the robot arm; and if the proximity degree of the barrier detected by the electronic skin module exceeds a set threshold value, the proximity degree needs to be converted into corresponding repulsion force, the repulsion force is input into the admittance control model, so that an admittance output position for avoiding the barrier is output through the admittance control model, the admittance output position is issued to the joint controller of each joint by the main controller of the mechanical arm, and the joint controller of each joint controls the motor to operate according to the admittance output position.
Further, step S10 according to the present embodiment of the present invention includes:
calculating the proximity degree of the obstacles sensed by each joint and the electronic skin module arranged on the corresponding joint arm, wherein the proximity degree is calculated by the following formula:
Figure 416006DEST_PATH_IMAGE017
wherein d isikIs the distance of an obstacle sensed by the kth electronic skin module on the ith joint, epsilon is the dielectric constant of a medium between the electronic skin module and the obstacle, SikIs the facing area of the kth electronic skin module on the ith joint, CikThe capacitance sensed by the electronic skin module of the kth joint is shown.
In this embodiment, the capacitance value or the variation thereof and the capacitance calculation formula are based on
Figure 434778DEST_PATH_IMAGE018
The approach degree of the electronic skin module to the obstacle can be calculated, and the approach degree of the electronic skin module to the obstacle, namely the approach degree of the mechanical arm to the obstacle, can be calculated because the electronic skin module is arranged on the mechanical arm.
After the capacitance value or the variation thereof is detected, the distance value between the electrode and the obstacle or the variation thereof can be calculated according to the capacitance value or the variation thereof, and specifically, the distance value or the variation thereof is calculated according to a capacitance formula:
Figure 644042DEST_PATH_IMAGE019
in this embodiment, the electrode and the obstacle constitute two plates of a capacitor, and the facing area of the two capacitor plates is the facing area of the electrode and the obstacle. Specifically, when the electrode is projected on the obstacle, the overlapping portion of the electrode and the obstacle is the facing area of the two capacitor plates. The area of the electrode facing the obstacle may be an empirical value or an actual value calculated for each different obstacle, and may be designed by those skilled in the art according to actual conditions. It can be understood that the distance value calculated by using the empirical value has a certain error, while the distance value calculated by using the actual value is relatively accurate, but the calculation of the actual value is troublesome, and it is necessary to calculate the facing area of the electrode and the obstacle each time when the distance to different obstacles is detected.
With known capacitance values, due to ε, Sik、π、k、dikThe electronic skin module is a known quantity, so that the approaching degree of the electronic skin module and the obstacle can be judged according to the change situation of the capacitance value. It should be noted that the proximity referred to herein is the distance between the robot arm and the obstacle, because the distance value calculated by the electrode is not an accurate value, the distance between the robot arm and the obstacle is defined as the proximity.
Further, step S20 according to the present embodiment of the present invention includes:
calculating the virtual force sensed by each electronic skin module according to the proximity;
on each joint, the repulsive force generated on the joint due to the virtual force is calculated according to the relation between the force and the moment, and the repulsive force is calculated by the following formula:
Figure 78566DEST_PATH_IMAGE020
wherein, tauiIs the repulsive force generated on the joint i, fikIs a virtual force, l, sensed by the kth electronic skin module on the ith jointikThe distance between the kth electronic skin module on the ith joint and the i coordinate origin of the joint.
In this embodiment, when the electronic skin module senses the existence of the obstacle, the control system may calculate the virtual force sensed by the electronic skin module according to the proximity of the obstacle to the electronic skin module, and the calculation formula of the virtual force and the proximity is dtoF, specifically:
Figure 994569DEST_PATH_IMAGE021
after the virtual force sensed by the electronic skin module is obtained through calculation, the repulsive force generated on the joint due to the virtual force is calculated according to the relation between the force and the moment, and the repulsive force is obtained through the following formula:
Figure 980980DEST_PATH_IMAGE022
further, the calculation formula d provided in the above embodimenttoF is:
Figure 615223DEST_PATH_IMAGE023
wherein f isikIs the virtual force sensed by the kth electronic skin module on the ith joint, dmaxFor the maximum distance at which the electronic skin module can perceive an obstacle, dikThe closeness of the k electronic skin module on the ith joint to the obstacle, fminIs the minimum virtual force, f, corresponding to the maximum distance of the electronic skin module from the obstaclemaxIs the set maximum virtual force.
Further, the calculation formula d provided in the above embodimenttoF can also be:
Figure 853438DEST_PATH_IMAGE024
wherein f isikIs a virtual force sensed by the kth electronic skin module on the ith joint, eta is a repulsive force field coefficient, eta is more than 0, dikThe closeness of the k electronic skin module on the ith joint to the obstacle, dmaxBeing the furthest distance at which the electronic skin module can perceive the obstacle.
Further, step S30 according to the present embodiment of the present invention includes:
establishing an admittance equation based on an admittance control principle:
Figure 686265DEST_PATH_IMAGE025
adjusting the admittance equation yields the acceleration formula:
Figure 781260DEST_PATH_IMAGE026
the discrete integration of the acceleration gives the velocity formula:
Figure 840483DEST_PATH_IMAGE027
discrete integration of velocity yields admittance output position:
Figure 944705DEST_PATH_IMAGE028
wherein the content of the first and second substances,
Figure 366459DEST_PATH_IMAGE009
、
Figure 835617DEST_PATH_IMAGE010
、
Figure 178874DEST_PATH_IMAGE011
respectively the admittance output acceleration, the admittance output speed and the admittance output position of the mechanical arm,
Figure 149104DEST_PATH_IMAGE012
、
Figure 894206DEST_PATH_IMAGE013
、
Figure 268687DEST_PATH_IMAGE014
admittance-free acceleration, admittance-free velocity and admittance-free position, M, respectively, for command issuedIs the inertia of the arm, BdDamping of the arm, KdFor stiffness of the arm, τiN +1 is the value of the next moment, n is the value of the current moment, and Δ t is the discrete time period.
The mechanical arm provided by the embodiment of the invention comprises a joint and a joint arm, and the electronic skin module is arranged on the joint and/or the joint arm, and is generally arranged on the surface of the joint. On each joint, a plurality of electronic skin modules are arranged, taking this as an example to illustrate the calculation process of the repulsive force:
1. calculating the proximity of each joint i and each electronic skin module k mounted on the corresponding joint arm to the obstacle as detected by:
Figure 161557DEST_PATH_IMAGE029
wherein d isikThe distance of the barrier sensed by the kth electronic skin module on the ith joint is epsilon, the dielectric constant of a medium between the electronic skin module and the barrier is epsilon, and SikIs the facing area of the kth electronic skin module on the ith joint, CikThe capacitance sensed by the electronic skin module of the kth joint is shown.
2. And calculating the virtual force sensed by each electronic skin module according to the proximity:
Figure 607581DEST_PATH_IMAGE030
wherein f isikIs the virtual force sensed by the kth electronic skin module on the ith joint, dikAnd the sensed obstacle distance is the k electronic skin module on the ith joint.
3. On each joint, according to the relation between the force and the moment, the repulsion force generated on the joint due to the virtual force is calculated:
Figure 136084DEST_PATH_IMAGE031
wherein, tauiThe joint max is the total number of joints of the robot, the serial number of each joint is marked from the lower end to the upper end of the robot, the serial number of the lowermost joint is 1, the serial number of the lowermost joint is 2, 3, 4 … … n, and the joint max is skinnmaxnIs the total number of electronic skin modules on the nth joint of the robot, fnkThe repulsion value l corresponding to the detected approach degree of the k electronic skin module on the ith jointi,nkIs the nth jointDistance of the upper kth electronic skin module to the origin of coordinates of the ith joint.
The present invention also provides a robot arm control method, referring to fig. 2, the robot arm control method including:
step S100, receiving an admittance output position;
step S200, converting the admittance output position into a motion control instruction through a motion control algorithm;
and step S300, sending a motion control command to the joint motor.
In the present embodiment, in the robot arm control method mentioned in each of the foregoing embodiments, the admittance output position of each joint has been calculated by an admittance control model, and the above-described process of calculation by the admittance control model is performed by a main controller of the robot arm. After the main controller calculates the admittance output positions of all joints, the main controller issues the admittance output positions to the joint controllers of all joints; after the joint controller of each joint receives the admittance output position sent by the main controller, the joint controller converts the admittance output position into a motion control instruction of a joint motor through a motion control algorithm; after the joint controller converts the motion control command, the motion control command is sent to the corresponding joint motor so as to control the operation of each joint motor, thereby avoiding collision between each joint and an obstacle and improving the safety of the mechanical arm.
Based on the robot arm control method proposed in the foregoing embodiment, referring to fig. 3, the present invention also proposes a robot arm control device, including:
the approach degree acquisition module 10 is used for acquiring the approach degree of the barrier, and the approach degree is obtained by calculating monitoring data of the electronic skin module;
a first repulsive force converting means 20 for converting the proximity into a repulsive force;
the admittance output position acquisition module 30 is configured to acquire an admittance output position capable of avoiding an obstacle, where the admittance output position is obtained by calculating a repulsive force through an admittance control model;
a first sending module 40, configured to send the admittance output location to each joint controller.
Further, the robot arm control apparatus according to the embodiment of the present invention further includes:
and the second repulsion conversion module is used for converting the proximity degree into the repulsion when the proximity degree exceeds a threshold value.
Furthermore, the electronic skin module provided by the embodiment of the invention comprises a detection circuit and an electrode, wherein the electrode is electrically connected with the detection circuit;
the electrode can form a capacitor with the close conductor and transmit an electric signal for representing the capacitor or the variation thereof to the detection circuit;
the detection circuit is used for converting the electric signal representing the capacitance or the variation thereof into the electric signal representing the capacitance or the variation thereof.
Further, the proximity obtaining module 10 according to the embodiment of the present invention includes:
the proximity calculation unit is used for calculating the proximity of each joint and the obstacle sensed by the electronic skin module arranged on the corresponding joint arm, and the proximity is calculated by the following formula:
Figure 9362DEST_PATH_IMAGE032
wherein d isikThe distance of the barrier sensed by the kth electronic skin module on the ith joint is epsilon, the dielectric constant of a medium between the electronic skin module and the barrier is epsilon, and SikIs the facing area of the kth electronic skin module on the ith joint, CikThe capacitance sensed by the electronic skin module of the kth joint is shown.
Further, the first repulsive force converting module 20 according to the embodiment of the present invention includes:
the virtual force calculating unit is used for calculating the virtual force sensed by each electronic skin module according to the proximity degree;
the repulsive force calculation unit is used for calculating the repulsive force generated on each joint due to the virtual force according to the relation between the force and the moment, and the repulsive force is calculated by the following formula:
Figure 123949DEST_PATH_IMAGE033
wherein, tauiThe joint max is the total number of joints of the robot, the serial number of each joint is marked from the lower end to the upper end of the robot, the serial number of the lowermost joint is 1, the serial number of the lowermost joint is 2, 3, 4 … … n, and the joint max is skinnmaxnIs the total number of electronic skin modules on the nth joint of the robot, fnkThe repulsion value l corresponding to the detected approach degree of the k electronic skin module on the ith jointi,nkIs the distance from the kth electronic skin module on the nth joint to the coordinate origin of the ith joint.
Based on the robot arm control method proposed in the foregoing embodiment, referring to fig. 4, the present invention also proposes a robot arm control device, including:
a receiving module 1 for receiving an admittance output location;
the instruction conversion module 2 is used for converting the admittance output position into a motion control instruction through a motion control algorithm;
and the second sending module 3 sends the motion control command to the joint motor.
Based on the robot arm control method proposed in the foregoing embodiment, referring to fig. 5, the present invention also proposes a robot arm control apparatus, including:
a memory 1005 for storing a computer program;
the processor 1001 is configured to implement the robot control method according to each of the foregoing embodiments when executing the computer program, and the robot control method includes at least the following steps:
step S10, obtaining the approach degree of the barrier, wherein the approach degree is obtained by calculating the monitoring data of the electronic skin module;
step S20, converting the proximity into repulsive force;
step S30, acquiring admittance output positions capable of avoiding obstacles, wherein the admittance output positions are obtained by calculating repulsive force through an admittance control model;
in step S40, the admittance output position is sent to each joint controller.
As shown in fig. 5, fig. 5 is a schematic structural diagram of a robot arm control device in a hardware operating environment according to an embodiment of the present invention.
The mechanical arm control equipment can be a robot or a PC. As shown in fig. 5, the robot arm control apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the robot arm control apparatus configuration shown in figure 5 does not constitute a definition of a robot arm calibration apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 5, a memory 1005, which is one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a robot arm calibration program.
In the robot arm control device shown in fig. 5, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be used to invoke a robot arm calibration program stored in the memory 1005.
Based on the robot arm control method proposed by the foregoing embodiment, the present invention further proposes a storage medium storing a computer program, which when executed by a processor, implements the robot arm control method described in the foregoing embodiment, the robot arm control method at least comprising:
step S100, receiving an admittance output position;
step S200, converting the admittance output position into a motion control instruction through a motion control algorithm;
and step S300, sending a motion control command to the joint motor.
Based on the robot arm control method proposed by the foregoing embodiment, the present invention also proposes a storage medium storing a computer program, which when executed by a processor, implements the robot arm control method described in the foregoing embodiments, the robot arm control method at least comprising the steps of:
step S10, obtaining the approach degree of the barrier, wherein the approach degree is obtained by calculating the monitoring data of the electronic skin module;
step S20, converting the proximity into repulsive force;
step S30, acquiring admittance output positions capable of avoiding obstacles, wherein the admittance output positions are obtained by calculating repulsive force through an admittance control model;
in step S40, the admittance output position is sent to each joint controller.
Based on the robot arm control method proposed by the foregoing embodiment, the present invention also proposes a storage medium storing a computer program, which when executed by a processor, implements the robot arm control method described in the foregoing embodiments, the robot arm control method at least comprising the steps of:
step S100, receiving an admittance output position;
step S200, converting the admittance output position into a motion control instruction through a motion control algorithm;
and step S300, sending a motion control command to the joint motor.
Based on the method for controlling a robot arm proposed in the foregoing embodiment, referring to fig. 6, the present invention further proposes a robot arm, including:
a base 100;
a moving member 200 connected to the base 100 and capable of swinging, rotating or linear movement with respect to the base 100;
a driving part 300 for driving the moving part 200 to move or braking the moving part 200;
an electronic skin module 400 covering at least a part of the surface of the moving part 200 for detecting the proximity of an external obstacle to the robot arm;
the control system 500 is configured to execute the robot arm control methods described in steps S10-S40 and steps S100-S300 to control the moving part 200 to move backward relative to the obstacle.
Based on the robot arm control method proposed in the foregoing embodiment, referring to fig. 7, the present invention also proposes a robot arm control system, including:
a storage module for storing a computer program;
a main controller that, when executed by the computer program, implements the robot arm control method described in steps S10-S40;
a plurality of joint controllers, wherein when the computer program is executed by the joint controllers, the robot arm control method of steps S100-S300 is realized;
and the joint motors work according to the motion control instruction.
In this embodiment, the storage module may have one or more memories for storing computer programs, and the computer programs may be executed to implement the robot arm control methods described in steps S10-S40 and steps S100-S300, respectively. When there is only one memory, the computer programs are all stored in the memory, and when the main controller executes the corresponding computer program in the memory, the robot arm control method described in steps S10-S40 is implemented, and when the joint controller executes the corresponding computer program in the memory, the robot arm control method described in steps S100-S300 is implemented. Of course, the storage module may have two memories for storing computer programs corresponding to the robot arm control methods described in steps S10-S40 and steps S100-S300, respectively.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another apparatus, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.

Claims (21)

1. A robot arm control method is characterized by comprising:
obtaining the approaching degree of the barrier, wherein the approaching degree is obtained by calculating the monitoring data of the electronic skin module;
converting said proximity to a repulsive force;
acquiring an admittance output position capable of avoiding the barrier, wherein the admittance output position is obtained by calculating the repulsive force through an admittance control model;
and sending the admittance output position to each joint controller.
2. The robot arm control method according to claim 1, further comprising, before converting the proximity into the repulsive force:
converting the proximity to a repulsive force when the proximity exceeds a threshold.
3. The robot arm control method according to claim 1,
the electronic skin module comprises a detection circuit and an electrode, wherein the electrode is electrically connected with the detection circuit;
the electrode can form a capacitor with a close conductor and transmit an electric signal for representing the capacitor or the variation of the capacitor to the detection circuit;
the detection circuit is used for converting the electric signal representing the capacitance or the variation thereof into the electric signal representing the capacitance or the variation thereof.
4. The robot arm control method according to claim 3, wherein the acquiring the proximity of the obstacle comprises:
calculating the proximity of the obstacles sensed by each joint and the electronic skin module arranged on the corresponding joint arm, wherein the proximity is calculated by the following formula:
Figure 484890DEST_PATH_IMAGE001
wherein d isikThe distance of the sensed obstacle is the kth electronic skin module on the ith joint, the epsilon is the dielectric constant of a medium between the electrode and the obstacle, and SikIs the facing area of the kth electronic skin module on the ith joint, CikThe capacitance sensed by the electronic skin module of the kth joint is shown.
5. The robot arm control method according to claim 1, wherein the converting the proximity into the repulsive force comprises:
calculating the virtual force sensed by each electronic skin module according to the proximity;
on each joint, calculating repulsive force generated on the joint due to virtual force according to the relation between force and moment, wherein the repulsive force is calculated by the following formula:
Figure 808555DEST_PATH_IMAGE002
wherein, the value of τ isiThe joint Max is the total number of joints of the robot, the serial number of each joint is marked from the lower end to the upper end of the robot, and the lowest joint is used as the repulsive force when the obstacle approaches the mechanical armJoint number 1, up to 2, 3, 4 … … n, skinnMaxnIs the total number of electronic skin modules on the nth joint of the robot, fnkThe repulsion value l corresponding to the detected approach degree of the k electronic skin module on the ith jointi,nkIs the distance from the kth electronic skin module on the nth joint to the coordinate origin of the ith joint.
6. The robot arm control method according to claim 5,
calculating the virtual force sensed by each electronic skin module by the following formula:
Figure 322713DEST_PATH_IMAGE003
wherein, the fikThe virtual force sensed by the k electronic skin module on the i joint, dmaxThe maximum distance at which the electronic skin module can perceive the obstacle, dikThe closeness of the k electronic skin module on the ith joint to the obstacle, fminIs the minimum virtual force corresponding to when the distance of the electronic skin module from the obstacle is maximum, said fmaxIs the set maximum virtual force.
7. The robot arm control method according to claim 5,
calculating the virtual force sensed by each electronic skin module by the following formula:
Figure 514660DEST_PATH_IMAGE004
wherein, the fikIs a virtual force sensed by the kth electronic skin module on the ith joint, eta is a repulsive force field coefficient, eta is greater than 0, and dikFor the k electronic skin module on the ith joint and the obstacleProximity of said dmaxIs the farthest distance at which the electronic skin module can perceive the obstacle.
8. The robot arm control method according to claim 1, wherein the acquiring an admittance output position that can avoid the obstacle includes:
establishing an admittance equation based on an admittance control principle:
Figure 63453DEST_PATH_IMAGE005
adjusting the admittance equation to obtain an acceleration formula:
Figure 558020DEST_PATH_IMAGE006
performing discrete integration on the acceleration to obtain a velocity formula:
Figure 559474DEST_PATH_IMAGE007
and carrying out discrete integration on the speed to obtain an admittance output position:
Figure 289532DEST_PATH_IMAGE008
wherein, the
Figure 630515DEST_PATH_IMAGE009
、
Figure 358299DEST_PATH_IMAGE010
、
Figure 909366DEST_PATH_IMAGE011
Respectively, an admittance output acceleration, an admittance output velocity, and an admittance output position of the robot arm, the
Figure 52903DEST_PATH_IMAGE012
、
Figure 310709DEST_PATH_IMAGE013
、
Figure 537291DEST_PATH_IMAGE014
A non-admittance acceleration, a non-admittance velocity and a non-admittance position, respectively, issued for the command, MdIs the inertia of the mechanical arm, BdFor damping of the arm, KdFor the stiffness of the arm, the value τiThe repulsion force generated on the joint i, the n +1 is the numerical value of the next moment, the n is the numerical value of the current moment, and the Δ t is the discrete time period.
9. A robot arm control method is characterized by comprising:
receiving an admittance output position;
converting the admittance output position into a motion control instruction through a motion control algorithm;
and sending the motion control command to a joint motor.
10. A robot arm control apparatus, comprising:
the approach degree acquisition module is used for acquiring the approach degree of the barrier, and the approach degree is obtained by calculating monitoring data of the electronic skin module;
the first repulsion conversion module is used for converting the proximity into repulsion;
the admittance output position acquisition module is used for acquiring admittance output positions capable of avoiding the obstacles, and the admittance output positions are obtained by calculating the repulsive force through an admittance control model;
and the first sending module is used for sending the admittance output position to each joint controller.
11. The robot arm control apparatus according to claim 10, further comprising:
and the second repulsion conversion module is used for converting the proximity degree into the repulsion when the proximity degree exceeds a threshold value.
12. The robot arm control apparatus according to claim 10,
the electronic skin module comprises a detection circuit and an electrode, wherein the electrode is electrically connected with the detection circuit;
the electrode can form a capacitor with a close conductor and transmit an electric signal for representing the capacitor or the variation of the capacitor to the detection circuit;
the detection circuit is used for converting the electric signal representing the capacitance or the variation thereof into the electric signal representing the capacitance or the variation thereof.
13. The robot arm control apparatus according to claim 12, wherein the proximity acquiring module includes:
the proximity calculation unit is used for calculating the proximity of the obstacles sensed by each joint and the electronic skin module arranged on the corresponding joint arm, and the proximity is calculated by the following formula:
Figure 513337DEST_PATH_IMAGE001
wherein d isikThe distance of the sensed obstacle of the kth electronic skin module on the ith joint is epsilon, epsilon is the dielectric constant of a medium between the electronic skin module and the obstacle, SikIs the facing area of the kth electronic skin module on the ith joint, CikThe capacitance sensed by the electronic skin module of the kth joint is shown.
14. The robot arm control apparatus according to claim 10, wherein the first repulsive force switching means comprises:
the virtual force calculating unit is used for calculating the virtual force sensed by each electronic skin module according to the proximity degree;
the repulsive force calculation unit is used for calculating the repulsive force generated on each joint due to the virtual force according to the relation between the force and the moment, and the repulsive force is calculated by the following formula:
Figure 460565DEST_PATH_IMAGE002
wherein, the value of τ isiThe joint max is the total number of joints of the robot, the serial number of each joint is marked from the lower end to the upper end of the robot, the serial number of the lowermost joint is 1, the serial number of the lowermost joint is 2, 3, 4 … … n, and the joint max is skinnmaxnIs the total number of electronic skin modules on the nth joint of the robot, fnkThe repulsion value l corresponding to the detected approach degree of the k electronic skin module on the ith jointi,nkIs the distance from the kth electronic skin module on the nth joint to the coordinate origin of the ith joint.
15. A robot arm control apparatus, comprising:
a receiving module for receiving the admittance output location;
the instruction conversion module is used for converting the admittance output position into a motion control instruction through a motion control algorithm;
and the second sending module is used for sending the motion control command to the joint motor.
16. A robot arm control apparatus, characterized by comprising:
a memory for storing a computer program;
a processor for implementing the robot arm control method of any one of claims 1 to 8 when executing the computer program.
17. A storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the robot arm control method according to any one of claims 1 to 8.
18. A robot arm control apparatus, characterized by comprising:
a memory for storing a computer program;
a processor for implementing the robot arm control method of claim 9 when executing the computer program.
19. A storage medium characterized in that the storage medium stores a computer program which, when executed by a processor, implements the robot arm control method according to claim 9.
20. A robot arm, comprising:
a base;
the moving component is connected to the base and can swing, rotate or linearly move relative to the base;
the driving component is used for driving the moving component to move or braking the moving component;
the electronic skin module covers at least part of the surface of the moving part and is used for detecting the proximity of an external obstacle to the mechanical arm;
a control system for executing the robot arm control method of any one of claims 1 to 8 and claim 9 to control the moving member to retreat with respect to the obstacle.
21. A robot arm control system, comprising:
a storage module for storing a computer program;
a main controller, the computer program, when executed by the main controller, implementing the robot arm control method of any one of claims 1-8;
a plurality of joint controllers, the computer program, when executed by the joint controllers, implementing the robot arm control method of claim 9;
and the joint motors work according to the motion control instruction.
CN202110581850.5A 2021-05-27 2021-05-27 Mechanical arm control method, device, equipment, system, storage medium and mechanical arm Active CN113021359B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202110581850.5A CN113021359B (en) 2021-05-27 2021-05-27 Mechanical arm control method, device, equipment, system, storage medium and mechanical arm
CN202111053135.0A CN113733089B (en) 2021-05-27 2021-05-27 Mechanical arm control method, device, equipment, system, storage medium and mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110581850.5A CN113021359B (en) 2021-05-27 2021-05-27 Mechanical arm control method, device, equipment, system, storage medium and mechanical arm

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202111053135.0A Division CN113733089B (en) 2021-05-27 2021-05-27 Mechanical arm control method, device, equipment, system, storage medium and mechanical arm

Publications (2)

Publication Number Publication Date
CN113021359A true CN113021359A (en) 2021-06-25
CN113021359B CN113021359B (en) 2021-10-29

Family

ID=76455958

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202110581850.5A Active CN113021359B (en) 2021-05-27 2021-05-27 Mechanical arm control method, device, equipment, system, storage medium and mechanical arm
CN202111053135.0A Active CN113733089B (en) 2021-05-27 2021-05-27 Mechanical arm control method, device, equipment, system, storage medium and mechanical arm

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202111053135.0A Active CN113733089B (en) 2021-05-27 2021-05-27 Mechanical arm control method, device, equipment, system, storage medium and mechanical arm

Country Status (1)

Country Link
CN (2) CN113021359B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113733089A (en) * 2021-05-27 2021-12-03 深圳市越疆科技有限公司 Mechanical arm control method, device, equipment, system, storage medium and mechanical arm
CN115229772A (en) * 2022-08-23 2022-10-25 深圳市越疆科技有限公司 Robot, robot control method, robot control device, robot control equipment, storage medium and mechanical arm
CN115958610A (en) * 2023-03-16 2023-04-14 季华实验室 Mechanical arm obstacle avoidance method and device, electronic equipment and storage medium
CN116138909A (en) * 2023-04-24 2023-05-23 北京市春立正达医疗器械股份有限公司 Intelligent control method and system for dental implant robot

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07248873A (en) * 1994-03-08 1995-09-26 Sharp Corp Controller using myoelectric signal
CN104317292A (en) * 2014-09-16 2015-01-28 哈尔滨恒誉名翔科技有限公司 Method for planning collision avoidance path of robot with complicated shape
CN104390648A (en) * 2014-12-22 2015-03-04 中国矿业大学 Coal mine rescue robot path planning method based on artificial potential field
CN105045259A (en) * 2015-04-27 2015-11-11 华中科技大学 Multi-sensor-based walking-aided robot man-machine interface and obstacle avoidance control method thereof
CN109249394A (en) * 2018-09-27 2019-01-22 上海电气集团股份有限公司 Robot control method and system based on admittance control algorithms
CN111923038A (en) * 2020-07-01 2020-11-13 深圳市越疆科技有限公司 Mechanical arm type robot, obstacle avoidance method of robot and storage medium
CN112140102A (en) * 2020-06-08 2020-12-29 深圳市越疆科技有限公司 Obstacle avoidance method, device and system of industrial robot
CN112476438A (en) * 2020-12-11 2021-03-12 深圳市越疆科技有限公司 Mechanical arm obstacle avoidance method and device, mechanical arm and robot

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4269055B2 (en) * 2004-03-31 2009-05-27 国立大学法人広島大学 Obstacle avoidance device and moving body
JP5962020B2 (en) * 2012-01-17 2016-08-03 セイコーエプソン株式会社 Robot control apparatus, robot system, robot, and robot control method
CN111390877B (en) * 2020-04-23 2021-07-13 电子科技大学 Exoskeleton device and exoskeleton admittance variation control method
CN111906778B (en) * 2020-06-24 2023-04-28 深圳市越疆科技有限公司 Robot safety control method and device based on multiple perceptions
CN112223283A (en) * 2020-09-29 2021-01-15 腾讯科技（深圳）有限公司 Robot arm, robot arm control method, processing apparatus, and medium
CN113021359B (en) * 2021-05-27 2021-10-29 深圳市越疆科技有限公司 Mechanical arm control method, device, equipment, system, storage medium and mechanical arm

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07248873A (en) * 1994-03-08 1995-09-26 Sharp Corp Controller using myoelectric signal
CN104317292A (en) * 2014-09-16 2015-01-28 哈尔滨恒誉名翔科技有限公司 Method for planning collision avoidance path of robot with complicated shape
CN104390648A (en) * 2014-12-22 2015-03-04 中国矿业大学 Coal mine rescue robot path planning method based on artificial potential field
CN105045259A (en) * 2015-04-27 2015-11-11 华中科技大学 Multi-sensor-based walking-aided robot man-machine interface and obstacle avoidance control method thereof
CN109249394A (en) * 2018-09-27 2019-01-22 上海电气集团股份有限公司 Robot control method and system based on admittance control algorithms
CN112140102A (en) * 2020-06-08 2020-12-29 深圳市越疆科技有限公司 Obstacle avoidance method, device and system of industrial robot
CN111923038A (en) * 2020-07-01 2020-11-13 深圳市越疆科技有限公司 Mechanical arm type robot, obstacle avoidance method of robot and storage medium
CN112476438A (en) * 2020-12-11 2021-03-12 深圳市越疆科技有限公司 Mechanical arm obstacle avoidance method and device, mechanical arm and robot

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
（瑞士）DARIOFLOREANO，CLAUDIOMATTIUSSI著，程国建等译: "《仿生人工智能》", 31 March 2017, 国防工业出版社 *
曾鸿等: "《船舶机电系统虚拟仿真研究》", 30 June 2015, 哈尔滨工程大学出版社 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113733089A (en) * 2021-05-27 2021-12-03 深圳市越疆科技有限公司 Mechanical arm control method, device, equipment, system, storage medium and mechanical arm
CN115229772A (en) * 2022-08-23 2022-10-25 深圳市越疆科技有限公司 Robot, robot control method, robot control device, robot control equipment, storage medium and mechanical arm
CN115229772B (en) * 2022-08-23 2023-07-18 深圳市越疆科技股份有限公司 Robot, control method, control device, control equipment, storage medium and mechanical arm thereof
CN115958610A (en) * 2023-03-16 2023-04-14 季华实验室 Mechanical arm obstacle avoidance method and device, electronic equipment and storage medium
CN116138909A (en) * 2023-04-24 2023-05-23 北京市春立正达医疗器械股份有限公司 Intelligent control method and system for dental implant robot
CN116138909B (en) * 2023-04-24 2023-10-27 北京市春立正达医疗器械股份有限公司 Intelligent control method and system for dental implant robot

Also Published As

Publication number Publication date
CN113021359B (en) 2021-10-29
CN113733089A (en) 2021-12-03
CN113733089B (en) 2023-05-16

Similar Documents

Publication Publication Date Title
CN113021359B (en) Mechanical arm control method, device, equipment, system, storage medium and mechanical arm
US10556353B2 (en) Robot arm control device and robot arm operation method
US9579798B2 (en) Human collaborative robot system
CN111906778B (en) Robot safety control method and device based on multiple perceptions
US8583285B2 (en) Method and device for stopping a manipulator
CN107116553B (en) Mechanical arm operation method and device
CN105058396A (en) Robot teaching system and control method thereof
US10022864B2 (en) Robot control apparatus, robot system, and robot control method
CN113710432A (en) Method for determining a trajectory of a robot
CN112476438B (en) Mechanical arm obstacle avoidance method and device, mechanical arm and robot
WO2008001713A1 (en) Articulated robot and its control program
WO2012099688A1 (en) Telematic interface with control signal scaling based on force sensor feedback
CN110997249A (en) Working robot and control method for working robot
US20200030992A1 (en) Robot System
KR20190079322A (en) Robot control system
KR20220080070A (en) Footprint contact detection
Chen et al. A human-following mobile robot providing natural and universal interfaces for control with wireless electronic devices
CN114536342A (en) Multi-arm system and inter-arm collision avoidance control method thereof
CN110666820A (en) High-performance industrial robot controller
TWI382833B (en) Walking assistive system
US20230083258A1 (en) Bilateral teleoperation system and control method
JP7423943B2 (en) Control method and robot system
CN112440283A (en) Robot pop-up window interaction method and device, robot and computer storage medium
US20230158671A1 (en) Intelligent obstacle avoidance of multi-axis robot arm
US11931885B2 (en) Touch sensing method and serial manipulator using the same

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant