CN113211429A - High-precision stable control method for fire-fighting robot - Google Patents
High-precision stable control method for fire-fighting robot Download PDFInfo
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- CN113211429A CN113211429A CN202110370800.2A CN202110370800A CN113211429A CN 113211429 A CN113211429 A CN 113211429A CN 202110370800 A CN202110370800 A CN 202110370800A CN 113211429 A CN113211429 A CN 113211429A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005457 optimization Methods 0.000 claims abstract description 4
- 230000008447 perception Effects 0.000 claims abstract description 4
- 230000004048 modification Effects 0.000 claims description 4
- 238000012986 modification Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012804 iterative process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a high-precision stable control method for a fire-fighting robot, which comprises the following steps: decoupling the mass center and the angular momentum of the robot system based on a kinematic and dynamic model based on an extended zero moment point method to obtain a three-dimensional linear model for global dynamic optimization control; based on an overall kinematics model and a kinematics model of a robot system and a boundary stability condition model when a robot platform cooperatively acts, stability criteria of the robot under specific load working conditions, working environments and movement tracks are constructed and used for judging the reasonability of a remote control command; and analyzing the stability of the robot under a specific remote control instruction in real time according to the environment perception information and the information of the robot platform pose component and in combination with a boundary stable condition model, and obtaining a rationalization correction strategy of the remote control instruction according to the stability. The invention constructs a boundary stable condition based on the stable operation control method of the fire-fighting robot in the unsteady state environment, and realizes the stable operation of the rescue robot in the complex environment.
Description
Technical Field
The invention belongs to the technical field of fire rescue, and particularly relates to a high-precision stable control method for a fire-fighting robot.
Background
The fire-fighting robot is a product of continuous development and innovation of science and technology, is a special robot, can play an unexpected role in fire extinguishing and emergency rescue, can assist and even gradually replace the work of firemen, and ensures the life safety of the firemen. However, most of the fire rescue robots have disadvantages in the practical application process: the stable walking and stable operation of the fire-fighting robot are important prerequisites for completing fire-fighting rescue tasks, and under a load rescue environment, the relief site landform and the robot are in a dynamic unstable state, so that the task of ensuring the stability of the fire-fighting robot is a very challenging task. The problem of inconvenient movement can be solved only by ensuring the stability of the robot on the rescue site, and the working advantages of the fire-fighting robot on the rescue site are exerted. Therefore, a high-precision stable control scheme for the fire-fighting robot is needed.
Disclosure of Invention
The invention aims to provide a high-precision stable control method for a fire-fighting robot, which aims to solve the technical problem.
The invention provides a high-precision stable control method for a fire-fighting robot, which comprises the following steps:
step 1, decoupling a mass center and angular momentum of a robot system based on a zero moment point expansion method and a kinematics and dynamics model to obtain a three-dimensional linear model for global dynamic optimization control;
step 2, based on the overall kinematics model and the kinematics model of the robot system and the boundary stability condition model when the robot platform cooperatively acts, constructing stability criteria of the robot under specific load working conditions, working environments and movement tracks for judging the reasonability of the remote control command;
and 3, analyzing the stability of the robot under a specific remote control instruction in real time according to the environment perception information and the information of the robot platform pose component and by combining a boundary stable condition model, and obtaining a reasonable modification strategy of the remote control instruction according to the stability.
Further, after the stability criterion of the robot under the specific load working condition, working environment and motion trail is established in the step 2, planning and correcting the motion command is further included.
Further, the planning and modifying the motion command includes:
and gradually trying the indexes of the motion command, such as amplitude, speed and the like by adopting a trial method until the stability requirement is met.
Further, the planning and modifying the motion command includes:
and (4) carrying out quick search by adopting an iterative search method until the stability requirement is met.
By means of the scheme, the boundary stable condition is established through the high-precision stable control method of the fire-fighting robot and the stable operation control method of the fire-fighting robot in the unsteady state environment, and stable operation of the rescue robot in the complex environment is achieved.
The foregoing is a summary of the present invention, and in order to provide a clear understanding of the technical means of the present invention and to be implemented in accordance with the present specification, the following is a detailed description of the preferred embodiments of the present invention.
Detailed Description
The following examples are given to further illustrate the embodiments of the present invention. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The stability is a precondition that the fire-fighting robot can normally exert the emergency rescue and disaster relief functions, and the robot body can be in unpredictable contact with the ground environment in the process of walking under a fire complex terrain and implementing rescue operation, so that impact vibration is brought to the robot; the robot needs to move under a complex terrain, so that the attitude of the robot is dynamically changed; the remote operator may issue an unreasonable manipulation instruction, thereby causing abnormal movement of the robot. All these can break the existing stability state of the robot and influence the normal operation of the robot. Based on the above problems, the embodiment performs equivalent transformation on the ground contact surface of the fire-fighting robot based on the stability control strategy of the extended zero moment point theory, so that the stability control analysis of the wheel-foot type fire-fighting robot can be satisfied. In the aspect of constructing boundary stable conditions, based on an overall dynamics and kinematics model of a robot system, a boundary stable condition model is established when a mechanical arm and a robot platform act cooperatively, a stability criterion of the fire-fighting robot under a specific load working condition, a working environment and a motion track is constructed, and an analysis basis is provided for subsequent remote control instruction rationality judgment. The specific scheme is as follows:
1. stability control method based on zero moment point expansion theory
The conventional zero moment point theory is mainly used for the stable control of a humanoid or foot type robot and can not solve the problem of non-horizontal ground. The embodiment expands the application of the theory, and performs equivalent transformation processing on the ground contact surface of the wheeled fire-fighting robot, so that the stability control analysis of the wheeled fire-fighting robot can be met. For a non-horizontal ground, the center of mass and the angular momentum of the robot system are decoupled based on a kinematics and dynamics model to obtain a three-dimensional linear model, and a basis is provided for the subsequently implemented global dynamic optimization control.
The basic principle of the zero moment point theory can be described as follows:
the application scene oriented by the embodiment is a complex fire environment, the ground structure of the application scene is complex and unpredictable, and the conventional zero moment point theory is mainly oriented to horizontal terrain. The embodiment is based on a robot model, the centroid and the angular momentum of the robot model are decoupled, and the application scene of the zero moment point control theory is expanded.
2. And modeling a boundary stable condition.
Based on an overall kinematics model and a kinematics model of the robot system and a boundary stability condition model when the robot platform cooperatively acts, stability criteria of the robot under specific load working conditions, working environments and movement tracks are established, and an analysis basis is provided for subsequent remote control instruction reasonableness judgment.
In this embodiment, a stability model of the robot is constructed by the following forms of the overturning force and the overturning included angle.
3. And (5) correcting the plan by the robot motion instruction.
And analyzing the stability of the robot under a specific remote control instruction in real time according to the information of components such as environment perception information, robot platform pose and the like and by combining a boundary stable condition model, and obtaining a rationalization correction strategy of the remote control instruction based on the stability.
After the stability determination in fig. 2, the present embodiment studies the planning and correcting strategy of the motion command from two aspects:
firstly, an attempt method is adopted, which is a simple and easy method, and the core is to gradually reduce indexes such as amplitude, speed and the like of a motion instruction, and gradually try until the stability requirement is met.
Second, an iterative search method, such as newton's iteration, is used to perform a fast search, but convergence analysis of the iterative process is required.
The high-precision stable control method for the fire-fighting robot is based on a stable operation control method for the fire-fighting robot in an unstable environment, a boundary stable condition is established, and stable operation of the rescue robot in a complex environment is achieved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (4)
1. A high-precision stable control method for a fire-fighting robot is characterized by comprising the following steps:
step 1, decoupling a mass center and angular momentum of a robot system based on a zero moment point expansion method and a kinematics and dynamics model to obtain a three-dimensional linear model for global dynamic optimization control;
step 2, based on the overall kinematics model and the kinematics model of the robot system and the boundary stability condition model when the robot platform cooperatively acts, constructing stability criteria of the robot under specific load working conditions, working environments and movement tracks for judging the reasonability of the remote control command;
and 3, analyzing the stability of the robot under a specific remote control instruction in real time according to the environment perception information and the information of the robot platform pose component and by combining a boundary stable condition model, and obtaining a reasonable modification strategy of the remote control instruction according to the stability.
2. The fire-fighting robot high-precision stability control method according to claim 1, wherein the step 2 further comprises planning and modifying the motion command after establishing the stability criterion of the robot under the specific load working condition, working environment and motion trail.
3. The fire-fighting robot high-precision stable control method according to claim 2, wherein the planning and modifying of the motion command comprises:
and gradually trying the indexes of the motion command, such as amplitude, speed and the like by adopting a trial method until the stability requirement is met.
4. The fire-fighting robot high-precision stable control method according to claim 2, wherein the planning and modifying of the motion command comprises:
and (4) carrying out quick search by adopting an iterative search method until the stability requirement is met.
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| CN202110370800.2A CN113211429A (en) | 2021-04-07 | 2021-04-07 | High-precision stable control method for fire-fighting robot |
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| CN202110370800.2A CN113211429A (en) | 2021-04-07 | 2021-04-07 | High-precision stable control method for fire-fighting robot |
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2021
- 2021-04-07 CN CN202110370800.2A patent/CN113211429A/en active Pending
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| KR101776819B1 (en) * | 2016-06-09 | 2017-09-20 | 한양대학교 에리카산학협력단 | Turnover Prediction Method of Excavator |
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