CN110421560A - A kind of cooperation robot constant force massage method based on pid algorithm - Google Patents
A kind of cooperation robot constant force massage method based on pid algorithm Download PDFInfo
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- CN110421560A CN110421560A CN201910600766.6A CN201910600766A CN110421560A CN 110421560 A CN110421560 A CN 110421560A CN 201910600766 A CN201910600766 A CN 201910600766A CN 110421560 A CN110421560 A CN 110421560A
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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
- B25J11/008—Manipulators for service tasks
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of cooperation robot constant force massage method based on pid algorithm, comprising the following steps: installation equipment；The power on buttons in robot demonstrator is pressed, robot control system connects electricity；Interactive software program is run on host computer, starts man-machine interface, and user sets the constant force value and step value of constant force massage；Establish the communication channel with host computer；The force value and moment values of the robot end measured according to sensor calculates bit shift compensation value and pose compensation value；Robot end's power is corrected using the offset of calculating；Massage is completed, host computer is out of service, robot stop motion.Massage effect of the present invention is good, and human comfort is higher.It is easy to operate, real-time is good, noise is small, safety is higher.Robot can automatically adjust pose in massage processes, and intelligent level is higher.Small by external influences, robustness is good.
Description
Technical field
The present invention relates to robot teaching method, in particular to a kind of cooperation robot constant force massage based on pid algorithm
Method.
Background technique
To allow the robot to complete various intelligent, automated job tasks, robot teaching, algorithm optimization mistake are carried out
Journey is essential.Traditional teaching technology is generally divided into teaching machine teaching, off-line teaching.Teaching machine teaching requires demonstrator to pass through
The track of teaching machine as required coordinate points will be conveyed to robot one by one, and track the method simple for plane can expire
Foot requires, but not can guarantee the accuracy and real-time of robot trajectory and amount of force, and teaching efficiency and precision all compare
It is low.Off-line teaching is the motion profile for automatically generating robot according to task demand by off-line programming software, programming effect
Rate is higher, but needs relevant programming software, and operator is required to compare the relevant knowledges such as robot kinematics, dynamics
Solution.It is low that PC control robot motion based on algorithm can make up traditional teaching method precision, and track modulability difference etc. lacks
Point.The accuracy of real-time and robot end's active force can be significantly improved.Improve production efficiency and the quality of production.
" a kind of constant force grinding control system and method " disclosed in patent CN108762071A will be real by pressure sensor
Border grinding signal is transmitted to industrial computer, uses FUZZY ALGORITHMS FOR CONTROL and realizes constant force griding.Because it needs the straight of precision
Line moves mould group and grinder, therefore higher cost, and equipment is more, higher to operator's technical requirements.In addition for its servo
Motor required precision is higher.
" a kind of robot constant force curved surface tracking method based on fuzzy iterative algorithm " disclosed in patent CN108972545A,
The following steps are included: feature when (1) is contacted for industrial robot end effector and curved surface profile, establishes curved surface normal force
With the mapping relations of known sensor coordinate system；(2) it is tracked along Unknown curve surface, initial control algolithm is PD algorithm, is obtained just
Beginning track and force parameter；(3) error of the power according to obtained in experiment and desired power, the motion profile for setting robot are initial
Knots modification, at the same according to last time experiment in the track of power error and power error change amount fuzzy compensation robot, the two it
With the displacement knots modification for robot；Power error is that the power of acquisition subtracts expected force；(4) iterative step (3) until obtain power and
The error of desired power is within the threshold range of setting.For the method because of its continuous operation, the number of iterations is more and cannot be guaranteed real
Shi Xing.
" a kind of robot constant force curved surface tracking method based on intensified learning " disclosed in patent CN108972546A utilizes
The intensified learning method speculated based on Gauss model optimizes the parameter of controller.It is lesser mainly for iterative data
In the case of realize the effect of robot constant force curved surface tracking, therefore poor universality, and being influenced by external interference excessive.
" a kind of constant force device for robot end " disclosed in patent CN205660724U is by adjusting air pressure valve
Control end-of-arm tooling maintains contact force with contact surface.Its device includes actuating cylinder, guiding mechanism, central control assembly, fixation
Installation lid and placement installation lid, equipment is numerous, and complicated operation, poor universality.And it is relied primarily on pneumatically, noise is big.
Summary of the invention
It is an object of the invention to overcome the shortcomings of prior art, provide it is a kind of it is easy to operate, at low cost, precision is high, real-time
The cooperation robot constant force massage method based on pid algorithm that performance is good, universal performance is strong.
A kind of cooperation robot constant force massage method based on pid algorithm of the invention, comprising the following steps:
Step 1: installation equipment:
Host computer is connect with the robot controller in robot control system by TCP cable, robot controller
It is connected with servo-driver, servo-driver is connected with the joint motor of robot body, machine matched with robot controller
Device people's teaching machine is connected with robot controller, realizes that the connection of host computer interface and robot controller is logical by Transmission Control Protocol
News；
Six-dimension force sensor is mounted on robot body end effector by ring flange and nut, in the machine
The massage head of a rubber material is concatenated on device human body's end effector；
Step 2: pressing the power on buttons in robot demonstrator, robot control system connects electricity；
Step 3: running interactive software program on host computer, start man-machine interface, user sets constant force massage
Constant force value；Establish the TCP communication between host computer and robot controller；
Step 4: establishing and the communication channel of host computer: being connect by the socket write in advance in operation teaching machine
It instructs to host computer and sends connection request, host computer receives the connection of realization the two after request；
Step 5: host computer by six-dimension force sensor detect the force value data of robot end and human contact's point with
And torque Value Data, while six-dimension force sensor data are generated into Excel table on host computer backstage；Then host computer passes through reading
The force value operation of the robot end and human contact's point that get show that current power and user set the difference of force value, and then pass through
Pid algorithm operation obtains robot displacement offset；The power of the robot end and human contact's point that are read by host computer
Square value and force value operation obtain the angle between the direction of current power and robot end and human contact face normal direction, and pass through song
Face attitude compensation method converts the angle to the pose compensation value around the X, Y, Z axis of robot tool coordinate system；
Step 6: by the movement instruction of teaching machine, so that the communication that robot control system is first established from step 4 is logical
Road receives the robot pose offset of step 5 calculating, and robot completes corresponding attitude motion according to pose compensation value,
Then robot control system receives the robot displacement offset that step 5 calculates, machine from the communication channel that step 4 is established
Device people completes corresponding displacement movement；A signal is sent as identifier to host computer after robot completion relevant action, is made
Host computer is received and is repeated after identifier signal Step 5: six, until the force value of robot end and human contact's point and
User sets the difference of force value in allowable range of error；
Step 7: host computer is out of service after robot is moved according to desired trajectory, robot stop motion is selected simultaneously
Routing diameter saves the robot end's force value and torque Value Data of the six-dimension force sensor output collected, generates Excel table
Lattice.
Compared with prior art, present invention has the advantage that
Cooperation robot constant force massage method based on pid algorithm of the invention is set on human-computer interaction interface by user
Constant force value and step value are set, then the two is transferred to robot controller, robot is realized according to the robot program write
Desired trajectory is in the process constantly adjusted force value and attitude value, to realize the effect of constant force massage.Host computer
Manpower is saved by closed loop pid algorithm and curved surface attitude compensation method, optimizes the control precision and real-time of robot
Can, significantly improve intelligent level.
Detailed description of the invention
Fig. 1 is the hardware connection diagram of the cooperation robot constant force massage method of the invention based on pid algorithm；
In figure: 1-robot control system；2-robot bodies；3-host computers；4-six-dimension force sensors；5-three
Keep off massage head；6-human bodies；7-TCP connection cables.
Specific embodiment
The present invention will be described in detail in the following with reference to the drawings and specific embodiments.
The method of the present invention massages human body with a constant power by realizing to cooperation robotic programming.
A kind of cooperation robot constant force massage method based on pid algorithm of the invention as shown in drawings, including it is following
Step:
Step 1: installation equipment:
Host computer 3 is connect with the robot controller in robot control system 1 by TCP cable 7, robot control
Device is connected with servo-driver, and servo-driver is connected with the joint motor of robot body 2, matched with robot controller
Robot demonstrator is connected with robot controller, and the connection at host computer 3 interface and robot controller is realized by Transmission Control Protocol
Communication；
Six-dimension force sensor 4 is mounted on 2 end effector of robot body by ring flange and nut, described
The massage head 5 of a rubber material is concatenated on 2 end effector of robot body.
The massage head 5 is commercially available, such as: can be using the AE-901 NEW type product of Jia Ruiaier company production.
Robot can use existing cooperation robot, the robot architecture as disclosed in UR robot.
Step 2: pressing the power on buttons in robot demonstrator, robot control system 1 connects electricity.
Step 3: running interactive software program on host computer 3, start man-machine interface, user sets constant force massage
Constant force value；Establish the TCP communication between host computer 3 and robot controller.
The human-computer interaction interface can use Microsoft Visual Studio 2015 (abbreviation VS2015) volume
It writes.The human-computer interaction interface program utilizes exploitation environment software relevant to robot controller.In the program
Including three parts: the first signal procedure, the second signal procedure and main program (program run in step 5), the first communication
The sextuple force data that the data that program is used to that function receiving thread A to be called to transmit, i.e. six-dimension force sensor 4 export, the second communication
Program sends the compensation to the current pose of robot calculated in 3 program of host computer by pid algorithm for socket communication
Value, the offset of the current pose of the robot are transmitted to robot controller by thread C, so that robot completes phase
It should act；Thread B is used to create the monitoring part in TCP communication.
Step 4: establishing the communication channel with host computer 3:
Connection request is sent to host computer 3 by the socket link order write in advance in operation teaching machine.It is upper
Machine 3 receives the connection of realization the two after request.
Step 5: host computer 3 detects the force value number of robot end Yu 6 contact point of human body by six-dimension force sensor 4
Accordingly and torque Value Data, while 4 data of six-dimension force sensor are generated into Excel table in host computer 3 from the background.Then host computer
3 show that current power and user set the difference of force value by the force value operation of the robot end and 6 contact point of human body that read,
And then robot displacement offset is obtained by pid algorithm operation；The robot end read by host computer 3 and human body 6
The moment values of contact point and force value operation obtain the folder between the 6 contact surface normal direction of direction and robot end and human body of current power
Angle, and by curved surface attitude compensation method convert the angle to the posture of the X, Y, Z axis around robot tool coordinate system
Offset.
Step 6: by the movement instruction of teaching machine, so that the communication that robot control system 1 is first established from step 4 is logical
Road receives the robot pose offset of step 5 calculating, and robot completes corresponding attitude motion according to pose compensation value,
Then robot control system 1 receives the robot displacement offset that step 5 calculates from the communication channel that step 4 is established,
Robot completes corresponding displacement movement.Robot completes to send a signal as identifier to host computer 3 after relevant action,
It repeats after identifier signal so that host computer 3 receives Step 5: six, until the power of robot end and 6 contact point of human body
Value and user set the difference of force value in allowable range of error.
Step 7: host computer 3 is out of service after robot is moved according to desired trajectory, robot stop motion is selected simultaneously
Routing diameter saves the robot end's force value and torque Value Data that the six-dimension force sensor 4 collected exports, and generates Excel table
Lattice.
Claims (1)
1. a kind of cooperation robot constant force massage method based on pid algorithm, it is characterised in that the following steps are included:
Step 1: installation equipment:
Host computer is connect with the robot controller in robot control system by TCP cable, robot controller with watch
It takes driver to be connected, servo-driver is connected with the joint motor of robot body, robot matched with robot controller
Teaching machine is connected with robot controller, and the connecting communication of host computer interface and robot controller is realized by Transmission Control Protocol；
Six-dimension force sensor is mounted on robot body end effector by ring flange and nut, in the robot
The massage head of a rubber material is concatenated on body tip actuator；
Step 2: pressing the power on buttons in robot demonstrator, robot control system connects electricity；
Step 3: running interactive software program on host computer, start man-machine interface, user sets the constant force of constant force massage
Value；Establish the TCP communication between host computer and robot controller；
Step 4: establishing the communication channel with host computer: passing through the socket link order write in advance in operation teaching machine
Connection request is sent to host computer, host computer receives the connection of realization the two after request；
Step 5: host computer detects the force value data and power of robot end Yu human contact's point by six-dimension force sensor
Square Value Data, while six-dimension force sensor data are generated into Excel table on host computer backstage；Then host computer is by reading
Robot end and the force value operation of human contact's point show that current power and user set the difference of force value, and then pass through PID
Algorithm operation obtains robot displacement offset；The moment values of the robot end and human contact's point that are read by host computer
The angle between the direction of current power and robot end and human contact face normal direction is obtained with force value operation, and passes through curved surface appearance
State backoff algorithm converts the angle to the pose compensation value around the X, Y, Z axis of robot tool coordinate system；
Step 6: by the movement instruction of teaching machine, so that robot control system first connects from the communication channel that step 4 is established
The robot pose offset of step 5 calculating is received, robot completes corresponding attitude motion according to pose compensation value, then
Robot control system receives the robot displacement offset that step 5 calculates, robot from the communication channel that step 4 is established
Complete corresponding displacement movement；To host computer one signal of transmission as identifier after robot completion relevant action, so that on
Position machine, which receives, to be repeated after identifier signal Step 5: six, until the force value and user of robot end and human contact's point
The difference of force value is set in allowable range of error；
Step 7: host computer is out of service after robot is moved according to desired trajectory, and robot stop motion, simultaneous selection road
Diameter saves the robot end's force value and torque Value Data of the six-dimension force sensor output collected, generates Excel table.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112238396A (en) * | 2020-10-15 | 2021-01-19 | 中国科学院深圳先进技术研究院 | Compact high-precision constant force actuator and application method |
| CN112618346A (en) * | 2020-12-24 | 2021-04-09 | 佛山冠湾智能科技有限公司 | Moxibustion robot motion control method based on multi-sensor perception |
| CN114019892A (en) * | 2021-10-22 | 2022-02-08 | 上海电机学院 | Pneumatic compliance device control system and method based on PLC |
| WO2022247172A1 (en) * | 2021-05-26 | 2022-12-01 | 深圳市优必选科技股份有限公司 | Massage motion control method and apparatus, robot control device, and storage medium |
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| CN112238396A (en) * | 2020-10-15 | 2021-01-19 | 中国科学院深圳先进技术研究院 | Compact high-precision constant force actuator and application method |
| CN112618346A (en) * | 2020-12-24 | 2021-04-09 | 佛山冠湾智能科技有限公司 | Moxibustion robot motion control method based on multi-sensor perception |
| CN112618346B (en) * | 2020-12-24 | 2022-05-20 | 佛山冠湾智能科技有限公司 | Moxibustion robot motion control method based on multi-sensor perception |
| WO2022247172A1 (en) * | 2021-05-26 | 2022-12-01 | 深圳市优必选科技股份有限公司 | Massage motion control method and apparatus, robot control device, and storage medium |
| CN114019892A (en) * | 2021-10-22 | 2022-02-08 | 上海电机学院 | Pneumatic compliance device control system and method based on PLC |
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Application publication date: 20191108 |