CN101396830A - Robot control method and robot - Google Patents
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Abstract
The invention provides a method for controlling a robot device; when controlling the manipulator of the robot device, a plurality of benchmark images are not necessary to be prepared, computation process is much easier, the control can be carried out rapidly, and the position and gesture of objects corresponding to the manipulator can be controlled in the three-dimensional space. On the basis of an image characteristic quantity which is gained by processing the image of the object (101) obtained by a camera (6), a relational expression (namely a jacobian matrix) between the change speed of the image characteristic quantity and the action speed of all joints (2a, 2b, 2c, 2d, 2e and 2f) of the manipulator (1) is determined by iterative least square method; furthermore, after the jacobian matrix is compared with the image characteristic quantity of the object (101) gained at the target position in advance, the action speeds of all joints are worked out by the way that the finger position (5) of the manipulator (1) approaches to the target position and are used as command signals of the manipulator (1); furthermore, the manipulator (1) acts on the basis of the command signals.
Description
Technical field
The present invention relates to possess among the robot device of video camera at the front end of manipulator, so that in advance the target signature amount of calculating and storing from dbjective state with from the consistent mode of the resulting characteristic quantity of image by the video camera acquisition, make the robot device's of manipulator behavior control method and robot controller.
Background technology
In the past, proposing had the robot device who possesses manipulator, and in addition, proposition is useful on the robot device's of the manipulator behavior of controlling this robot device control method.And,, propose to have the various objects that are used for utilizing manipulator to carry out clamping to make the control method that moves of manipulator at hand as target as robot device's control method.
For example, in patent documentation 1 (TOHKEMY 2003-231078 communique), put down in writing following robot device: camera position and posture when preparing the benchmark image of a plurality of objects in advance and taking this image, and, the image information of the video camera at hand that is installed in manipulator passes, and by the benchmark image in the retrieving image information, to calculate the position relation at hand of object and manipulator near the shape of object.
In addition, in patent documentation 2 (TOHKEMY 2000-263482 communique), put down in writing following robot device: the benchmark image of preparing object in advance, in by the video camera photographic images at hand that is installed in manipulator, it is a certain amount of that manipulator is moved, up to the image that obtains near benchmark image.
Have again, in patent documentation 3 (TOHKEMY 2006-318301 communique), put down in writing following robot device: infer the Jacobian matrix of expression, and generate command signal to manipulator based on this Jacobian matrix from the relation of the responsiveness in each joint of the image feature amount utilizing video camera and the manipulator behavior process, obtain in the captured image and manipulator.
Yet the robot device that patent documentation 1 is put down in writing is in order to improve control accuracy, need to prepare a large amount of benchmark images, manipulator whenever once moves, and just need carry out the retrieval of whole benchmark images, thereby computation burden is very big, can not control rapidly.
In addition, the robot device that patent documentation 2 is put down in writing, owing to can only with the position of manipulator in the two dimensional surface and posture is consistent tackle, so can not be in the position and the posture of three dimensions inner control manipulator to object.Also have, in this robot device because must make a video recording repeatedly, the action of instrumentation and manipulator, so can not control fast.In addition, in this robot device, also be necessary to carry out the alignment of camera lens or align the camera calibration work of coordinate system etc., and, the error of manipulator link rod length or the error that dislocation caused of coordinate system can accumulate, and become bad danger thereby have operation precision.
And the robot device that patent documentation 3 is put down in writing in order to infer Jacobian matrix, uses Freund method to find the solution the analytic expression of Jacobian matrix, but because it only finds the solution nonlinear equation, so there be the problem more weak to the modelling error.
Summary of the invention
So, the present invention is the technical scheme that proposes in view of above-mentioned truth, its purpose is, provide a kind of when control robot device's manipulator, needn't prepare a lot of benchmark images, computation burden is lighter, can control rapidly, and can be control method and the robot device of three dimensions inner control manipulator to the robot device of the position of object and posture.
In order to address the above problem, realize above-mentioned purpose, the control method that relates to robot device of the present invention has any one of following structure.
(structure 1)
The control method that relates to robot device of the present invention, this robot device has the above manipulator of six-freedom degree, on the position at hand of manipulator, has image unit, this robot device's control method is characterised in that, the image feature amount that obtains based on the image of handling the object that obtains by image unit, the relational expression of responsiveness of using interative least square method to infer each joint of the pace of change of image feature amount and manipulator is a Jacobian matrix, and after comparing with the image feature amount of the object that obtains in the target location in advance, in the position at hand of manipulator mode near the target location, obtain the responsiveness in each joint and as the command signal of manipulator, and make manipulator behavior based on this command signal, making at hand, the position becomes the target location.
(structure 2)
Have the robot device's of structure 1 control method, it is characterized in that, in the inferring of Jacobian matrix, make and forget that coefficient is not fixing but movably changes.
(structure 3)
Control method with robot device of structure 1 or structure 2, it is characterized in that, before inferring Jacobian matrix, a little behind the driving device hand, obtain the relation of the pace of change of the responsiveness in each joint and image feature amount, by the initial solution of this relation decision Jacobian matrix.
(structure 4)
Relate to robot device of the present invention, it is characterized in that, possess the above manipulator of six-freedom degree; Be arranged on the locational image unit of manipulator at hand; And generation is to the control module of the command signal of manipulator, the image feature amount that control module obtains based on the image of handling the object that is obtained by image unit, the relational expression of responsiveness of using interative least square method to infer each joint of the pace of change of image feature amount and manipulator is a Jacobian matrix, and after comparing with the image feature amount of the object that obtains in the target location in advance, in the position at hand of manipulator mode near the target location, obtain the responsiveness in each joint and generate command signal manipulator, and make manipulator behavior based on this command signal, making at hand, the position becomes the target location.
(structure 5)
Have the robot device of structure 4, it is characterized in that, control module makes and forgets that coefficient is not fixing but movably changes in the inferring of Jacobian matrix.
(structure 6)
Robot device with structure 4 or structure 5, it is characterized in that control module is before inferring Jacobian matrix, a little behind the driving device hand, obtain the relation of the pace of change of the responsiveness in each joint and image feature amount, by the initial solution of this relation decision Jacobian matrix.
The present invention has following effect.
The control method that relates to robot device of the present invention, by having structure 1, the image feature amount that obtains based on the image of handling the object that obtains by image unit, the relational expression of responsiveness of using interative least square method to infer each joint of the pace of change of image feature amount and manipulator is a Jacobian matrix, and after comparing with the image feature amount of the object that obtains in the target location in advance, in the position at hand of manipulator mode near the target location, obtain the responsiveness in each joint and as the command signal of manipulator, and make manipulator behavior based on this command signal, making at hand, the position becomes the target location, therefore, owing to needn't prepare a lot of benchmark images, thereby computation burden is lighter, and can control rapidly.And this robot device's control method is carried out inferring of Jacobian matrix by selecting suitable initial solution and use interative least square method, thereby the convergence of inferring computing of Jacobian matrix is changed rapidly, and can improve reliability.In addition, can be at three dimensions inner control manipulator.
The control method that relates to a plurality of robot devices of the present invention because by having structure 2, in the inferring of Jacobian matrix, makes and forgets that coefficient is not fixing but movably changes, so can carry out more correct inferring.
The control method that relates to a plurality of robot devices of the present invention, because by having structure 3, before inferring Jacobian matrix, a little behind the driving device hand, obtain the relation of the pace of change of the responsiveness in each joint and image feature amount, by the initial solution of this relation decision Jacobian matrix, therefore, can select the suitable initial solution of Jacobian matrix, make rapidization of convergence of inferring computing and can improve reliability.
And, relate to a plurality of robot device of the present invention, because by having structure 4, the image feature amount that control module obtains based on the image of handling the object that is obtained by image unit, the relational expression of responsiveness of using interative least square method to infer each joint of the pace of change of image feature amount and manipulator is a Jacobian matrix, and compare with the image feature amount of the object that obtains in advance in the target location, in the position at hand of manipulator mode near the target location, obtain the responsiveness in each joint and generate the command signal of manipulator, and make manipulator behavior based on this command signal, making at hand, the position becomes the target location, therefore, owing to needn't prepare a lot of benchmark images, thereby computation burden is lighter, and can controls rapidly.And this robot device carries out inferring of Jacobian matrix by selecting suitable initial solution and use interative least square method, thereby the convergence of inferring computing of Jacobian matrix is changed rapidly, and can improve reliability.In addition, can be at three dimensions inner control manipulator.
Relate to a plurality of robot device of the present invention, because by having structure 5, control module makes and forgets that coefficient is not fixing but movably changes, so can carry out more correct inferring in the inferring of Jacobian matrix.
Relate to a plurality of robot device of the present invention, because by having structure 6, control module is before inferring Jacobian matrix, a little behind the driving device hand, obtain the relation of the pace of change of the responsiveness in each joint and image feature amount, by the initial solution of this relation decision Jacobian matrix, therefore, can select the suitable initial solution of Jacobian matrix, make rapidization of convergence of inferring computing and can improve reliability.
Promptly, it is a kind of when control robot device's manipulator that the present invention can provide, needn't prepare a lot of benchmark images, computation burden is lighter, can control rapidly, and can be control method and the robot device of three dimensions inner control manipulator to the robot device of the position of object and posture.
Description of drawings
Fig. 1 is the pattern side view that expression relates to robot device's of the present invention structure.
Fig. 2 is the flow chart of order that expression relates to robot device's of the present invention control method.
Among the figure:
1-manipulator, 1a-first link rod, 1b-second link rod, 1c-the 3rd link rod, 1d-four-bar linkage, 1e-5-linked bar, 1f-the 6th link rod, 2a-first joint, 2b-second joint, 2c-the 3rd joint, 2d-the 4th joint, 2e-the 5th joint, 2f-the 6th joint, 3-computer, 3a-memory, 3b-image processing part, 3c-command signal generating unit, 5-front end tool mechanism, 6-video camera, 101-object.
The specific embodiment
Below, be used to implement preferred implementation of the present invention with reference to description of drawings.
(robot device's structure)
Fig. 1 relates to the pattern side view of robot device's of the present invention structure.
As shown in Figure 1, relate to the manipulator 1 that robot device of the present invention has six-freedom degree, by this manipulator 1, can clamping, carrying processing object thing 101, perhaps it is assembled on other the parts.
Manipulator 1 is to be made of a plurality of executive components (drive unit) and link rod (structural member of rigidity), has six-freedom degree.That is, between each link rod by means of can rotate (bending) or rotatable joint 2a, 2b, 2c, 2d, 2e, 2f connects, and drives relatively by executive component separately.Each executive component is controlled by the computer 3 as control module.
In this manipulator 1, first link rod (link rod of base end part) 1a is arranged to by the first joint 2a cardinal extremity one side is connected on the base station part 4.The first joint 2a is can be around the joint of vertical axis (z axle) rotation.Cardinal extremity one side of the second link rod 1b is connected front end one side of this first link rod 1a by second joint 2b.Second joint 2b can make the joint of the second link rod 1b around the trunnion axis rotation.Cardinal extremity one side of the 3rd link rod 1c is connected front end one side of the second link rod 1b by the 3rd joint 2c.The 3rd joint 2c can make the joint of the 3rd link rod 1c around the trunnion axis rotation.
And cardinal extremity one side of four-bar linkage 1d is connected front end one side of the 3rd link rod 1c by the 4th joint 2d.The 4th joint 2d can make the joint of four-bar linkage 1d around the axle rotation of the 3rd link rod 1c.Cardinal extremity one side of 5-linked bar 1e is connected front end one side of four-bar linkage 1d by the 5th joint 2e.The 5th joint 2e is the joint that axle that 5-linked bar 1e is intersected vertically around the axle with four-bar linkage 1d rotates.Cardinal extremity one side of the 6th link rod 1f is connected front end one side of 5-linked bar 1e by the 6th joint 2f.The 6th joint 2f can make the joint of the 6th link rod 1f around the axle rotation of 5-linked bar 1e.
Like this, in manipulator 1, amount to six rotating joints and rotatable joint owing to alternately be provided with, thereby guaranteed six-freedom degree.
On front end one side (hereinafter being called " at hand ") of the 6th link rod 1f, be provided with the front end operating mechanism 5 of clamping or processing object thing 101.This front end operating mechanism 5 is controlled by other control device of not representing among computer 3 or the figure.In addition, at one's fingertips near, the camera 6 that constitutes the image unit of being made up of the solid-state imager of pick-up lens and CCD or CMOS and so on is installed.
Computer 3 has memory 3a.The image feature amount of the image of the object 101 that obtains by video camera 6 when storage is in target location and target pose based on the front end tool mechanism 5 that makes manipulator 1 in this memory 3a.The image feature amount that is stored among the memory 3a is sent to image processing part 3b.This image processing part 3b obtains the image feature amount based on the image of the object 101 that is obtained by video camera 6 in the action of manipulator 1, and delivers to command signal generating unit (Jacobian matrix is inferred portion) 3c.The relational expression that command signal generating unit 3c uses interative least square method to infer the responsiveness of each joint 2a, 2b of the pace of change of image feature amount and manipulator 1,2c, 2d, 2e, 2f is a Jacobian matrix.And, compare with the image feature amount that is stored among the memory 3a, obtaining the front end tool mechanism 5 that makes manipulator 1 can be near the speed of the front end tool mechanism 5 of target location, and obtains after the responsiveness of each joint 2a, 2b, 2c, 2d, 2e, 2f the command signal output as manipulator 1 from this front end tool mechanism 5 and Jacobian matrix.This command signal is sent to manipulator 1.Manipulator 1 moves based on the command signal of being sent, and makes front end tool mechanism 5 move to the target location.Promptly, in manipulator 1, by position, the 3rd link rod 1c of the first link rod 1a being controlled the position of front end tool mechanism 5 to the link rod position that the order of the position of the 3rd link rod 1c is controlled front end one side successively, thereby can make this front end tool mechanism 5 move to assigned position position, the four-bar linkage 1d of the second link rod 1b with the second link rod 1b.
(robot device's control method)
And, in this robot device, by carrying out the control method that relates to robot device of the present invention shown below, but robot brain tool hand 1.That is, in this robot device, so that, manipulator 1 is moved in advance from image feature amount of calculating and storing and the consistent mode of calculating by the image that video camera 6 obtains of image feature amount at the image that the target location obtained.
In this robot device, in the inferring of Jacobian matrix, by selecting suitable initial solution, and use interative least square method, can quicken to infer the convergence of computing, improve reliability.
In addition, the Jacobian matrix of Shi Yonging in the present invention, the pace of change △ f (θ) that is image feature amount are the relation of joint action speed △ θ of the moment of θ to the operating angle in a certain joint of manipulator 1, are the J of matrix shown below.
△ f (θ)=J (θ) △ θ ... (formula 1)
Fig. 2 is the flow chart of order that expression relates to robot device's of the present invention control method.
In this robot device, as shown in Figure 2, computer 3 is carried out the control method that relates to robot device of the present invention.Promptly, computer 3 then enters step st2 if begin control in step st1, and the driving device hand 1 a little, obtain the relation of the pace of change of the responsiveness of each joint 2a, 2b, 2c, 2d, 2e, 2f and image feature amount, by the initial solution of this relation decision Jacobian matrix.Then, enter step st3, use interative least square method (to call " RLS " in the following text) to be used to carry out the initial setting of inferring of Jacobian matrix.
Then, enter step st4, beginning image SERVO CONTROL, and enter step st5.In step st5, utilize video camera 6 to obtain the image of object 101, carry out calculating of image feature amount from this image, enter step st6.
In step st6, use RLS to infer the value of Jacobian matrix, enter step st7.In step st7, image feature amount and the deviation that is stored in the image feature amount of the target location among the memory 3a based on the image that obtains by video camera 6, use the inverse matrix of Jacobian matrix, calculate the responsiveness of each joint 2a, 2b, 2c, 2d, 2e, 2f, enter step st8.In step st8, the responsiveness of each joint 2a, 2b of calculating, 2c, 2d, 2e, 2f is outputed to manipulator 1 as command signal, enter step st9.
In step st9, judged whether to reach the termination condition of control.As this termination condition, for example be in the static occasion of object 101, the image feature amount of the image that obtains by video camera 6 and be stored in the occasion of deviation below threshold value of the image feature amount on the target location among the memory 3a.Perhaps, in the occasion of object 101 actions, judge that front end tool mechanism 5 is in the actuating range of object 101 or has arrived the final position.Perhaps, judge front end tool mechanism 5 object 101 that has been clampings or need change object 101.If do not reach termination condition,,, then enter step st10 if reached termination condition just return step st5.
In step st10, finish the image SERVO CONTROL, enter step st11, finishing control.
(calculating of the initial solution of Jacobian matrix)
As mentioned above, when carrying out the inferring of Jacobian matrix, be necessary suitably to set initial solution.The setting of initial solution, briefly, so long as suitable value for example unit matrix etc. get final product, but in order to carry out more accurate inferring, when preferably utilizing (formula 1) to obtain in the joint that makes manipulator 1 to move a little with speed △ θ, image feature amount is with which kind of speed △ f action.
Specifically, because six joints are arranged in manipulator 1, so if obtain the pace of change △ fj that arranged the vector that only makes m the image feature amount of i joint (wherein i=1～6) when moving a little (j=1～m), then can obtain following formula wherein.
Ji0=[△ f1 ... △ fm] diag (△ θ 1 ..., △ θ 6)
-1(formula 2)
In addition, diag (△ θ 1 ..., △ θ 6) as diagonal element be △ θ 1～△ θ 6 arranged side by side 6 * 6 diagonal matrix, if image feature amount is m, [△ f1 then ... △ f6] be the matrix of m * 6.
(setting other initial solutions)
The number of axle in the joint of manipulator 1 is made as n, when the number of image feature amount is made as m, the null matrix of (n+1) * (n+1) is P0, the initial solution of the Jacobian matrix of m * n is Ji0, is Jt0 with the null matrix of m * 1.
Here, make that inferring of Jacobian matrix is employed forgets that coefficient lambda is bigger and in the value below 1 than 0.Forget that coefficient lambda is big more, past value influences currency more, that is to say, owing to become big at the degree of influence of the data of time shaft, thus become stronger to disturbing, but convergence becomes slow.Otherwise if make and forget that coefficient lambda reduces, then past value does not influence currency, thus convergence rate accelerate, but to disturb or the deviation of initial solution etc. a little less than.
(obtain image, calculate characteristic quantity)
The image feature amount of from the image that obtains by video camera 6, obtaining, for example object 101 is circular, then is the center and the radius of circle, if object 101 is oval, then being center and major diameter, minor axis and inclination angle, if object is quadrangle, then is the position etc. on 4 summits.
The vector of having arranged this image feature amount is made as fk (wherein, k is meant the integer of control number of steps).The image feature amount that will obtain from the image of initial acquisition is made as f0.
(inferring of Jacobian matrix)
To be made as tk (k is meant the integer of control number of steps) from the moment or the current moment of control beginning, the moment after control has just been begun is made as t0.Joint angles is made as θ k, and the angle after control has just been begun is made as θ 0.And, k=1 as initial solution, is found the solution following formula.
Mathematical expression 1
Δf＝f
k-f
k-1；h
θ＝θ
k-θ
k-1；h
t＝t
k-t
k-1
J
k＝[J
ik J
tk]
ΔJ
k＝(Δf-J
k-1h)(λ+h
TP
k-1h)
-1h
TP
k-1
J
k＝J
k-1+ΔJ
k
Here, f is an image feature amount, and θ is the operating angle in the joint of manipulator 1, and t is that Jik is the Jacobian matrix in (formula 1) constantly, and λ forgets coefficient (adjusting parameter).Other is not the numerical value with physical significance, but carries out the value calculated in the computational process of interative least square method.
In this was inferred, each control cycle increased a k value.By repeating this calculating, obtain new joint angles θ k+1 at each control cycle.And, make manipulator 1 action for the mode of this angle with each joint of manipulator 1.
(comprising inferring of Jacobian matrix that the adaptation of forgetting coefficient regulates)
As mentioned above, forget coefficient lambda can further improving convergence rate by change movably.The initial solution λ 0 of λ k is chosen as suitable value, for example is 1.In this occasion, as follows in the calculating formula of individual control cycle.
Mathematical expression 2
△f＝f
k-f
k-1；h
θ＝θ
k-θ
k-1；h
t＝t
k-t
k-1
J
k＝[J
ik J
tk]
△J
k＝(△f-J
k-1h)(λ+h
TP
k-1h)
-1h
TP
k-1
J
k＝J
k-1+△J
k
Ψ
k＝[I-K
kh
T]Ψ
k-1+(△f-J
k-1h)(S
kh)
T
Here, f is an image feature amount, and θ is the operating angle in the joint of manipulator 1, and t is that Jik is the Jacobian matrix in (formula 1) constantly, and λ k forgets coefficient (adjusting parameter).
In addition, α is small positive number, is the parameter of regulating the ratio that movably changes of λ k.If α is made as bigger value, then the value of λ k changes significantly, a little less than disturbing.Otherwise, more α is set at less value, adapt to slow more, but vary stable.
In addition, ask [] in the formula of λ k
λ+ λ-Refer to, the result of calculation in [] be greater than λ+value the time, make result of calculation be λ+, result of calculation less than λ-value the time, make result of calculation be λ-.This is in order to be than 0 big and in the value below 1 because of being necessary to make λ, and makes checkout result not exceed this scope.In addition, by regulating this value, the scope of the value of the λ k that restriction can movably obtain also can be regulated convergence rate and reliability.
Claims (6)
1. a robot device control method, this robot device has the above manipulator of six-freedom degree, has image unit on the position at hand of manipulator, and this robot device's control method is characterised in that,
The image feature amount that obtains based on the image of handling the above-mentioned object that obtains by above-mentioned image unit, the relational expression of responsiveness of using interative least square method to infer each joint of the pace of change of image feature amount and manipulator is a Jacobian matrix, and after comparing with the image feature amount of the above-mentioned object that obtains in the target location in advance, in the position at hand of manipulator mode near above-mentioned target location, obtain the responsiveness in each joint and as the command signal of manipulator, and make above-mentioned manipulator behavior based on this command signal, making at hand, the position becomes above-mentioned target location.
2. robot device's according to claim 1 control method is characterized in that,
In the inferring of above-mentioned Jacobian matrix, make and forget that coefficient is not fixing but movably changes.
3. robot device's according to claim 1 and 2 control method is characterized in that,
Before inferring above-mentioned Jacobian matrix, drive above-mentioned manipulator a little after, obtain the relation of the pace of change of the responsiveness in each joint and image feature amount, and the initial solution by the above-mentioned Jacobian matrix of this relation decision.
4. robot device is characterized in that possessing:
The manipulator that six-freedom degree is above;
Be arranged on the locational image unit of above-mentioned manipulator at hand; And
Generation is to the control module of the command signal of above-mentioned manipulator,
The image feature amount that above-mentioned control module obtains based on the image of handling the above-mentioned object that is obtained by above-mentioned image unit, use interative least square method, the relational expression of responsiveness of inferring each joint of the pace of change of image feature amount and manipulator is a Jacobian matrix, and after comparing with the image feature amount of the above-mentioned object that obtains in the target location in advance, in the position at hand of manipulator mode near above-mentioned target location, obtain the responsiveness in each joint and generate command signal manipulator, and make above-mentioned manipulator behavior based on this command signal, making at hand, the position becomes above-mentioned target location.
5. robot device according to claim 4 is characterized in that,
Above-mentioned control module makes and forgets that coefficient is not fixing but movably changes in the inferring of above-mentioned Jacobian matrix.
6. according to claim 4 or 5 described robot devices, it is characterized in that,
Above-mentioned control module before inferring above-mentioned Jacobian matrix, drive above-mentioned manipulator a little after, obtain the relation of the pace of change of the responsiveness in each joint and image feature amount, and the initial solution by the above-mentioned Jacobian matrix of this relation decision.
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| CNA2007101630766A CN101396830A (en) | 2007-09-29 | 2007-09-29 | Robot control method and robot |
| JP2008223791A JP5211944B2 (en) | 2007-09-29 | 2008-09-01 | Robot apparatus control method and robot apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101870104B (en) * | 2009-04-25 | 2012-09-19 | 鸿富锦精密工业（深圳）有限公司 | Manipulator inverse moving method |
| CN108748162A (en) * | 2018-07-09 | 2018-11-06 | 五邑大学 | A kind of Mechanical arm control method of the robot experimental teaching based on least square method |
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