CN101673116B - Precise resetting system of humanoid robot initial position - Google Patents
Precise resetting system of humanoid robot initial position Download PDFInfo
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- CN101673116B CN101673116B CN2009101967980A CN200910196798A CN101673116B CN 101673116 B CN101673116 B CN 101673116B CN 2009101967980 A CN2009101967980 A CN 2009101967980A CN 200910196798 A CN200910196798 A CN 200910196798A CN 101673116 B CN101673116 B CN 101673116B
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Abstract
The invention relates to a precise resetting system of humanoid robot initial position, comprising a control command transmitting module, an upper-layer command communication module, a reset controller module, a reset actuator module, a lower-layer data communication module and an angle acquisition module, wherein a reset control command transmitted by the control command transmitting module is transmitted to the CPU of the reset controller module via the upper-layer command communication module; the CPU starts resetting, and the lower-layer data communication module controls the angle acquisition module to detect the angels of a position inclination angle sensor and a gyroscope installed on the joint and the body of the humanoid robot; after the angles are compared with the angle preset in the CPU, the error value is transmitted to the reset actuator module via the upper-layer command communication module to control the motor to reset; then, the reset controller module detects reset error angle and transmits to an upper-layer real time computer via the upper-layer command communication module to finish one-time resetting. The invention can ensure that the humanoid robot can quickly and stably restore to the same accurate initial position at any time.
Description
Technical field
The present invention relates to a kind of precise resetting system of humanoid robot initial position, can make anthropomorphic robot automatically restore to the same accurate initial position of default at any time, and the error angle value that can each joint of detection machine people be produced because of mechanical idle running and joint mobilization.Belong to robot control, computing machine and technical field of automation.
Background technology
The target of anthropomorphic robot is the human operation that can finish of imitation.The accuracy of motion control, stability and dirigibility determine directly whether anthropomorphic robot can mimic human movements.Realize accurate, the stable and control flexibly of anthropomorphic robot, before it is carried out motion control, just need elder generation that each movable joint of its health is reset to an accurate initial position.If being in one after anthropomorphic robot resets is not very stable initial position, just might cause robot to be fallen down in the process of walking.If anthropomorphic robot is in an inconsistent initial position after resetting at every turn, will produce bigger error when utilizing these inconsistent initial positions to walk the algorithm effect analysis, this just brings very big trouble to the walking Algorithm Analysis.So accurate initial position be not only realize anthropomorphic robot accurately, the stable and prerequisite of control flexibly, and be the prerequisite of Algorithm Analysis of walking.
Find that by prior art documents humanoid robot initial position resets following several method is arranged at present:
First method is to design stop means in the physical construction of anthropomorphic robot, thereby resets to spacing position after realizing powering on.But this repositioning method not only reseting precision is lower, in case and mechanism slight loosening or change takes place, can't return to the initial position of a unanimity because of the existence of cumulative errors.
Second method is limit switch to be installed on the motor rotary output axis or pot detects current angle position, each joint, thereby realizes that initial position resets.Also have employing high-precision photoelectricity microsensor to be installed and improve the joint angles accuracy of detection, thereby the control motor realizes that the accurate initial position in each joint resets at the motor rotary output axis.But because the pot, limit switch and other angle detection device that are adopted all must be installed on the motor output shaft, when motor rotates its can and motor produce relative motion, the time slightly length will produce loosening, thereby cause reseting precision to descend.So this repositioning method need regularly carry out the zero-bit adjustment, not only the trouble and also time-consuming.Because this method generally adopts open loop control, has departure, and this method can't detect the idle running error angle that loosening joint and each joint take place, so can't all return to an accurate initial position in reseting procedure at every turn.
The third method is to realize resetting by the pulse that detects the increment code wheel of installing on the joint motor or the position of absolute encoder, though this method reseting precision is higher, but can't detect the error angle that each joint is produced because of mechanical idle running and joint mobilization equally, because the existence of cumulative errors just causes anthropomorphic robot finally can't return to an accurate initial position.
Increment code wheel, gyroscope and the six-dimension force sensor installed on the employing KHR series anthropomorphic robot that people such as Jung-Hoon Kim, Jung-Yup Kim that the 4th kind of method is Korea S and Jun-Ho Oh propose, being used four kinds simultaneously regulates algorithms and is controlled and realize accurately resetting (Jung-Hoon K, Jung-Yup K, Jun-Ho O.Adjustment of home posture of biped humanoid robot using sensoryfeedback control.Intelligent Robots and Systems, 2008).This repositioning method not only reseting precision is high but also can return to an accurate initial position.But this repositioning method relies on the multiple sensors of installing on the anthropomorphic robot, does not have versatility.And reset at every turn and all must could return to accurate initial position fully at the enterprising horizontal reset of the sheet metal of abswolute level, the work that resets not only bothers but also is time-consuming.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of precise resetting system of humanoid robot initial position is provided, can make anthropomorphic robot return to the same accurate initial position of default at any time automatically and quickly, and the error angle value that can each joint of detection machine people be produced because of mechanical idle running and joint mobilization.
For achieving the above object, the present invention adopts modular construction, and total system comprises control command sending module, upper layer commands communication module, reset controller module, the executor module that resets, lower floor's data communication module and six parts of angle acquisition module.The control command sending module can guarantee to send the steering order that resets at any time, thereby makes system can return to default initial position at any time.Stored each default joint initial position among the CPU of reset controller module, the initial position that at every turn resets all with storage is a benchmark, returns on the same initial position so can guarantee anthropomorphic robot at every turn, thereby has guaranteed the precision that resets.The angle acquisition module is made up of the position obliquity sensor and the gyroscope of relative earth axes, and sensor all is directly installed on the joint of anthropomorphic robot, the angle of gathering is a benchmark with ground coordinate all, thereby can avoid because the reset error that the Electric Machine Control error is brought, even Electric Machine Control inadequately accurately or because of mechanical idle running and joint mobilization have produced the error angle, system also can send to the upper strata real-time computer with the error angle that exists and show.The upper layer commands communication module directly adopts the communication mode of most of anthropomorphic robots based on the CAN bus, the executor module that resets is directly utilized the electric machine control system of anthropomorphic robot self, lower floor's data communication module then adopts the communication pattern based on serial ports, such modular design structure does not need to destroy the original control system structure of anthropomorphic robot, thereby almost can be applied in all anthropomorphic robot systems, realize that accurate initial position resets.
The specific structural features of precise resetting system of humanoid robot initial position of the present invention is as follows: total system is made up of control command sending module, upper layer commands communication module, reset controller module, the executor module that resets, lower floor's data communication module and six parts of angle acquisition module.
Wherein, described control command sending module comprises anthropomorphic robot master console and upper strata real-time computer, mainly finishes command functions such as sending the startup that resets.
Described upper layer commands communication module comprises bus switching card, CAN bus, mainly finishes the communication function of upper strata real-time computer and reset controller module.
Described reset controller module comprises CPU, CAN bus transceiver and serial communication port, mainly is responsible for finishing functions such as data processing and transmitting control commands;
The described executor module that resets comprises each joint motor controller and the motor-drive circuit on the anthropomorphic robot, and main each joint motor of control of being responsible for moves.
Described lower floor data communication module comprises level shifting circuit and serial expanded circuit, mainly is responsible for finishing the data communication of reset controller module and angle acquisition intermodule.
It is the two-axis position obliquity sensor and the gyroscope of benchmark with ground coordinate that described angle acquisition module comprises a plurality of, the main angle of being responsible for detecting each relative earth axes in joint of current robot, the angle-data that concurrent censorship is surveyed.
Anthropomorphic robot master console in the control command sending module is connected with the upper strata real-time computer by wireless ethernet, and the output of upper strata real-time computer is connected with the executor module that resets with the reset controller module respectively by bus switching card and CAN bus; The level shifting circuit of serial communication port on the reset controller in lower floor's data communication module links to each other with serial expanded circuit; The expanded circuit of lower floor's data communication module is connected with gyroscope with two-axis position obliquity sensor in the angle acquisition module.
The control command that resets is transferred to the upper strata real-time computer by the anthropomorphic robot master console, send to CPU in the reset controller module through the CAN bus again, after CPU receives reset command, starting resets and pass through lower floor's data communication module sends the angular detection order to the angle acquisition module, after the angle in each joint of angle acquisition module detection machine people the angle that detects is sent back to CPU, CPU is with default joint angles comparison in the angle that detects and its storer, then the error angle is sent to each electric machine controller in the executor module that resets by the CAN bus, controlling each joint motor by corresponding motor-drive circuit resets, the reset controller module sends to reset finishes instruction and reset error arrives the anthropomorphic robot master console, finishes reseting procedure one time.
System work process of the present invention is:
Anthropomorphic robot is positioned over the level ground or is covered with on the level ground of block rubber, start the control command that resets by the transmission of anthropomorphic robot master console, after CPU in the reset controller module receives and starts reset command, control is installed on each joint of anthropomorphic robot relatively that the high precision position obliquity sensor of earth axes and the gyroscope that anthropomorphic robot self is installed detect the angle value of current each joint freedom degrees, and sends among the CPU in the reset controller.
CPU in the reset controller module with current detection to each joint freedom degrees angle and the angle that is stored in the default joint freedom degrees in its storer relatively, then the error angle is converted into the relative error angle of relative motor output shaft current location.The reset controller module according to resetting control algolithm, sends the relative error angle in the executor module that resets by the CAN bus again, is resetted by each the motor controller controls corresponding joint in the reset controller module.
After treating that reset routine is finished,, just will reset and to finish signal and send to master console and show if anthropomorphic robot has reset to default accurate initial position.If this moment system's accurate initial position of failing to reset, system will send to master console with the error angle value that has the joint freedom degrees of joint mobilization or joint idle running correspondence automatically and show, and whether is started the control procedure that resets of a new round again by the CPU in the reset controller module according to the performance decision of resetting.
Beneficial effect of the present invention shows as: this system not only can make anthropomorphic robot automatically restore to same accurate initial position at any time, and reseting procedure is quick, stable and accurate.System can detect current each the movable joint degree of freedom of anthropomorphic robot because of error angle value loosening or that exist idle running to produce, and sends to the upper strata real-time computer that has display capabilities on the anthropomorphic robot and show.After reseting procedure is finished, can start the angular detection function, be used to finish each joint freedom degrees angle of monitoring and bump between joint of robot preventing.Can also realize functions such as detection machine person center of gravity if cooperate sole ZMP (point of zero moment) sensor.
Beneficial effect of the present invention also shows as: this resetting system is simple, easy for installation, and do not need to destroy the mechanical mechanism and the control structure of original anthropomorphic robot system when installing, has versatility, can be applied in all anthropomorphic robot systems, and can be applied to other the relatively stricter field of initial position requirement.
Description of drawings
Fig. 1 is a precise resetting system of humanoid robot initial position structural drawing of the present invention.
Fig. 2 is the control flow chart that resets of the present invention.
Fig. 3 is resetting system experiment effect figure of the present invention.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment technical scheme of the present invention is described in further detail.Following examples do not constitute limitation of the invention.
Whole invention implementation procedure is as follows:
Precise resetting system of humanoid robot initial position structure of the present invention comprises control command sending module, upper layer commands communication module, reset controller module, the executor module that resets, lower floor's data communication module and angle acquisition module as shown in Figure 1.Wherein, the control command sending module comprises anthropomorphic robot master console and upper strata real-time computer, the upper layer commands communication module comprises bus switching card and CAN bus, the reset controller module comprises CPU, CAN bus transceiver and serial communication port, the executor module that resets comprises each joint motor controller and the motor-drive circuit on the anthropomorphic robot, lower floor's data communication module comprises level shifting circuit and serial expanded circuit, and the angle acquisition module comprises that a plurality of is the two-axis position obliquity sensor and the gyroscope of benchmark with ground coordinate.
Anthropomorphic robot master console in the control command sending module is connected with the upper strata real-time computer by wireless ethernet, and the output of upper strata real-time computer is connected with the executor module that resets with the reset controller module respectively by bus switching card and CAN bus; The level shifting circuit of serial communication port on the reset controller in lower floor's data communication module links to each other with serial expanded circuit; The expanded circuit of lower floor's data communication module is connected with gyroscope with two-axis position obliquity sensor in the angle acquisition module;
The control command that resets is transferred to the upper strata real-time computer by the anthropomorphic robot master console, send to CPU in the reset controller module through the CAN bus again, after CPU receives reset command, starting resets and pass through lower floor's data communication module sends the angular detection order to the angle acquisition module, after the angle in each joint of angle acquisition module detection machine people the angle that detects is sent back to CPU, CPU is with default joint angles comparison in the angle that detects and its storer, then the error angle is sent to each electric machine controller in the executor module that resets by the CAN bus, controlling each joint motor by corresponding motor-drive circuit resets, the reset controller module sends to reset finishes instruction and reset error arrives the anthropomorphic robot master console, finishes reseting procedure one time.
In an embodiment of the present invention, the CPU in the reset controller module adopts the TMS320F2812 chip of TI, and this chip clock frequency reaches 150MHz, has fine real-time.Its IO mouth input and output voltage is 3.3V.By with one road SPI, 2 road SCI of this chip and be configured in after McBSP under the SPI pattern is converted to 5 volts by 4245 chips, utilize 4 serial ports expansion chip GM8142 that every road SPI or SCI are expanded to 4 the tunnel.The SPI of expansion or SCI just can be directly after by the Max232 chip and the angle acquisition module of employing communicate.The detecting element that adopts in the angle acquisition module is: gyroscope and a kind of high precision two-axis position obliquity sensor, can not adopt installation two-axis position obliquity sensor to substitute the angle value that gyroscope detects trunk movable joint degree of freedom if anthropomorphic robot is installed gyroscope on one's body.The two-axis position obliquity sensor that adopts is ZCT245CL-232, and this sensor has advantages such as adjustable, high precision at zero point.A two-axis position obliquity sensor only need be installed in the plane vertical with the movable joint degree of freedom and can detect two angle values freely, if not definitely vertically also can accurately detecting the joint freedom degrees angle value by adjusting zero-bit.Every road SPI or SCI link to each other with a two-axis position obliquity sensor or gyroscope, and for the mechanical pin of anthropomorphic robot mechanical arm that generally has 6DOF and 6DOF, both arms and biped one have 24 degree of freedom.Such 12 two-axis position obliquity sensors just can detect the angle of whole 24 joint freedom degrees, and metastomium is detected by gyroscope.3 road SPI that have more in addition can be used for the angular detection of other degree of freedom that need reset, and so just can detect the angle value of all movable joint degree of freedom of anthropomorphic robot.Because the gyroscope that is adopted all is the absolute value of relative earth axes with the angle value that the two-axis position obliquity sensor detects, so even the movable joint degree of freedom exists idle running or loosening phenomenon to detect.This resetting system also utilizes the ECAN module of TMS320F2812 chip to come to communicate with electric machine controller or anthropomorphic robot upper strata real-time computer module.
The process flow diagram that Fig. 2 resets and controls for reset controller module of the present invention.As shown in Figure 2, after anthropomorphic robot powers on,, just begin reset routine in case the CPU of reset controller receives the startup reset signal.All angle detecting sensors in initialization chip peripheral hardware and the resetting system at first, send the angular detection order to it then, again with the angle value of each joint freedom degrees of sensor acquisition with after the angle value that accurately zero initial position is corresponding in being stored in reset controller compares, error amount is converted into the angular error value of each joint freedom degrees motor correspondence.Utilize these error amounts at first to finish the trunk reset operation, begin to start the homing action of biped then, biped is adjusted the trunk error again after resetting and causing the trunk error, resets up to trunk and biped and carries out the work that resets of both arms after finishing again.Because the changing of the relative positions or loosening may appear in certain joint freedom degrees in reseting procedure, can cause this degree of freedom can't reset to all the time below the reseting precision of setting, finally cause reset routine to rest in these three circulations of trunk, biped or both arms one and can't finish the work of resetting.So in resetting, these three round-robin number of times of trunk, biped or both arms are set at most 3 times, if still do not finish after three times, illustrate and have loosening joint, this moment, program was set at the completion status that resets with this round-robin zone bit earlier, thereby made program can enter into resetting of next link.After whole reset routine finished, system can show existing the loosening pairing error angle in joint to send on the real-time computer by the CAN bus.After finishing above process, resetting system enters waiting status, can send the joint angles sense command this moment, and system will be constantly issues the top level computer control system with the angle value of each movable joint degree of freedom correspondence by the CAN bus and is used to finish and monitors each joint freedom degrees angle and bump between joint of robot preventing.If cooperate sole ZMP sensor then can realize functions such as detection machine person center of gravity again.
Fig. 3 is resetting system comparison diagram before and after the enterprising line home position of small-sized anthropomorphic robot (MIH-1) resets of the embodiment of the invention.As shown in Figure 3, after master console transmission startup reset signal, resetting system is finished the work of resetting automatically.Leftmost two width of cloth figure are front and the sides of MIH-1 before resetting among Fig. 3, and as can be seen from the figure, MIH-1 is in a unsettled initial position fully.After the control that resets, the front of MIH-1 and side are shown in rightmost two width of cloth figure among Fig. 3.At this moment, MIH-1 has returned to a previous standard initial position of setting.Prove that through reset operation repeatedly this resetting system can both return to same accurate initial position with anthropomorphic robot from the optional position.
Claims (1)
1. a precise resetting system of humanoid robot initial position is characterized in that comprising control command sending module, upper layer commands communication module, reset controller module, the executor module that resets, lower floor's data communication module and angle acquisition module;
Described control command sending module comprises anthropomorphic robot master console and upper strata real-time computer;
Described upper layer commands communication module comprises bus switching card, CAN bus;
Described reset controller module comprises CPU, CAN bus transceiver and serial communication port;
The described executor module that resets comprises each joint motor controller and the motor-drive circuit on the anthropomorphic robot;
Described lower floor data communication module comprises level shifting circuit and serial expanded circuit;
Described angle acquisition module comprises that a plurality of is the two-axis position obliquity sensor and the gyroscope of benchmark with ground coordinate;
Anthropomorphic robot master console in the control command sending module is connected with the upper strata real-time computer by wireless ethernet, and the output of upper strata real-time computer is connected with the executor module that resets with the reset controller module respectively by bus switching card and CAN bus; The level shifting circuit of serial communication port on the reset controller module in lower floor's data communication module links to each other with serial expanded circuit; The expanded circuit of lower floor's data communication module is connected with gyroscope with two-axis position obliquity sensor in the angle acquisition module;
The control command that resets is transferred to the upper strata real-time computer by the anthropomorphic robot master console, send to CPU in the reset controller module through the CAN bus again, after CPU receives reset command, starting resets and pass through lower floor's data communication module sends the angular detection order to the angle acquisition module, after the angle in each joint of angle acquisition module detection machine people the angle that detects is sent back to CPU, CPU is with default joint angles comparison in the angle that detects and its storer, then the error angle is sent to each electric machine controller in the executor module that resets by the CAN bus, controlling each joint motor by corresponding motor-drive circuit resets, the reset controller module sends to reset finishes instruction and reset error arrives the anthropomorphic robot master console, finishes reseting procedure one time.
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| CN103433925B (en) * | 2013-07-31 | 2018-05-15 | 北京配天技术有限公司 | Robot returns to method, operation method, robot and the control device of starting point |
| CN106154890A (en) * | 2016-09-21 | 2016-11-23 | 旗瀚科技有限公司 | A kind of multiple stage robot synchronizes behavioral approach |
| CN106534283A (en) * | 2016-11-02 | 2017-03-22 | 旗瀚科技有限公司 | A system and method for synchronously controlling a plurality of robots |
| CN108345557A (en) * | 2017-01-22 | 2018-07-31 | 中电科海洋信息技术研究院有限公司 | Communication system between a kind of small-sized bionic underwater robot platform |
| CN109414815B (en) * | 2017-12-13 | 2021-12-03 | 深圳配天智能技术研究院有限公司 | Robot, power-off compensation method thereof and device with storage function |
| CN108842579B (en) * | 2018-07-31 | 2023-08-18 | 浙江工业大学 | Method and trolley for detecting and marking pavement floor tile laying condition of pedestrian road |
| CN110539310B (en) * | 2019-08-06 | 2022-09-02 | 同济大学 | High-load building robot |
| CN111805534A (en) * | 2020-06-02 | 2020-10-23 | 珠海格力智能装备有限公司 | Robot and zero calibration method thereof |
| CN112066914B (en) * | 2020-08-14 | 2021-12-21 | 常州机电职业技术学院 | 3362 potentiometer mechanical angle resetting system and method based on machine vision |
| CN113676387B (en) * | 2021-08-11 | 2023-02-24 | 北京小米移动软件有限公司 | Zero calibration method and device for multi-legged robot, storage medium and electronic device |
| CN115816449A (en) * | 2022-11-29 | 2023-03-21 | 广汽本田汽车有限公司 | Robot origin correction device and using method and equipment thereof |
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