CN104626168B - Robot Force position based on intelligent algorithm Shared control method - Google Patents
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Abstract
The invention discloses a kind of Robot Force position based on intelligent algorithm Shared control method, belong to field of electromechanical integration, control method is as follows: the location-based impedance-controlled fashion of control system, by robot measurement each joint servo current of electric and each articulation position, data combination goes out the mutual force value of arm end and workpiece junction；Use the mutual force value of prediction algorithm prediction machine human and environment, and the mutual force value obtained with above-mentioned resolving compares, the output processed through balancing energy correcting algorithm is control system actual forces perception, control system carries out people's trailing end position setting that puts together machines accordingly, each joint servo motor control signal is formed with this, servomotor is controlled, it is achieved power position Shared control with this.The present invention can assembling, process, in the operation such as polishing, robot contacts with manipulating object to make work process require, and makes contact force be maintained at the interval of setting in the course of the work, to obtain good working effect.
Description
Technical field
The invention belongs to field of electromechanical integration, specifically, relate to a kind of robot based on intelligent algorithm
Power position Shared control method.
Background technology
Along with progress and the manufacturing development of science and technology, the demand that sanding and polishing is processed by market is not
Disconnected growth.Sanding and polishing machine people is capable of high efficiency, the polishing of high-quality automatization, artificial for replacing
Polishing provides a kind of effective solution.
The core of milling robot is power control technology, by controlling machining locus and the power of milling tools end
Ensure that polishing quality, i.e. position and power these two aspects to robot will be controlled.The most
Through developing more ripe position control humanoid robot, force control robot is also carried out a lot of research, but
Being that major part force control robot is all based on position servo realization, its response time is long, it is impossible to enter power
Row directly controls, and have impact on precision and effect that power controls.
Most power controls research and all uses wrist force sensor to measure and feed back robot end and contact ring
The contact force in border.But, wrist force sensor price general charged is higher, and ratio of rigidity Robot actions end is low, easily
Damage, and cannot apply in the practical application in industry situations such as high temperature, high burn into strong jamming.Joint turns
Square controls to form closed loop by torque feedback and replaces end power closed loop control, finally in robot end's power open loop
System in complete high-quality power control, all drawbacks of wrist force sensor can be overcome.
Due to robot model inaccuracy own and the various interference that are subject to, satisfied control often cannot be obtained
Goods matter.To this end, Chinese scholars proposes multiple nonlinear control system, in these control methods,
Computed moment control is the most simple and effective.During robot location's control, use based on neutral net
Compensating the computed moment control of unknown disturbances, neural network parameter study need not system priori.Work as machine
After device robot end contacts with environment, torque conversion is utilized to obtain actual contact force.
Because above-mentioned defect, the design people, the most in addition research and innovation, add to founding one
The experience of the mankind, improve anti-interference and the accuracy of institute's dynamometry signal, there is fast response time, safety
Robot Force position based on the intelligent algorithm Shared control method of certain features.
Summary of the invention
The technical problem to be solved in the present invention is to overcome drawbacks described above, it is provided that a kind of add the mankind experience,
Improve anti-interference and the accuracy of institute's dynamometry signal, there is fast response time, the base of safe and reliable feature
Robot Force position Shared control method in intelligent algorithm.
For solving the problems referred to above, the technical solution adopted in the present invention is:
Robot Force position based on intelligent algorithm Shared control method, it is characterised in that: control method is as follows:
The location-based impedance-controlled fashion of control system, by robot measurement each joint servo current of electric
With each articulation position, data combination goes out the mutual force value of arm end and workpiece junction；Use pre-
Method of determining and calculating predicts the mutual force value of machine human and environment, and the mutual force value obtained with above-mentioned resolving compares,
The output processed through balancing energy correcting algorithm is control system actual forces perception, and control system is entered accordingly
Luggage is joined robot trajectory's terminal position and is set, and forms each joint servo motor control signal with this, controls with this
Servomotor processed, it is achieved power-position Shared control.
As the technical scheme of a kind of optimization, specifically comprising the following steps that of control method
1), motion controller is planned new location point, and is converted into analogue speed signal；
2), speed ring receive analogue speed signal, control electric current loop carry out servomotor electric current control；
3), obtain actual position signal by encoder, measure servomotor electric current and obtain dtc signal；
4), compare rear incoming motion controller by the conversion of power position with actual position signal, calculate and exert oneself and position
The deviation put, adjusts and produces new location point.
As the technical scheme of a kind of optimization, step 1) in the motion controller new location point of planning step such as
Under:
(1) the fresh target point of robot end's motion, is calculated according to given mission requirements；
(2) contact force/moment values resolved, is read from data buffer zone；
(3), contact the deviation information of value according to power/moment resolving value with expectation and calculate and adjust the position of impact point
Put；
(4), carry out robot trajectory planning, send into ready queue；
(5), trajectory planning is performed；
(6), while performing step (5), current contact force/moment information is gathered；
(7), return to step (l), repeat.
As the technical scheme of a kind of optimization, step 4) in power position conversion specific implementation as follows:
(1) the joint torque signal of servomotor, is received；
(2), according to the joint torque signal obtained by electric current, environmental interaction is calculated by Jacobian matrix
Power, and use RBF neural algorithm predicts robot and environmental interaction power to prevent shake；
(3) reciprocal force, using step (2) obtained is as the input of balancing energy device, balancing energy device
The output processed through balancing energy correcting algorithm obtains control system actual forces perception；
(4), actual forces perception input motion controller is carried out track position setting；
(5), return to step (l), repeat.
As the technical scheme of a kind of optimization,
In step 1) start before operation, each joint torque need to be demarcated, obtain the torque under Light Condition,
As calculating the basis of torque under band load state.
Owing to have employed technique scheme, compared with prior art, the present invention based on human experience's information and
The comprehensive power of acceleration information-position controls milling robot and is studied.First manual polishing correspondence work is measured
Power required for part, has then carried out filtering, gravity compensation and sensor coordinate system to the force signal collection measured
Demarcate, improve anti-interference and the accuracy of institute's dynamometry signal, finally above-mentioned algorithm is entered specialist system
Carry out reductive analysis, show that corresponding workpiece is suitably polished force value, by controller by digital signal to polishing
Power is set.This method adds the experience of the mankind, has fast response time, safe and reliable feature.
The present invention in actual applications can be by working place any direction by Jacobian matrix and selection matrix
Power and position be assigned on each joint, it is also possible to the power in each joint is done normal solution and is calculated robot
End stress.Utilization power-position mixing control technology can assembling, process, in the operation such as polishing, make work
Cross range request robot to contact with manipulating object, and make contact force be maintained at the interval of setting in the course of the work,
To obtain good working effect.
The invention will be further described with detailed description of the invention below in conjunction with the accompanying drawings simultaneously.
Accompanying drawing explanation
Fig. 1 is control system distinguishing hierarchy figure in an embodiment of the present invention；
Fig. 2 is the Control System Software flow chart of polishing faucet operation in an embodiment of the present invention.
Detailed description of the invention
Embodiment:
As it is shown in figure 1, Robot Force position based on intelligent algorithm Shared control method, control method is as follows:
The location-based impedance-controlled fashion of control system, by measuring servomotor electric current and articulation position
Put, use RBF neural algorithm predicts robot and environmental interaction force value to input balancing energy state, warp
The output crossing the process of balancing energy correcting algorithm is control system actual forces perception, and control system is carried out accordingly
Assembling track position sets, and forms Serve Motor Control signal, controls servomotor with this, it is achieved power position is soft
Sequence system.
Control system includes motion controller, driver and motor and related software, algorithm,
Before starting operation, each joint torque need to be demarcated, obtain the torque under Light Condition, as meter
Calculate the basis of torque under band load state.
Specifically comprising the following steps that after it
1), motion controller is planned new location point, and is converted into analogue speed signal.
The step of the location point that motion controller planning is new is as follows:
(1) the fresh target point of robot end's motion, is calculated according to given mission requirements.
(2) contact force/moment values resolved, is read from data buffer zone.
(3), contact the deviation information of value according to power/moment resolving value with expectation and calculate and adjust the position of impact point
Put.
(4), carry out robot trajectory planning, send into ready queue.
(5), trajectory planning is performed.
(6), while performing step (5), current contact force/moment information is gathered.
(7), return to step (l), repeat.
2), speed ring receive analogue speed signal, control electric current loop carry out servomotor electric current control.
3), obtain actual position signal by encoder, measure servomotor electric current and obtain dtc signal.
4), compare rear incoming motion controller by the conversion of power position with actual position signal, calculate and exert oneself and position
The deviation put, adjusts and produces new location point.
Wherein the specific implementation of power position conversion is as follows:
(1) the joint torque signal of servomotor, is received；
(2), according to the joint torque signal obtained by electric current, environmental interaction is calculated by Jacobian matrix
Power, and use RBF neural algorithm predicts robot and environmental interaction power to prevent shake；
(3) reciprocal force, using step (2) obtained is as the input of balancing energy device, balancing energy device
The output processed through balancing energy correcting algorithm obtains control system actual forces perception；
(4), actual forces perception input motion controller carries out assemble track position set；
(5), return to step (l), repeat.
The present embodiment can use the power-positioner of high-performance industrial computer one robotic asssembly of design, with
Realize the prediction of effective power and balancing energy, in the case of system stability, obtain verity and the rail of power perception
The accuracy that mark controls.The experiments such as assembling, the correctness of checking system is carried out by transformator and power supply.
In robot system, robot end, fixture (adsorption head) and workpiece are installed, and pass through robot
The resolving of each joint torque comprehensively goes out workpiece and assembling object contact power, each joint encoders measure position, angle
Move and gone out workpiece pose by robot motion's normal solution Equation for Calculating.Actually detected in impedance control system
Contact force is difficult to directly obtain, use gather each servomotor torque value through conversion obtain end effector with
The method of the contact force of external environment condition, substitutes and directly uses force transducer feedback end effector contact force letter
Number；To expectation contact force signal, design a kind of experimental technique and obtain assembly force and being assembled under it acts on
Amount, estimates out desired contact force scope, further according to neural network prediction contact force, controller thus to ginseng
Examine track and carry out the trace adjustment of local online, to meet matching requirements.
During robot location's control, use the calculating moment control compensating unknown disturbances based on neutral net
System, neural network parameter study need not system priori.After robot end contacts with environment, profit
Actual contact force is obtained with torque conversion.
When robot be in freely-movable pattern not in contact with time, use position-position control mode；Work as machine
Device people is in restricted mode, i.e. when robot end and absorption surface, uses setting constant force region model
Enclose interior position-force control mode.
The present embodiment also illustrates the problems referred to above by a detailed description of the invention:
Robot polishing system, with faucet for polishing object.
Robot polishing system includes:
(1) belt grinder
The high speed rotating utilizing polishing abrasive band can carry out grinding to surface of the work, is allowed to smooth bright, increases
Add brightness and the fineness of product.
One robot cell configures 2 groups of polishers, can select different thick according to technological requirement, workpiece shapes
Thin and the abrasive band of width, and parameter of suitably polishing is set.
(2) motor, is responsible for often group polisher front and back position and moves, the quantity of its motor and position relationship and sand
Band polisher matches.
(3) converter, Main Function is the variable frequency adjustment of abrasive band contact wheel rotating speed.
(4) contact wheel, is carried out mechanism, meets kirsite grip surface surface finish requirements for polishing.
(5) dust collection, for reserved dust collecting.
(6) strainer, uses cylinder tensioning abrasive band mode, and strainer can manual adjusting position.
(7) force feedback governor motion, is calculated by joint torque, is resolved by Jacobian matrix and obtains end
End stress.
Robot polishing system power based on FUZZY ALGORITHMS FOR CONTROL-position hybrid control system in present embodiment,
By installing pressure transducer additional in belt sander guide rail platform air cylinder, it is used for measuring X under sensor coordinate system
Direction institute's stress and moment size, and by have devised wave filter, the data measured are filtered, and
Considering the quality of milling tools, be provided with gravity compensation link, the position of conversion robot can obtain many groups
Force value, utilizes method of least square to be optimized the data of gained, draws optimal value, thus complete paired forces
The coordinate system of sensor is demarcated.
Robot polishing system have employed FUZZY ALGORITHMS FOR CONTROL, is controlled control system, uses MATLAB
Emulated, effect operational excellence.Output signal passes to force controller, robot is adjusted with
Keep the power relative constancy between milling tools and workpiece, thus ensure the effect of polishing.
As in figure 2 it is shown, the working-flow of robot polishing system is as follows:
The software function of control system is the polishing work of coordinating robot and polishing grinding belt sander, main mesh
Be to maintain the constant of polishing power.
Polishing detailed process is to be corrected after robot takes workpiece, and notice master controller starts polisher, beats
Grinding machine coordinates robot polishing workpiece, constantly carries out force feedback and is adjusted to ensure that power is constant, this power of most preferably polishing
Intersected to form by human experience's information and acceleration information.
After this operation has been polished, robot notice master controller cuts out this operation polisher and carries out workpiece
Start subsequent processing polishing work after correction, repeat above procedure until all process steps has been polished.
The present invention is not limited to above-mentioned preferred implementation, and anyone should learn under the enlightenment of the present invention
The structure change made, every have with the present invention same or like as technical scheme, belong to this
Bright protection domain.
Claims (4)
1. Robot Force position based on intelligent algorithm Shared control method, it is characterised in that:
Control method is as follows:
The location-based impedance-controlled fashion of control system, by robot measurement each joint servo current of electric
With each articulation position, data combination goes out the mutual force value of arm end and workpiece junction；Use pre-
Method of determining and calculating predicts the mutual force value of machine human and environment, and the mutual force value obtained with above-mentioned resolving compares,
The output processed through balancing energy correcting algorithm is control system actual forces perception, and control system is entered accordingly
Luggage is joined robot trajectory's terminal position and is set, and forms each joint servo motor control signal with this, controls with this
Servomotor processed, it is achieved power-position Shared control；
Specifically comprising the following steps that of control method
1), motion controller is planned new location point, and is converted into analogue speed signal；
2), speed ring receive analogue speed signal, control electric current loop carry out servomotor electric current control；
3), obtain actual position signal by encoder, measure servomotor electric current and obtain dtc signal；
4), compare rear incoming motion controller by the conversion of power position with actual position signal, calculate and exert oneself and position
The deviation put, adjusts and produces new location point.
2. according to Robot Force position based on the intelligent algorithm Shared control method described in claim 1, its
It is characterised by:
Step 1) in the step of the motion controller new location point of planning as follows:
(1) the fresh target point of robot end's motion, is calculated according to given mission requirements；
(2) contact force/moment values resolved, is read from data buffer zone；
(3), contact the deviation information of value according to power/moment resolving value with expectation and calculate and adjust the position of impact point
Put；
(4), carry out robot trajectory planning, send into ready queue；
(5), trajectory planning is performed；
(6), while performing step (5), current contact force/moment information is gathered；
(7), return to step (l), repeat.
3. according to Robot Force position based on the intelligent algorithm Shared control method described in claim 1, its
It is characterised by:
Step 4) in power position conversion specific implementation as follows:
(1) the joint torque signal of servomotor, is received；
(2), according to the joint torque signal obtained by electric current, environmental interaction is calculated by Jacobian matrix
Power, and use RBF neural algorithm predicts robot and environmental interaction power to prevent shake；
(3) reciprocal force, using step (2) obtained is as the input of balancing energy device, balancing energy device
The output processed through balancing energy correcting algorithm obtains control system actual forces perception；
(4), actual forces perception input motion controller carries out assemble track position set；
(5), return to step (l), repeat.
4. according to Robot Force position based on the intelligent algorithm Shared control method described in claim 1, its
It is characterised by:
In step 1) start before operation, each joint torque need to be demarcated, obtain turning under Light Condition
Square, as calculating the basis of torque under band load state.
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Effective date of registration: 20180109 Address after: Jun Business Plaza No. 3 Suzhou City, Jiangsu province 215000 Industrial Park, the only road 1 room 720 Patentee after: Suzhou Hui Kong intellectual technology company limited Address before: Suzhou City, Jiangsu province 215100 Xiangcheng District Ji Road No. 8 Patentee before: Soochow University |