CN105522584A - Control method, control device and flexible manipulator system - Google Patents
Control method, control device and flexible manipulator system Download PDFInfo
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- CN105522584A CN105522584A CN201610059142.4A CN201610059142A CN105522584A CN 105522584 A CN105522584 A CN 105522584A CN 201610059142 A CN201610059142 A CN 201610059142A CN 105522584 A CN105522584 A CN 105522584A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Abstract
The invention discloses a control method. The control method is used for controlling a flexible manipulator to grab a target object, and the flexible manipulator comprises at least two flexible mechanical fingers. The control method comprises the steps that 1, a fingertip distance range suitable for grabbing the target object is calculated according to a parameter of the flexible manipulator and a parameter of the target object; and 2, the flexible manipulator is controlled to grab the target object within the fingertip distance range, and the fingertip distance is adjusted according to the parameter of the target object in the grabbing process. By means of the control method, the success rate of grabbing can be increased, and the automation degree of grabbing is improved; the manual intervention is reduced, and the grabbing efficiency is improved. The invention further discloses a control device and a flexible manipulator system.
Description
Technical field
The present invention relates to flexible manipulator field, be specifically related to a kind of control method, control device and flexible manipulator system.
Background technology
Existing flexible manipulator needs complicated visual processes, analyze and identification and real-time tracing are carried out to the position and attitude of target object, real time sensor is needed to measure and calculate in a large number in real time, the rigid machine hand simultaneously needing accuracy high completes and captures running, system cost is high, complexity, and it is low to capture validity.
Summary of the invention
The present invention is intended to solve one of technical problem in correlation technique at least to a certain extent for this reason, and the present invention proposes a kind of control method.
The control method of embodiment of the present invention captures target object for controlling flexible manipulator, and described flexible manipulator comprises at least two flexible mechanical fingers, and described control method comprises the following steps:
Calculation procedure, calculates the finger tip distance range of the described flexible mechanical finger being suitable for capturing described target object according to the parameter of described flexible manipulator and the parameter of described target object; And
First rate-determining steps, controls described flexible manipulator and capture described target object in described finger tip distance range; And
Second rate-determining steps, the finger tip distance that flexible mechanical is pointed according to the parameter adjustment of described target object in crawl process.
Adopt the control method of embodiment of the present invention, the finger tip distance that flexible mechanical is pointed according to the parameter adjustment of described target object in crawl process, to make target object not easily landing, the success rate of crawl can be promoted, promote the automaticity captured, reduce manual intervention, promote and capture efficiency.Solve some problem of prior art.
Present invention also offers a kind of control device, described control device controls flexible manipulator and captures target object, and described flexible manipulator comprises at least two flexible mechanical fingers, and described control device comprises:
Computing module, for calculating the finger tip distance range of the described flexible mechanical finger being suitable for capturing described target object according to the parameter of described flexible manipulator and the parameter of described target object; And
Control module, captures described target object for controlling described flexible manipulator in described finger tip distance range, and in crawl process according to the parameter adjustment of described target object flexible mechanical finger finger tip distance.
Present invention also offers a kind of flexible manipulator system, it comprises the described control device in described flexible manipulator and above-mentioned embodiment.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is the schematic flow sheet of the control method of embodiment of the present invention;
Fig. 2 is the flexible manipulator system of embodiment of the present invention and the high-level schematic functional block diagram of control device;
Fig. 3 is the schematic side view of the flexible manipulator crawl target object in embodiment of the present invention;
Fig. 4 is the schematic side view of the flexible manipulator crawl target object in embodiment of the present invention;
Fig. 5 is the schematic flow sheet of the calculation procedure of the control method of embodiment of the present invention;
Fig. 6 is the high-level schematic functional block diagram of the control module of the control device of embodiment of the present invention;
Fig. 7 is the schematic flow sheet of the control method of embodiment of the present invention;
Fig. 8 is the schematic flow sheet of the control method of embodiment of the present invention;
Fig. 9 is the high-level schematic functional block diagram of the control device of embodiment of the present invention;
Figure 10 is the schematic flow sheet of the control method of embodiment of the present invention;
Figure 11 is the high-level schematic functional block diagram of the control device of embodiment of the present invention;
Figure 12 is the schematic side view of the flexible manipulator in embodiment of the present invention;
Figure 13 is the schematic flow sheet of the control method in embodiment of the present invention;
Figure 14 is the high-level schematic functional block diagram of the control device in embodiment of the present invention;
Figure 15 is the schematic flow sheet of the control method in embodiment of the present invention;
Figure 16 is the high-level schematic functional block diagram of the control device in embodiment of the present invention;
Figure 17 is the schematic flow sheet of the control method in embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the present invention are described further.In accompanying drawing, same or similar label represents same or similar element from start to finish or has element that is identical or similar functions.In addition, the embodiments of the present invention described below in conjunction with accompanying drawing are exemplary, only for explaining embodiments of the present invention, and can not be interpreted as limitation of the present invention.
Refer to Fig. 1-4, the control method of embodiment of the present invention captures target object 3000 for controlling flexible manipulator 300, and wherein flexible manipulator 300 comprises at least two flexible mechanical fingers 310.The control method of present embodiment comprises the following steps:
S1, calculates the finger tip distance excursion being suitable for capturing target object 3000 according to the parameter of flexible manipulator 300 and the parameter of target object 3000; And
S2, controls flexible manipulator 300 and capture target object 3000 in finger tip distance excursion, and according to the parameter adjustment finger tip distance of target object 3000 in crawl process.
Refer to Fig. 2, the control device 100 of embodiment of the present invention comprises computing module 110 and control module 130.As an example, the control method of embodiment of the present invention can be realized by the control device 100 of embodiment of the present invention, can be applicable to flexible manipulator system 1000.Flexible manipulator system 1000 can comprise control device 100 and flexible manipulator 300.
Control device 100 can integrally, such as, be arranged in the arm of flexible manipulator 300 by control device 100 and flexible manipulator 300.Certainly, in other embodiments, control device 100 also as independent of the equipment of flexible manipulator 300 or device, and can be connected with flexible manipulator 300, and can arrange in pairs or groups with different types of flexible manipulator 300 compatibility, to expand the function of flexible manipulator system 1000 better.In some embodiments, control device 100 even can connect simultaneously and control multiple flexible manipulator 300, is not limited to embodiment discussed above.
The step S1 of the control method of embodiment of the present invention can be realized by computing module 110, and step S2 can be realized by control module 130.That is, computing module 110 can be used for calculating according to the parameter of flexible manipulator 300 and the parameter of target object 3000 the finger tip distance excursion being suitable for capturing target object 3000; And control module 130 can be used for controlling flexible manipulator 300 in finger tip distance excursion and captures target object 3000, and for the parameter adjustment finger tip distance according to target object 3000 in crawl process.
So, according to the parameter of flexible manipulator 300, as the number, elastic parameter etc. of flexible mechanical finger 310, and according to the parameter of target object 3000, as weight, largest deformation amount, size etc., calculate a finger tip distance excursion, herein means in point distance excursion the crawl that can substantially realize target object 3000.
But run into special circumstances sometimes, as excessive in target object 3000 weight, deformation quantity is excessive or surface is too smooth etc., easily cause capturing unsuccessfully, now need the parameter according to target object 3000, carrying out revising with the parameter adapting to target object 3000 further to the finger tip distance of flexible mechanical finger 310 when capturing, to make flexible manipulator 300, target object 3000 being kept a firmer hand on as reduced finger tip distance.So, the success rate of crawl can be promoted, promote the automaticity captured, reduce manual intervention, promote and capture efficiency.
Please refer to the drawing 3-4, wherein, if the number of flexible mechanical finger 310 is 2, when finger tip distance can refer to that flexible manipulator 300 sky is held, distance between the finger tip of the flexible mechanical finger 310 of two subtend settings, if but due to the odd number such as number 3 or 5 of flexible mechanical finger 310, flexible mechanical finger 310 not subtend distribution, the finger tip therefore getting flexible mechanical finger 310 points the symmetrical centre point of 310 distance to flexible mechanical is finger tip distance.
Each flexible mechanical finger 310 is generally designed to evenly distributed, if flexible manipulator 300 comprises two flexible mechanical fingers 310, then these two flexible mechanical fingers 310 are oppositely arranged, if comprise three flexible mechanical fingers 310, then these three flexible mechanical fingers 310 are separated by 120 ° between any two, so stressedly can be considered identical when each flexible mechanical finger 310 captures target object 3000, each flexible mechanical points 310 finger tip distances, and namely finger tip is also identical to the distance of symmetrical centre point.
Refer to Fig. 3-4, when flexible manipulator 300 grasps target object 3000, especially the target object 3000 of rigidity, can not continue to bend because flexible mechanical finger 310 is subject to the stop of target object 3000, even if now increase the turning moment of flexible mechanical finger 310, extruding force increases, and finger tip but no longer includes displacement and produces.When finger tip distance in embodiment of the present invention refers to that flexible manipulator 300 sky is held, finger tip is to the distance of symmetrical centre point.In general, if flexible mechanical finger 310 is fitted with target object 3000, increase finger tip distance, because the motion of flexible mechanical finger 310 is stopped, can produce larger restoring force, target object 3000 and flexible mechanical namely can be made to point, and extruding force between 310 is corresponding increases.If therefore overweight the or cunning excessively of target object, can adopt the mode reducing finger tip distance to increase extruding force, to improve the success rate of crawl.
Refer to Fig. 5, in the control method of some embodiment, step S1 comprises:
S11, calculate the relation of finger tip distance and extruding force according to the parameter of the parameter of flexible manipulator 300 and target object 3000, extruding force is the extruding force between flexible mechanical finger 310 and crawled target object 3000; And
S13, is less than the maximum withstanding compression power of target object 3000 to make finger tip apart from corresponding extruding force according to the minimum of a value that above-mentioned relation calculates in finger tip distance range.
Wherein, step S11 and step S13 can be realized by the computing module 110 of the control device 100 of some embodiment.Namely computing module 110 is for calculating the relation of finger tip distance and extruding force according to the parameter of the parameter of flexible manipulator 300 and target object 3000, extruding force is the extruding force between flexible mechanical finger 310 and crawled target object 3000, and is less than the maximum withstanding compression power of target object 3000 to make finger tip apart from corresponding extruding force for the minimum of a value calculated according to relation in finger tip distance range.
For ensureing that target object 3000 " is not pinched bad ", target object 3000 and the flexible mechanical extruding force pointed between 310 must be made to be less than the maximum withstanding compression power of target object 3000, and this is also one of important prerequisite of whole crawl process.Owing to there is the relation of certain negative correlation between extruding force and finger tip distance, the minimum of a value in finger tip distance range can be calculated according to the maximum withstanding compression power of target object 3000.
Refer to Fig. 3, another important prerequisite of crawl process is the full-size making the flexible mechanical finger tip distance pointed between 310 be less than target object 3000, the full-size that finger tip distance is more than or equal to target object 3000 is appreciated that if cannot hold target object 3000.Holding target object 3000 for ensureing that flexible manipulator 300 can press from both sides, the maximum in finger tip distance range can be obtained.In crawl process, no matter how finger tip distance adjusts, all must this scope between maximum in finger tip distance range to the minimum of a value in finger tip distance range, to ensure to catch target object 3000, do not damage target object 3000 again.
Refer to Fig. 6, in the control method of some embodiment, step S2 can comprise:
S21, controls flexible manipulator 300 and captures target object 3000 with optimum finger tip distance,
And following conditional can be adopted to calculate optimum finger tip distance:
d
opt1＝d
max+(d
min-d
max)α(1)
Wherein, d
opt1for optimum finger tip distance, d
minfor the minimum of a value in finger tip distance range, d
maxfor the maximum in finger tip distance range, and be less than the full-size of target object 3000, α ensures to produce enough frictional force to avoid the safety coefficient of target object 3000 landing between flexible mechanical finger 310 and target object 3000, and α is more than or equal to 0 and is less than or equal to 1.
Wherein, step S21 can adopt the control module 130 of the control device 100 of some embodiment to realize.Control module 130 can comprise calculating sub module 131, and calculating sub module 131 calculates optimum finger tip distance for adopting conditional (1), and control module 130 captures target object 3000 for controlling flexible manipulator 300 with optimum finger tip distance.
Be appreciated that, when safety coefficient α is 0, optimum finger tip distance is the maximum in finger tip distance range, can ensure that finger tip distance is less than the full-size of target object 3000, when α is 1, optimum finger tip distance is the minimum of a value in finger tip distance range, can ensure that extruding force is just less than the maximum withstanding compression power of target.But, no matter adopt maximum in finger tip distance range or the minimum of a value in finger tip distance range is all inappropriate, be not easily to cause target object 3000 landing, be exactly easily grasp tension and damage target object 3000.Therefore the median should choosing a finger tip distance captures.The choosing of median makes flexible mechanical point to produce enough large extruding force between 310 and target object 3000 as far as possible and then produces enough large frictional force to make target object 3000 can not landing.
Choosing of median, the namely determination of α, can be calculated according to the parameter of the parameter of target object 3000 and flexible manipulator 300, or be determined by the mode of many experiments.In the process of practical application, also according to the success rate etc. captured, α can be regulated.Control device 100 can comprise input module 150, adjusts the size of α by receiving user's input.
Such as, but in reality captures, if the parameter of target object 3000 is different, weight varies in size, cause the difficulty difference captured, still need to regulate further finger tip distance according to actual conditions.
Flexible manipulator 300 usually repeatedly captures similar article in practical application, as certain product or the part of same model, its similarity is very high, therefore a rational α is set, all applicable to certain product of same model or part, until dissimilar article need be captured, other setting can be carried out to α again.
So, by arranging rational α value and then obtaining rational optimum finger tip distance, thus promote the reliability of success rate and the flexible manipulator 300 captured.
Refer to Fig. 7, in some embodiments, the parameter of target object 3000 can comprise weight and the deformation quantity of target object 3000.Step S2 comprises the following steps:
S23, extremely revises finger tip distance according to the weight of target object 3000 and/or deformation quantity adjustment finger tip distance in crawl process.
Step S23 can be realized by the control module 130 of the control device 100 of some embodiment, and namely control module 130 for adjusting finger tip distance gradually to revising finger tip distance according to the weight of target object 3000 and/or deformation quantity in crawl process.
If the weight of target object 3000 is excessive, easily causes landing in crawl process thus capture unsuccessfully, if or target object 3000 is too soft and deformation quantity is excessive, also easily cause coming off.Therefore finger tip distance can be adjusted further according to the weight of target object 3000 and/or deformation quantity in crawl process, to promote crawl success rate.
In the control method of present embodiment, revise finger tip distance and can comprise the first weight corrected range.Step S2 can adopt following conditional to calculate the first weight corrected range:
d
opt2＝d
opt1+(d
min-d
opt1)ξ
G(2)
Wherein, d
opt2be the first weight corrected range, ξ
gfor modified weight modulus, ξ
g=m/m
max, m is the weight of target object 3000, m
maxfor the maximum weight that flexible manipulator 300 can capture.
In the control device 100 of some embodiment, control module 130 can comprise calculating sub module 131, and calculating sub module 131 can be used for adopting conditional (2) to calculate the first weight corrected range.Control module 130 captures target object 3000 for controlling flexible manipulator 300 according to the first weight corrected range.
Generally, the maximum weight that the weight of target object 3000 is less than or equal to flexible manipulator 300 and can captures, therefore modified weight modulus ξ should be ensured
gbe greater than 0 and be less than or equal to 1, the first weight corrected range is then between optimum finger tip distance d
opt1with the first weight corrected range d
opt2between, and the weight of target object 3000 is larger, the first weight corrected range d
opt2also less.
The weight of target object 3000 can be record before capturing, and calculates the first weight corrected range d according to the weighing scale of target object 3000
opt2, to adopt d
opt2capture.Also can the weight-measuring device (not shown) be connected with control module 130 be set on flexible manipulator 300, the weight of measurement target object 3000 in crawl process, is adjusted to the first weight corrected range by finger tip distance to make control module 130 in real time in crawl process.
It should be noted that, optimum finger tip distance d
opt1with the first weight corrected range d
opt2can be the relation of iteration, that is, can repeatedly revise.Such as, when first time is revised, the initial finger tip distance of flexible mechanical finger 310 is optimum finger tip distance, and when second time is revised, then the first weight corrected range revised last time is as d
opt1, adopt conditional (1) to calculate new corrected range.
In the control method of some embodiment, revise finger tip distance and comprise the first deformation corrected range; Step S2 can adopt following conditional to calculate the first deformation corrected range:
d
opt3＝d
opt1+(d
min-d
opt1)ξ
D，(3)
Wherein d
opt3be the first deformation corrected range, ξ
dfor deformation correction factor, ξ
dbe more than or equal to 0 and be less than or equal to 1, ξ
dwhen=0, target object 3000 is perfect rigidity, ξ
dwhen=1, target object 3000 is for can flow completely.s
In the control device 100 of some embodiment, revise finger tip distance and comprise the first deformation corrected range, control module 130 can adopt conditional (3) to calculate the first deformation corrected range, and captures target object 3000 according to the first deformation corrected range control flexible manipulator 300.
Be appreciated that the deformation quantity of target object 3000 during crawl is larger, the extruding force that flexible mechanical can be caused to point between 310 and target object 3000 is less, therefore needs the finger tip distance reducing flexible mechanical finger 310 to increase extruding force.
Deformation correction factor ξ
dcan record before crawl, and calculate the first deformation corrected range, control flexible manipulator 300 to make control module 130 and capture with the first deformation corrected range.Also can on flexible manipulator 300 or other positions the sensor be connected with control module 130 of measurement target object 3000 deformation is set, in crawl process the sensor measurement target object 3000 of measurement target object 3000 deformation deformation and calculate the deformation correction factor of target object 3000, or only measure deformation and calculate deformation correction factor by control module 130, control module 130 calculates the first deformation corrected range according to deformation correction factor again and in crawl process, adjusts finger tip distance according to the first deformation corrected range in real time.
With the d in some embodiment above-mentioned
opt2and d
opt1between relation similar, the d in conditional
opt3with d
opt1also can be a kind of relation of iteration, the i.e. d of this adjustment process
opt1the d in adjustment process last time can be adopted
opt3, and the result d of this adjustment
opt3also can be used as the d of next adjustment process
opt1.
By adjusting the finger tip distance of flexible mechanical finger 310 according to the weight of target object 3000 or deformation quantity, make flexible manipulator 300 pairs of target objects 3000 have better adaptability, thus promote the success rate captured.
Refer to Fig. 8, in the control method of some embodiment, flexible manipulator 300 can comprise 2-6 flexible mechanical finger 310.Control method comprises the following steps:
S3, calculates the minimum of a value in finger tip distance range, the maximum in finger tip distance range, optimum finger tip distance and/or revises finger tip distance according to the number of flexible mechanical finger 310.
In present embodiment, the step S3 of control method can be realized by control device 100 computing module 110 of some embodiment.Namely computing module 110 is for calculating minimum of a value, the maximum in finger tip distance range, optimum finger tip distance and/or the correction finger tip distance in finger tip distance range according to the number of flexible mechanical finger 310.
The number of flexible mechanical finger 310 is different, same target object 3000 likely can be caused to can bear maximum withstanding compression power different.Therefore the minimum of a value recalculated according to the number of flexible mechanical finger 310 in finger tip distance range is needed.Maximum in finger tip distance range, optimum finger tip distance and/or to revise finger tip distance also likely different, the number need pointing 310 according to flexible mechanical calculates.
Such as, in the control method of some embodiment, step S1 can adopt following conditional to calculate respectively to comprise the flexible manipulator 300 of i flexible mechanical finger 310 to the maximum withstanding compression power F of same target object 3000
i:
Two subtend flexible mechanical finger 310:F
2=τ
max
Three are uniformly distributed flexible mechanical finger 310:F
3=τ
max/ (1+cos30 °)=0.536 τ
max
Four are uniformly distributed flexible mechanical finger 310:F
4=0.5 τ
max
Five are uniformly distributed flexible mechanical finger 310:F
5=τ
max/ (2cos36 °+sin36 °+sin72 °)=0.317 τ
max
The six roots of sensation is uniformly distributed flexible mechanical finger 310:F
6=τ
max/ 2 (1+cos30 °)=0.268 τ
maxs
Control method adopts following conditional to calculate respectively to comprise the minimum of a value in the finger tip distance range of the flexible manipulator 300 of i flexible mechanical finger 310:
d
min-i＝d
max-i-(1/k
f+1/k
o)*F
i(4)
Wherein, d
max-imaximum in finger tip distance range when equaling the maximum withstanding compression power of target object 3000 for making the flexible mechanical extruding force pointed between 310, d
min-iminimum of a value in the maximum sized finger tip distance range of target object 3000, k is less than for making finger tip distance
fbe the coefficient of elasticity of flexible mechanical finger 310, determine by finger is flexible, k
obe the coefficient of elasticity of target object 3000, determined by the parameter of target object 3000, i=2,3,4,5,6.
In the control device 100 of some embodiment, computing module 110 can adopt above-mentioned about comprising the flexible manipulator 300 of i flexible mechanical finger 310 to the maximum withstanding compression power F of same target object 3000
iconditional calculate.Control module 130 can adopt conditional (4) to calculate to comprise i flexible mechanical to point minimum of a value in the finger tip distance range of the flexible manipulator 300 of 310.
Be appreciated that according to above-mentioned conditional, the number of flexible mechanical finger 310 is more, and each flexible mechanical points the maximum withstanding compression power F of 310 correspondences
iless, thus the minimum of a value that each flexible mechanical is pointed in the finger tip distance range of 310 is larger.
And, comprise different number flexible mechanical finger 310 various flexible manipulators 300 correspondence maximum withstanding compression power between have certain proportionate relationship, accordingly, also certain proportionate relationship is had between minimum of a value in the finger tip distance range of various flexible manipulator 300 correspondence, so, as long as calculate the minimum of a value in the finger tip distance range of wherein a kind of flexible manipulator 300, just can obtain the minimum of a value in the finger tip distance range of other kind flexible manipulators 300 fast, and the maximum obtained further in the finger tip distance range of other kind flexible manipulators 300, optimum finger tip Distance geometry correction finger tip distance etc.So conveniently make control device 100 arrange in pairs or groups and comprise the flexible manipulator 300 that different number flexible mechanical points 310.
Refer to Fig. 9, input module 150 can be set at control device 100, for receiving user's input, when control module 130 arrange in pairs or groups different number flexible mechanical finger 310 flexible manipulator 300 time, by receiving the number of the corresponding flexible mechanical finger 310 of user's input, carry out Conversion Calculation parameter by the computing module 110 of control device 100, thus calculate the minimum of a value in the finger tip distance range of this flexible manipulator 300, the maximum in finger tip distance range, optimum finger tip Distance geometry correction finger tip distance etc. fast.So, flexibility and applicability that control device 100 and variety classes flexible manipulator 300 arrange in pairs or groups greatly is improved, the efficiency of raising.
Refer to Figure 10-12, in the control method of some embodiment, comprise upon step s 2:
S4, controls flexible manipulator 300 and moves;
S5, detects target object 3000 and flexible manipulator 300; And
S6, if detect, target object 3000 does not move with flexible manipulator 300, is judged as grasping unsuccessfully, and controls flexible mechanical finger and 310 open again to grasp.
The control method of present embodiment can be realized by the first sensor 120 of the control device 100 of some embodiment and control module 130.First sensor 120 is connected with control module 130.First, control module 130 moves for capturing the rear flexible manipulator 300 that controls of target object 3000 at flexible manipulator 300; Then, first sensor 120 is for detecting target object 3000 and flexible manipulator 300 and producing detection signal; Finally, for controlling flexible manipulator when capturing unsuccessfully, control module 130 for judging that according to detection signal whether crawl is successful, and refers to that 310 open again to grasp.
If capture successfully, target object 3000 can move along with flexible manipulator 300, and keep constant distance therebetween in other words, if capture unsuccessfully, then the distance between target object 3000 and flexible manipulator 300 generally can change.Therefore, by detecting target object 3000 and the position relationship of flexible manipulator 300, can judge that whether crawl is successful.Capture unsuccessfully if judge, flexible manipulator 300 can be controlled and again capture.So, improve the automaticity of control device 100 and flexible manipulator 300, decrease manual intervention, improve the success rate of crawl.
In some embodiments, first sensor 120 can be camera or range sensor.Camera can be taken and capture and the process of movement, and carries out discriminance analysis to image, can judge whether target object 3000 departs from flexible manipulator 300.Range sensor can be arranged on flexible manipulator 300, and for detecting the distance between target object 3000 and flexible manipulator 300, if this distance keeps stable and within preset range, can be judged as capturing successfully, if this distance changes and exceeds preset range, can be judged as capturing unsuccessfully, and send corresponding judgement signal.Control module 130 can according to judging that signal controls flexible manipulator 300 and continues mobile or again capture.
Adopt camera or range sensor simple and feasible, and judge that accuracy is higher.
Refer to Figure 13-14, in some embodiments, step S6 comprises:
S61, adds unsuccessfully correction value as this finger tip distance grasped again to grasp and to move using the finger tip distance that last time grasps.
Step S61 can be realized by the failed correcting module 170 of the control device 100 of some embodiment.Failure correcting module 170 adds unsuccessfully for the finger tip distance grasped last time the finger tip distance that correction value grasps as this; Control module 130 again grasps for the finger tip distance controlling flexible manipulator 300 grasped according to this and moves.
Capturing failed reason is likely that flexible mechanical points the finger tip of 310 apart from excessive, causes flexible mechanical to point extruding force between 310 and target object 3000 inadequate, namely grabs not tightly cause target object 3000 to come off.Therefore, the finger tip distance of flexible mechanical finger 310 can be adjusted and again capture.So, the success rate again captured can be promoted.
In the control method of some embodiment, revise finger tip distance and comprise the second weight corrected range, step S61 can adopt following conditional to calculate the second weight corrected range:
d
opt5＝d
opt4+(d
min-d
opt4)ξ
G(5)
Wherein d
opt5be the second weight corrected range, d
opt4for finger tip distance when last time captures, d
minfor the minimum of a value in finger tip distance range, ξ
gfor modified weight modulus, ξ
g=m/m
max, m is the weight of target object 3000, m
maxfor the maximum weight that flexible manipulator 300 can capture.
In the control device 100 of some embodiment, failed correcting module 170 calculates the second weight corrected range for adopting conditional (5).
Similar with conditional (2), generally, the maximum weight that the weight of target is less than or equal to flexible manipulator 300 and can captures, therefore modified weight modulus ξ should be ensured
gbe greater than 0 and be less than or equal to 1, the first weight corrected range is then between the second weight corrected range d
opt5and last time finger tip distance d when capturing
opt4between, and the weight of target object 3000 is larger, the second weight corrected range d
opt5also less, the amplitude that is revised is also larger.
The weight of target object 3000 can be record before capturing, and calculates the second weight corrected range d according to the weighing scale of target object 3000
opt5, to adopt d
opt5capture.Also can the weight-measuring device be connected with control module 130 be set on flexible manipulator 300, the weight of measurement target object 3000 in crawl process, in crawl process, in real time finger tip distance be adjusted to the second weight corrected range to make control module 130.
It should be noted that, compared with conditional (2), it is revise on the basis of the finger tip distance of crawl last time that conditional (4) more embodies, that is d
opt5with d
opt4between be the relation of iteration, also embody to capture and can repeat, constantly adjust.The finger tip distance of flexible mechanical finger 310 that this captures may be undertaken revising obtaining by the finger tip distance captured last time, and if this captures unsuccessfully, the finger tip distance that this captures, also can be used as the correction foundation of the finger tip distance of next crawl.
With in above-mentioned embodiment for the correction of target object 3000 weight, in the control method of some embodiment, revise finger tip distance and comprise the second deformation corrected range, step S61 can adopt following conditional to calculate the second deformation corrected range:
d
opt6＝d
opt4+(d
min-d
opt4)ξ
D(6)
Wherein d
minfor the minimum of a value in finger tip distance range, d
opt6be the second deformation corrected range, d
opt4for finger tip distance when last time captures, ξ
dfor deformation correction factor, ξ
dbe more than or equal to 0 and be less than or equal to 1, ξ
dwhen=0, target object 3000 is perfect rigidity, ξ
dwhen=1, target object 3000 is for can flow completely.
In the control device 100 of some embodiment, failed correcting module 170 can adopt conditional (6) to calculate the second deformation corrected range.
Be appreciated that the deformation quantity of target object 3000 during crawl is larger, the extruding force that flexible mechanical can be caused to point between 310 and target object 3000 is less, therefore needs the finger tip distance reducing flexible mechanical finger 310 to increase extruding force.
Deformation correction factor ξ
dcan record before crawl, and calculate the second deformation corrected range, control flexible manipulator 300 to make control module 130 and capture with the first deformation corrected range.Also can on flexible manipulator 300 or other positions the sensor be connected with control module 130 of measurement target object 3000 deformation is set, in crawl process the sensor measurement target object 3000 of measurement target object 3000 deformation deformation and calculate the deformation correction factor of target object 3000, or only measure deformation and calculate deformation correction factor by control module 130, control module 130 calculates the second deformation corrected range according to deformation correction factor again and in crawl process, adjusts finger tip distance according to the second deformation corrected range in real time.
D in conditional (6)
opt6with d
opt4also be a kind of relation of iteration, the makeover process repeating to capture can be embodied, i.e. the d of this makeover process
opt4the d in makeover process last time can be adopted
opt6, and the result d of this adjustment
opt6also can be used as the d of next makeover process
opt4.
Revising the finger tip distance of flexible mechanical finger 310 according to the weight of target object 3000 or deformation quantity, is that one well repeats to capture adaptation mechanism.After once capturing failure, namely capture next time, and point in 310 finger tips distances at the original flexible mechanical captured and increase correction value according to the weight of target object 3000 or deformation quantity, and ensure that revised finger tip distance is still greater than minimum of a value in finger tip distance range to ensure that the flexible mechanical extruding force pointed between 310 and target object 3000 keeps being less than the maximum withstanding compression power of target object 3000 always.Continuous correction, until capture successfully.
So, make flexible manipulator 300 pairs of target objects 3000 have better adaptability, the automaticity of flexible manipulator system 1000 can be promoted, thus promote crawl success rate and capture efficiency.
Refer to Figure 15-16, in some embodiments, control method comprised before step S2:
S7, detects the position of target object 3000 and shape and judges the geometric center of target object 3000 according to shape.
Step S7 can be realized by the control device 100 of some embodiment.Control device 100 can comprise the second sensor 140, second sensor 140 for detecting the position of target object 3000 and shape and judging the geometric center of target object 3000 according to shape.
Second sensor 140 can be camera or range sensor etc.Such as, adopt the picture of camera photographic subjects object 3000, in picture recognition target object 3000 shape and calculate the geometric center of target object 3000 profile.Range sensor can distance between measurement target object 3000 and flexible manipulator 300, thus helps the position determining target object 3000.
In some embodiments, the second sensor and first sensor can be same sensors, such as, be camera or depth transducer, or the second sensor and first sensor are integrated in same sensing device.So, on the one hand, can can detect the shape of target object 3000 and judge that the geometric center of target object 3000 is to capture better before crawl, on the other hand, in crawl process, judge whether target object 3000 departs from manipulator 300 and whether capture unsuccessfully with judgement by the picture of shooting.So, same sensor or sensing device can realize two or more function, contribute to simplifying control device 100.
Detect the position of target object 3000 and shape and judge that the geometric center of target object 3000 can facilitate flexible manipulator 300 find target object 3000 fast and capture according to shape.
Refer to Figure 17, in some embodiments, control method can comprise:
S8, according to position and geometric center move flexible manipulator 300 near target object 3000 and make flexible mechanical point 310 grasp time the center in space that formed overlap with geometric center.
In control device 100 in some embodiments, step S8 can be realized by control module 130.Control module 130 can be connected with the second sensor 140, control module 130 for the position that detects according to the second sensor 140 and geometric center move flexible manipulator 300 near target object 3000 and make flexible mechanical point 310 grasp time the center in space that formed overlap with geometric center.
So, flexible manipulator 300 can be controlled and move more accurately and close target object 3000, and the displacement of target object 3000 can be reduced in the process captured, promote the accuracy rate and success rate that capture.
Refer to Fig. 2, the flexible manipulator system 1000 of embodiment of the present invention can comprise the control device 100 of flexible manipulator 300 and above-mentioned embodiment.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axis ", " radial direction ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " can be fisrt feature immediately below second feature or tiltedly below, or only represent that fisrt feature level height is less than second feature.
In the description of this description, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this description or example and different embodiment or example can carry out combining and combining by those skilled in the art.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (31)
1. a control method, is characterized in that, described control method captures target object for controlling flexible manipulator, and described flexible manipulator comprises at least two flexible mechanical fingers, and described control method comprises the following steps:
Calculation procedure, calculates the finger tip distance range of the described flexible mechanical finger being suitable for capturing described target object according to the parameter of described flexible manipulator and the parameter of described target object; And
First rate-determining steps, controls described flexible manipulator and capture described target object in described finger tip distance range; And
Second rate-determining steps, the finger tip distance that flexible mechanical is pointed according to the parameter adjustment of described target object in crawl process.
2. control method as claimed in claim 1, it is characterized in that, described calculation procedure comprises:
Calculate the relation of described finger tip distance and extruding force according to the parameter of described flexible manipulator and the parameter of described target object, described extruding force is the active force be applied in described flexible mechanical finger crawl process on described target object; And
Determine that minimum of a value in described finger tip distance range is with the maximum withstanding compression power making described extruding force corresponding to described finger tip distance range be less than described target object according to described relation.
3. control method as claimed in claim 2, is characterized in that, described first rate-determining steps controls described flexible manipulator and captures described target object with optimum finger tip distance;
Described first rate-determining steps adopts following conditional to calculate described optimum finger tip distance:
d
opt1＝d
max+(d
min-d
max)α
Wherein, d
opt1for described optimum finger tip distance, d
minfor the minimum of a value in described finger tip distance range, d
maxfor the maximum in described finger tip distance range, and be less than the full-size of described target object, α ensures to produce enough frictional force to avoid the safety coefficient of described target object landing between described flexible mechanical finger and described target object, and α is more than or equal to 0 and is less than or equal to 1.
4. control method as claimed in claim 3, it is characterized in that, the parameter of described target object comprises weight and the deformation quantity of described target object;
Described second rate-determining steps adjusts described finger tip distance to revising finger tip distance according to the weight of described target object and/or deformation quantity in described crawl process.
5. control method as claimed in claim 4, it is characterized in that, described correction finger tip distance comprises the first weight corrected range;
Described second rate-determining steps adopts following conditional to calculate described first weight corrected range:
d
opt2＝d
opt1+(d
min-d
opt1)ξ
G
Wherein, d
opt2for described first weight corrected range, ξ
gfor modified weight modulus, ξ
g=m/m
max, m is the weight of described target object, m
maxfor the maximum weight that described flexible manipulator can capture.
6. control method as claimed in claim 4, it is characterized in that, described correction finger tip distance comprises the first deformation corrected range;
Described second rate-determining steps adopts following conditional to calculate described first deformation corrected range:
d
opt3＝d
opt1+(d
min-d
opt1)ξ
D，
Wherein d
opt3for described first deformation corrected range, ξ
dfor deformation correction factor, ξ
dbe more than or equal to 0 and be less than or equal to 1, ξ
dwhen=0, described target object is perfect rigidity, ξ
dwhen=1, described target object is for can flow completely.
7. control method as claimed in claim 4, is characterized in that, the number of described flexible mechanical finger comprises 2-6;
Described calculation procedure comprises:
The minimum of a value in described finger tip distance range, the maximum in described finger tip distance range, described optimum finger tip distance and/or described correction finger tip distance is calculated according to the number that described flexible mechanical is pointed.
8. control method as claimed in claim 7, is characterized in that, the maximum withstanding compression power F of described target object when the number that described calculation procedure adopts following conditional to calculate described flexible mechanical finger is respectively i
i:
Two subtend flexible mechanical finger: F
2=τ
max
Three are uniformly distributed flexible mechanical finger: F
3=τ
max/ (1+cos30 °)=0.536 τ
max
Four are uniformly distributed flexible mechanical finger: F
4=0.5 τ
max
Five are uniformly distributed flexible mechanical finger: F
5=τ
max/ (2cos36 °+sin36 °+sin72 °)=0.317 τ
max
The six roots of sensation is uniformly distributed flexible mechanical finger: F
6=τ
max/ 2 (1+cos30 °)=0.268 τ
max
Wherein, i is natural number, and is more than or equal to 2 and is less than or equal to 6;
Minimum of a value d when the number that described calculation procedure adopts following conditional to calculate described flexible mechanical finger is respectively i in described finger tip distance range
min-i:
D
min-i=d
max-i-(1/k
f+ 1/k
o) * F
iwherein, d
max-imaximum d when the number pointed for described flexible mechanical is i in described finger tip distance range
max-i, k
fthe coefficient of elasticity of described flexible mechanical finger, k
oit is the coefficient of elasticity of described target object.
9. control method as claimed in claim 1, it is characterized in that, described control method comprises after described first rate-determining steps:
3rd rate-determining steps, controls described flexible manipulator and moves;
Detecting step, detects described target object and described flexible manipulator; And
4th rate-determining steps, if detect, described target object does not move with described flexible manipulator, is judged as grasping unsuccessfully, and control described flexible mechanical finger open again to grasp.
10. control method as claimed in claim 9, it is characterized in that, described 4th rate-determining steps comprises:
Unsuccessfully revise step, according to last time, finger tip distance added unsuccessfully that correction value calculated described in this and revised finger tip distance again to grasp and to move.
11. control methods as claimed in claim 10, is characterized in that, revise finger tip distance and comprise the second weight corrected range described in this, and described step of unsuccessfully revising can adopt following conditional to calculate described second weight corrected range:
d
opt5＝d
opt4+(d
min-d
opt4)ξ
G
Wherein, d
opt5for described second weight corrected range, d
opt4for finger tip distance described in last time, d
minfor the minimum of a value in described finger tip distance range, ξ
gfor modified weight modulus, ξ
g=m/m
max, m is the weight of described target object, m
maxfor the maximum weight that described flexible manipulator can capture.
12. control methods as claimed in claim 10, is characterized in that, described correction finger tip distance comprises the second deformation corrected range, and described step of unsuccessfully revising can adopt following conditional to calculate described second deformation corrected range:
d
opt6＝d
opt4+(d
min-d
opt4)ξ
D
Wherein d
minfor the minimum of a value in described finger tip distance range, d
opt6for described second deformation corrected range, d
0pt4for described finger tip distance when last time captures, ξ
dfor deformation correction factor, ξ
dbe more than or equal to 0 and be less than or equal to 1, ξ
dwhen=0, described target object is perfect rigidity, ξ
dwhen=1, described target object is for can flow completely.
13. control methods as claimed in claim 1, it is characterized in that, described control method comprised before described rate-determining steps:
Detect the position of described target object and shape and judge the geometric center of described target object according to described shape.
14. control methods as claimed in claim 13, it is characterized in that, described control method comprises:
According to described position and described geometric center move described flexible manipulator near described target object and described flexible mechanical is pointed and grasps time the center in space that formed overlap with described geometric center.
15. 1 kinds of control device, is characterized in that, described control device controls flexible manipulator and captures target object, and described flexible manipulator comprises at least two flexible mechanical fingers, and described control device comprises:
Computing module, for calculating the finger tip distance range of the described flexible mechanical finger being suitable for capturing described target object according to the parameter of described flexible manipulator and the parameter of described target object; And
Control module, captures described target object for controlling described flexible manipulator in described finger tip distance range, and in crawl process according to the parameter adjustment of described target object flexible mechanical finger finger tip distance.
16. control device as claimed in claim 15, it is characterized in that, described computing module is also for calculating the relation of described finger tip distance and extruding force according to the parameter of described flexible manipulator and the parameter of described target object, described extruding force is the active force be applied in described flexible mechanical finger crawl process on described target object, and for determining that according to described relation minimum of a value in described finger tip distance range is with the maximum withstanding compression power making described extruding force corresponding to described finger tip distance range be less than described target object.
17. control device as claimed in claim 16, is characterized in that,
Described control module captures described target object for controlling described flexible manipulator with optimum finger tip distance;
Described control module calculates described optimum finger tip distance for adopting following conditional:
d
opt1＝d
max+(d
min-d
max)α
Wherein, d
opt1for described optimum finger tip distance, d
minfor the minimum of a value in described finger tip distance range, d
maxfor the maximum in described finger tip distance range, and be less than the full-size of described target object, α ensures to produce enough frictional force to avoid the safety coefficient of described target object landing between described flexible mechanical finger and described target object, and α is more than or equal to 0 and is less than or equal to 1.
18. control device as claimed in claim 17, is characterized in that,
The parameter of described target object comprises weight and the deformation quantity of described target object; Described control module is used for adjusting described finger tip distance to revising finger tip distance according to the weight of described target object and/or deformation quantity in described crawl process.
19. control device as claimed in claim 18, is characterized in that,
Described correction finger tip distance comprises the first weight corrected range; Described control module adopts following conditional to calculate described first weight corrected range:
d
opt2＝d
opt1+(d
min-d
opt1)ξ
G
Wherein, d
opt2for described first weight corrected range, ξ
gfor modified weight modulus, ξ
g=m/m
max, m is the weight of described target object, m
maxfor the maximum weight that described flexible manipulator can capture.
20. control device as claimed in claim 18, is characterized in that, described correction finger tip distance comprises the first deformation corrected range;
Described control module adopts following conditional to calculate described first deformation corrected range:
d
opt3＝d
opt1+(d
min-d
opt1)ξ
D，
Wherein d
opt3for described first deformation corrected range, ξ
dfor deformation correction factor, ξ
dbe more than or equal to 0 and be less than or equal to 1, ξ
dwhen=0, described target object is perfect rigidity, ξ
dwhen=1, described target object is for can flow completely.
21. control device as claimed in claim 18, is characterized in that, the number of described flexible mechanical finger comprises 2-6;
The number that described computing module is used for pointing according to described flexible mechanical calculates the minimum of a value in described finger tip distance range, the maximum in described finger tip distance range, described optimum finger tip distance and/or described correction finger tip distance.
22. control device as claimed in claim 21, is characterized in that, described computing module adopts following conditional to calculate respectively to comprise the described flexible manipulator of i described flexible mechanical finger to the maximum withstanding compression power F of same described target object
i:
Two subtend flexible mechanical finger: F
2=τ
max
Three are uniformly distributed flexible mechanical finger: F
3=τ
max/ (1+cos30 °)=0.536 τ
max
Four are uniformly distributed flexible mechanical finger: F
4=0.5 τ
max
Five are uniformly distributed flexible mechanical finger: F
5=τ
max/ (2cos36 °+sin36 °+sin72 °)=0.317 τ
max
The six roots of sensation is uniformly distributed flexible mechanical finger: F
6=τ
max/ 2 (1+cos30 °)=0.268 τ
max
Wherein, i is natural number, and is more than or equal to 2 and is less than or equal to 6;
Minimum of a value d when the number that described calculation procedure adopts following conditional to calculate described flexible mechanical finger is respectively i in described finger tip distance range
min-i:
D
min-i=d
max-i-(1/k
f+ 1/k
o) * F wherein, d
max-imaximum d when the number pointed for described flexible mechanical is i in described finger tip distance range
max-i, k
fthe coefficient of elasticity of described flexible mechanical finger, k
oit is the coefficient of elasticity of described target object.
23. control device as claimed in claim 15, it is characterized in that, described control device comprises the first sensor be connected with described control module;
Described control module is used for after described flexible manipulator captures described target object, control described flexible manipulator and moves;
Described first sensor is for detecting described target object and described flexible manipulator and producing detection signal;
Described control module also for judging that according to described detection signal whether crawl is successful, and opens again to grasp for controlling described flexible mechanical finger when capturing unsuccessfully.
24. control device as claimed in claim 23, it is characterized in that, described first sensor comprises camera or range sensor.
25. control device as claimed in claim 23, it is characterized in that, described control device comprises unsuccessfully correcting module, and the described finger tip distance that described failed correcting module computing module is used for last time grasps adds unsuccessfully the described finger tip distance that correction value grasps as this;
Described control module is used for flexible manipulator according to the described described finger tip distance controlling that this grasps and again grasps and move.
26. control device as claimed in claim 25, is characterized in that, described correction finger tip distance comprises the second weight corrected range, and described failed correcting module can adopt following conditional to calculate described second weight corrected range:
d
opt5＝d
opt4+(d
min-d
opt4)ξ
G
Wherein, d
opt5for described second weight corrected range, d
opt4for finger tip distance described in last time, d
minfor the minimum of a value in described finger tip distance range, ξ
gfor modified weight modulus, ξ
g=m/m
max, m is the weight of described target object, m
maxfor the maximum weight that described flexible manipulator can capture.
27. control device as claimed in claim 25, is characterized in that, described correction finger tip distance comprises the second deformation corrected range, and described failed correcting module can adopt following conditional to calculate described second deformation corrected range:
d
opt6＝d
opt4+(d
min-d
opt4)ξ
D
Wherein d
minfor the minimum of a value in described finger tip distance range, d
opt6for described second deformation corrected range, d
opt4for described finger tip distance when last time captures, ξ
dfor deformation correction factor, ξ
dbe more than or equal to 0 and be less than or equal to 1, ξ
dwhen=0, described target object is perfect rigidity, ξ
dwhen=1, described target object is for can flow completely.
28. control device as claimed in claim 15, is characterized in that, the second sensor described in described control device;
Detect the position of described target object and shape and judge the geometric center of described target object according to described shape.
29. control device as claimed in claim 28, it is characterized in that, described second sensor comprises camera or range sensor.
30. control device as claimed in claim 28, it is characterized in that, described control module be used for according to described position and described geometric center move described flexible manipulator near described target object and described flexible mechanical is pointed and grasps time the center in space that formed overlap with described geometric center.
31. 1 kinds of flexible manipulator systems, is characterized in that, comprise described flexible manipulator and control device as described in claim 15-30 any one.
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