CN106625653A - Force feedback-based industrial robot auxiliary assembling and flexible docking method - Google Patents
Force feedback-based industrial robot auxiliary assembling and flexible docking method Download PDFInfo
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- CN106625653A CN106625653A CN201610343649.2A CN201610343649A CN106625653A CN 106625653 A CN106625653 A CN 106625653A CN 201610343649 A CN201610343649 A CN 201610343649A CN 106625653 A CN106625653 A CN 106625653A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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Abstract
The invention discloses a force feedback-based industrial robot auxiliary assembling and flexible docking method which is characterized in that a low-six-dimensional-force sensor is manually pushed or twisted to enable a workpiece at the tail end of an industrial robot to do corresponding instant motion; the workpiece docking posture is subjected to fine adjustment to realize posture adjustment for mounting the workpiece; and meanwhile, the moving track of the industrial robot is corrected in real time through a force/posture mixing control method according to feedback information of a high-six-dimensional-force sensor and an error between actual acting force and ideal acting force, so that contact force can be retained in a desired range, and flexible docking is realized. According to the force feedback-based industrial robot auxiliary assembling and flexible docking method, by means of force feedback and algorithm control, mounting equipment can be completely fitted with the mounting surface, and the fitting precision is much higher than that obtained by visual observation and manual following adjustment fitting; and repeated visual observation of the docking condition and repeated adjustment of the equipment posture are not needed, so that the docking efficiency is greatly improved.
Description
Technical field
The invention belongs to space equipment mounting technology field.It particularly relates to a kind of be used for space equipment
Interfere the industrial robot auxiliary assembling flexible docking method of detection, pose adjustment and flexible docking.
Technical background
At present, industrial robot has the features such as loading capacity is big, Adjustment precision is high, is capable of achieving big weight zero
The stable holding of part and accurate adjustment.It is existing in order to industrial robot is combined with the installation of space equipment
Have in technology and have been disclosed for two Chinese invention patents two：(1)《A kind of spacecraft mechanical arm is soft
Property follow-up control method》, application number：CN2013105721 78.9；(2)《A kind of spacecraft machinery
Arm flexibility servo antrol gravitational compensation method》, application number：CN201310552492.0.Both the above side
Method has realized in test that installation equipment under industrial robot auxiliary, is moved and turned with staff action
It is dynamic, so as to the pose for realizing installation equipment is adjusted.
But have a problem that when specifically used：Industrial robot is under the control of control end input signal
Motion, for the contact force of external environment does not have the ability of soft readjustment, the end effector of employing
For rigid structure, no flexibility link；Need using in by eye-observation achieve a butt joint face docking, people
Eye observation cannot ensure workpiece interface and nacelle surface tight fits；If between existing between two binding faces
Gap, then can cause drawing when securing member is tightened to nacelle mechanism, there is the risk for damaging section structure,
If laminating tension, workpiece is excessive to nacelle surface pressing, it is also possible to damage section structure.
Therefore, how to make two interfaces fit completely, contact force can be made to be maintained at safe scope again,
It is a problem of industrial robot auxiliary assembly system needs solution.
The content of the invention
For the interface that runs in assembling docking it is not parallel cause unbalance stress the problems such as, the present invention exists
Industrial robot obtains the external intervention power that workpiece in assembling process is subject to by sextuple sensor, further
Using power position control method, the flexible adjustment of workpiece pose in contact docking operation is realized, both made docking
Laminating completely between face, and contact force is controlled in the scope of safety, meanwhile, using " docking is submissive
Control " makes industrial robot end comply with workpiece border, and contact force can be maintained in appropriate scope.
Interference detection in the present invention is the 6 DOF when industrial robot distal workpiece is contacted with installation equipment
Force snesor receives the contact force feedback produced during contact, when contact force exceedes predetermined value, control system
Think that contact occurs, and take corresponding control strategy.
Present invention employs following technical scheme：
Industrial robot auxiliary assembling flexible docking method based on force feedback, it is characterised in that by people
Hand propelled reverses little six-dimension force sensor, makes industrial robot distal workpiece carry out accordingly i.e. luck
It is dynamic, workpiece joint location is finely tuned, realize that the pose adjustment of workpiece is installed, meanwhile, passed according to big six-dimensional force
The feedback information of sensor, the control method of adhesion/position mixing, by actual force and ideal role power
Between error the movement locus of industrial robot is corrected in real time, make contact force be maintained at expectation model
In enclosing, flexible docking is realized.
Wherein, by industrial computer big six-dimension force sensor, little six-dimension force sensor signal are acquired with
Fusion treatment, according to by force information and flexible force control method industrial robot motion signal is generated, and is sent
Into industrial robot controller, industrial robot motion is controlled, realize the pose adjustment of workpiece.
Wherein, the power for being produced according to contact and the mounted workpiece pose of moment information adjustment, make two docking
Face is constantly pressed close to, and tends to parallel, until cannot continue to press close on the premise of safe contact power is ensured, i.e.,
Complete the docking of interface.
Wherein, robot basis coordinates system is defined in mounting surface, is designated as BASE, defined perpendicular to mounting surface
Outwardly direction is the Z axis of BASE, after workpiece comes in contact with mounting surface, the external force that workpiece is subject to
Perpendicular to mounting surface, obtaining direction vector of the Z axis of BASE under industrial robot tool coordinates system is：
The direction vector of robot tool coordinate system Z axis is：
Defining direction vector of the X-axis of BASE in industrial robot tool coordinates system is：
Then direction vector of the Y-axis of BASE in robot tool coordinate system is：
Direction vector of the BASE reference axis under industrial robot tool coordinates system defined above, wherein
Z axis perpendicular to mounting surface, the plane that X, Y-axis are constituted parallel to mounting surface, in flexible docking to X,
The speed independent control of Y, Z-direction, workpiece can be moved along mounting surface while realization maintains contact force
It is dynamic.
Wherein, external force/moment information that load is subject to is obtained in control in real time, according to different outside works
Judged and control with information：
(a) not in contact with when move：First determine whether making a concerted effort for external forceWhether default threshold value Fs1 is more than,
IfThen think not coming in contact, according to the control strategy control industrial robot in free space
To mounting surface movement；IfThen think that contact occurs, according to the policy control industry of power/position control
Robot docks flexible workpiece；
Move when () contacts b：When think contact occur, can be according to external forceAccording to above-mentioned fixed
Adopted algorithm obtains 3 change in coordinate axis direction vectors of BASE coordinate systems, and to BASE coordinate system X, Y,
The speed independent control of Z-direction.BASE coordinate systems are scaled to by little six-dimension force sensor by force information
The component of X, Y-axis, obtains BASE coordinate system X, the speed of Y-direction.BASE coordinate systems Z side
To the speed size that then contact force perceived according to big six-dimension force sensor carry out feedback control, whenWhen, workpiece does rollback motion, whenWhen, workpiece does forward travel；
Rotate when () contacts c：When think contact occur, judge moment of face sizeIt is whether big
In default threshold value Ms, ifThen think to rotate, ifThen according to torque
Component conversion industrial robot angular velocity component, to workpiece pose adjustment is carried out.
The present invention makes installation equipment and mounting surface fit completely by force feedback and algorithm control, Anawgy accuracy
Far above using eye-observation and by the servo-actuated adjustment laminating of staff.Due to without iterating through human eye observation
Docking situation and adjusting device pose, docking efficiency is also greatly improved.
Description of the drawings
Fig. 1 is the composition schematic diagram of the industrial robot flexibility force control of the present invention.
Fig. 2 is the industrial robot flexible docking pose adjustment schematic diagram of the present invention.
Specific embodiment
The industrial robot flexibility force control of the present invention is described in detail below in conjunction with accompanying drawing, these
What specific embodiment was merely exemplary, it is no intended to which any limit is carried out to protection scope of the present invention
System.
Referring to Fig. 1, Fig. 1 shows the industrial robot flexibility force control of the present invention, with prior art
In system it is similar, the system mainly by industrial computer, industrial robot controller, industrial robot,
Size two six-dimension force sensors, end effector, workpiece etc. are constituted.Wherein, big six-dimension force sensor
Range it is larger, installed in industrial robot end and load (i.e. end effector and workpiece) between,
Eliminated after the impact of load gravity by gravity compensation algorithm, the applied external force that load is subject to can be perceived.
The range of little six-dimension force sensor is less, and measurement sensitivity is high, is exclusively used in perceiving the operating physical force of staff.
The present invention can need according to concrete installation site, by people's hand propelled or the little six-dimensional force sensing of torsion
Device, makes industrial robot distal workpiece carry out corresponding motion immediately, finely tunes workpiece joint location, realizes
The pose adjustment of workpiece is installed.In a specific embodiment, according to large and small six-dimension force sensor
Power feels feedback information, the control method of adhesion/position mixing, according to actual force and ideal role power
Between error the movement locus of industrial robot is corrected in real time, make contact force be maintained at requirement
In the range of, realize flexible docking.
The schematic diagram of the industrial robot flexible docking pose method of adjustment of the present invention is as shown in Figure 2.Pass through
People's hand propelled 6 DOF sensor (little), makes workpiece be moved at mounting surface.Two interfaces are uneven
In the case of when contacting with each other, there is point contact or a linear contact lay first, now need maintaining contact force in peace
It is FR simultaneously workpiece pose to be mounted with moment information adjustment according to the power that contact is produced, make two
Interface is constantly pressed close to, and tends to parallel, until cannot continue to press close on the premise of safe contact power is ensured,
Complete the docking of interface.
Robot basis coordinates system is defined in mounting surface, BASE is designated as, defines what is faced out perpendicular to installation
Direction is the Z axis of BASE, after workpiece comes in contact with mounting surface, the external force that workpiece is subject toPerpendicular to
Mounting surface, therefore direction vector of the Z axis of BASE under industrial robot tool coordinates system is obtained is：
The direction vector of robot tool coordinate system Z axis is：
Defining direction vector of the X-axis of BASE in industrial robot tool coordinates system is：
Then direction vector of the Y-axis of BASE in robot tool coordinate system is：
Direction vector of the BASE reference axis under industrial robot tool coordinates system defined above, wherein
Perpendicular to mounting surface, the plane that X, Y-axis are constituted can be with parallel to mounting surface, in flexible docking for Z axis
Speed independent control to X, Y, Z axis direction, workpiece can be along peace while realization maintains contact force
Move in dress face.
External force/moment information that load is subject to is obtained in control in real time, according to different external action information
Judge and control：
(a) not in contact with when move：First determine whether making a concerted effort for external forceWhether default threshold value Fs1 is more than,
IfThen think not coming in contact, according to the control strategy control industrial robot in free space
To mounting surface movement；IfThen think that contact occurs, according to the policy control industry of power/position control
Robot docks flexible workpiece；
Move when () contacts b：When think contact occur, can be according to external forceAccording to above-mentioned fixed
Adopted algorithm obtains 3 change in coordinate axis direction vectors of BASE coordinate systems, and to BASE coordinate system X, Y,
The speed independent control of Z-direction.BASE coordinate systems are scaled to by little six-dimension force sensor by force information
The component of X, Y-axis, obtains BASE coordinate system X, the speed of Y-direction.BASE coordinate systems Z side
To the speed size that then contact force perceived according to big six-dimension force sensor carry out feedback control, whenWhen, workpiece does rollback motion, whenWhen, workpiece does forward travel.
Rotate when () contacts c：When think contact occur, judge moment of face sizeIt is whether big
In default threshold value Ms, ifThen think to rotate, ifThen according to torque
Component conversion industrial robot angular velocity component, to workpiece pose adjustment is carried out.
Specifically, the industrial robot auxiliary assembling flexible docking method based on force feedback of the invention,
Big six-dimension force sensor, little six-dimension force sensor signal are acquired and fusion treatment by industrial computer,
Industrial robot motion instruction is generated according to by force information and flexible force control algorithm, is sent to industrial robot
In controller, industrial robot motion is controlled, realize the pose adjustment of workpiece.Big six-dimension force sensor
Range is larger, between industrial robot end and load (i.e. end effector and workpiece), leads to
Gravity over compensation algorithm is eliminated after the impact of load gravity, can perceive the applied external force that load is subject to, and is used
Adjust and flexible docking in detection, pose is interfered.The range of little six-dimension force sensor is less, measures sensitive
Degree is high, is exclusively used in perceiving the operating physical force of staff, is capable of achieving the staff servo antrol of industrial robot end.
Although giving detailed description to the specific embodiment of the present invention above and illustrating, should refer to
Bright, we can carry out various equivalent changes to above-mentioned embodiment and repair according to the conception of the present invention
Change, the function produced by it still without departing from specification and accompanying drawing covered it is spiritual when, all should this
Within the protection domain of invention.
Claims (5)
1. the industrial robot auxiliary based on force feedback assembles flexible docking method, it is characterised in that logical
Remarkable hand propelled reverses little six-dimension force sensor, carries out industrial robot distal workpiece corresponding instant
Motion, finely tunes workpiece joint location, realizes installing the pose adjustment of workpiece, meanwhile, according to big six-dimensional force
The feedback information of sensor, the control method of adhesion/position mixing, by actual force and ideal role
Error between power is corrected in real time to the movement locus of industrial robot, makes contact force be maintained at expectation
In the range of, realize flexible docking.
2. the method for claim 1, it is characterised in that big six-dimensional force is passed by industrial computer
Sensor, both little six-dimension force sensors signal are acquired and fusion treatment, according to by force information and flexibility
Force control method generates industrial robot motion signal, sends into industrial robot controller, controls work
Industry robot motion, realizes the pose adjustment of workpiece.
3. method as claimed in claim 2, it is characterised in that the power produced according to contact and torque
The mounted workpiece pose of information adjustment, makes two interfaces constantly press close to, and tends to parallel, until ensureing
Cannot continue to press close on the premise of safe contact power, that is, complete the docking of interface.
4. the method for claim 1, it is characterised in that define robot base in mounting surface
Mark system, is designated as BASE, defines the Z axis for BASE perpendicular to mounting surface outwardly direction, workpiece with
After mounting surface comes in contact, the external force that workpiece is subject toPerpendicular to mounting surface, the Z axis for obtaining BASE exist
Direction vector under industrial robot tool coordinates system is：
The direction vector of robot tool coordinate system Z axis is：
Defining direction vector of the X-axis of BASE in industrial robot tool coordinates system is：
Then direction vector of the Y-axis of BASE in robot tool coordinate system is：
Direction vector of the BASE reference axis under industrial robot tool coordinates system defined above, wherein
Z axis perpendicular to mounting surface, the plane that X, Y-axis are constituted parallel to mounting surface, in flexible docking to X,
The speed independent control of Y, Z-direction, workpiece can be moved along mounting surface while realization maintains contact force
It is dynamic.
5. the method for claim 1, it is characterised in that obtain load in control in real time and be subject to
External force/moment information, judged and control according to different external action information：
(a) not in contact with when move：First determine whether making a concerted effort for external forceWhether default threshold value Fs1 is more than,
IfThen think not coming in contact, according to the control strategy control industrial robot in free space
To mounting surface movement；IfThen think that contact occurs, according to the policy control industry of power/position control
Robot docks flexible workpiece；
Move when () contacts b：When think contact occur, can be according to external forceAccording to above-mentioned fixed
Adopted algorithm obtains 3 change in coordinate axis direction vectors of BASE coordinate systems, and to BASE coordinate system X, Y,
The speed independent control of Z-direction.BASE coordinate systems are scaled to by little six-dimension force sensor by force information
The component of X, Y-axis, obtains BASE coordinate system X, the speed of Y-direction.BASE coordinate systems Z side
To the speed size that then contact force perceived according to big six-dimension force sensor carry out feedback control, whenWhen, workpiece does rollback motion, whenWhen, workpiece does forward travel；
Rotate when () contacts c：When think contact occur, judge moment of face sizeIt is whether big
In default threshold value Ms, ifThen think to rotate, ifThen according to torque
Component conversion industrial robot angular velocity component, to workpiece pose adjustment is carried out.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553492A (en) * | 2017-09-18 | 2018-01-09 | 北京卫星环境工程研究所 | The submissive pin-and-hole Butt Assembling method of robot active force based on hertz elastic model |
| CN107838920A (en) * | 2017-12-20 | 2018-03-27 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot polishing Force control system and method |
| CN108262756A (en) * | 2018-04-12 | 2018-07-10 | 北京卫星环境工程研究所 | The quick power sense end effector of spacecraft large scale equipment assembling |
| CN108433814A (en) * | 2018-03-16 | 2018-08-24 | 微创（上海）医疗机器人有限公司 | surgical robot system and its surgical instrument |
| CN108972623A (en) * | 2018-07-27 | 2018-12-11 | 武汉理工大学 | Robot end's clamping error automatic correcting method based on power control sensor |
| CN109093375A (en) * | 2018-11-06 | 2018-12-28 | 中国工程物理研究院激光聚变研究中心 | A kind of flexible assembly method and assembly device for precision element dress school |
| CN109333530A (en) * | 2018-10-08 | 2019-02-15 | 浙江工业大学 | A kind of six articulated mechanical arm Study on Contact Force Control based on elastic actuator of connecting |
| CN110625611A (en) * | 2019-08-27 | 2019-12-31 | 上海卫星装备研究所 | Mechanical arm auxiliary component assembling method and system based on laser tracking measurement and force sensing combined control |
| CN110789633A (en) * | 2019-11-04 | 2020-02-14 | 上海硅族智能科技有限公司 | Flexible linear drive control method and control system |
| CN111216162A (en) * | 2018-11-26 | 2020-06-02 | 中国科学院沈阳自动化研究所 | Constant force floating device applied to industrial robot end |
| CN111329581A (en) * | 2020-01-23 | 2020-06-26 | 诺创智能医疗科技(杭州)有限公司 | Force feedback measuring method of surgical mechanical arm and surgical mechanical arm |
| WO2022000283A1 (en) * | 2020-06-30 | 2022-01-06 | 西门子（中国）有限公司 | Demonstrator, robot, and robot control method and device |
| CN114310915A (en) * | 2022-02-16 | 2022-04-12 | 哈尔滨工业大学 | Space manipulator butt joint end tool trajectory planning method based on visual feedback |
| CN115700348A (en) * | 2022-10-08 | 2023-02-07 | 南京工业大学 | Tool setting method for grinding bearing raceway of industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107553492A (en) * | 2017-09-18 | 2018-01-09 | 北京卫星环境工程研究所 | The submissive pin-and-hole Butt Assembling method of robot active force based on hertz elastic model |
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| CN107838920A (en) * | 2017-12-20 | 2018-03-27 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot polishing Force control system and method |
| CN108433814B (en) * | 2018-03-16 | 2019-12-24 | 微创（上海）医疗机器人有限公司 | Surgical robot system and surgical instrument thereof |
| CN108433814A (en) * | 2018-03-16 | 2018-08-24 | 微创（上海）医疗机器人有限公司 | surgical robot system and its surgical instrument |
| CN108262756A (en) * | 2018-04-12 | 2018-07-10 | 北京卫星环境工程研究所 | The quick power sense end effector of spacecraft large scale equipment assembling |
| CN108262756B (en) * | 2018-04-12 | 2020-04-21 | 北京卫星环境工程研究所 | Agility force-sensing end effector for assembling spacecraft large-scale equipment |
| CN108972623A (en) * | 2018-07-27 | 2018-12-11 | 武汉理工大学 | Robot end's clamping error automatic correcting method based on power control sensor |
| CN109333530A (en) * | 2018-10-08 | 2019-02-15 | 浙江工业大学 | A kind of six articulated mechanical arm Study on Contact Force Control based on elastic actuator of connecting |
| CN109093375A (en) * | 2018-11-06 | 2018-12-28 | 中国工程物理研究院激光聚变研究中心 | A kind of flexible assembly method and assembly device for precision element dress school |
| CN109093375B (en) * | 2018-11-06 | 2023-11-03 | 中国工程物理研究院激光聚变研究中心 | Flexible assembly method and assembly device for assembling and calibrating precise element |
| CN111216162B (en) * | 2018-11-26 | 2022-11-01 | 中国科学院沈阳自动化研究所 | Constant force floating device applied to tail end of industrial robot |
| CN111216162A (en) * | 2018-11-26 | 2020-06-02 | 中国科学院沈阳自动化研究所 | Constant force floating device applied to industrial robot end |
| CN110625611A (en) * | 2019-08-27 | 2019-12-31 | 上海卫星装备研究所 | Mechanical arm auxiliary component assembling method and system based on laser tracking measurement and force sensing combined control |
| CN110789633A (en) * | 2019-11-04 | 2020-02-14 | 上海硅族智能科技有限公司 | Flexible linear drive control method and control system |
| CN111329581B (en) * | 2020-01-23 | 2022-03-15 | 诺创智能医疗科技(杭州)有限公司 | Force feedback measuring method of surgical mechanical arm and surgical mechanical arm |
| CN111329581A (en) * | 2020-01-23 | 2020-06-26 | 诺创智能医疗科技(杭州)有限公司 | Force feedback measuring method of surgical mechanical arm and surgical mechanical arm |
| WO2022000283A1 (en) * | 2020-06-30 | 2022-01-06 | 西门子（中国）有限公司 | Demonstrator, robot, and robot control method and device |
| CN115884851A (en) * | 2020-06-30 | 2023-03-31 | 西门子（中国）有限公司 | Demonstrator, robot, and method and device for controlling robot |
| CN114310915A (en) * | 2022-02-16 | 2022-04-12 | 哈尔滨工业大学 | Space manipulator butt joint end tool trajectory planning method based on visual feedback |
| CN114310915B (en) * | 2022-02-16 | 2022-09-09 | 哈尔滨工业大学 | Space manipulator butt joint end tool trajectory planning method based on visual feedback |
| CN115700348A (en) * | 2022-10-08 | 2023-02-07 | 南京工业大学 | Tool setting method for grinding bearing raceway of industrial robot |
| CN115700348B (en) * | 2022-10-08 | 2023-09-29 | 南京工业大学 | Tool setting method for grinding bearing roller way of industrial robot |
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