CN106695793A - Device and method for active compliance control for XYZR four-axis drilling robot - Google Patents
Device and method for active compliance control for XYZR four-axis drilling robot Download PDFInfo
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- CN106695793A CN106695793A CN201710034977.9A CN201710034977A CN106695793A CN 106695793 A CN106695793 A CN 106695793A CN 201710034977 A CN201710034977 A CN 201710034977A CN 106695793 A CN106695793 A CN 106695793A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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Abstract
The invention belongs to the field of robot control, and particularly relates to a device and a method for active compliance control for an XYZR four-axis drilling robot. The device comprises a main control module, a servo drive control module and a human-computer interaction module, wherein the main control module is mutually connected with the servo drive control module, and is further mutually connected with the human-computer interaction module. The device disclosed by the invention is complete in function, clear in function, simple to realize and low in module coupling degree; the synchronism and smoothness of system motion are realized simultaneously; and an active compliance control decision module is independently designed, complex modelling for a feeding process of a drilling machine, and an unsupervised and regular repeated cohesion experiment are avoided while the related data in the feeding process of the drilling machine is acquired, the need of online use of expensive acceleration section sensor and force sensor for each robot is avoided, the cost is saved, the unstable factors introduced by online adjustment for control parameters, and a system downtime process are avoided, and a switchover mechanism for kinematic position control and active compliance force control is reasonable.
Description
Technical field
The invention belongs to robot control field, more particularly to a kind of axle drilling robot Active Compliance Controls of XYZR tetra- dress
Put and method.
Background technology
Current case and bag drilling robot mechanism design often uses conventional machines robot mechanism, such as planer-type robot, three axles
XYZ Cartesian robots, four axle XYZR drilling robots and six axis joint humanoid robots etc., robot control system is often
Using based on kinematic control program, i.e., it is operated by control targe of punch position, than being more suitable for slab or block
Shape etc. is unlikely to deform the drilling of the materials such as metal, plastic plate, acrylic board.
Active Compliance Control mechanism in existing research realizes the detection of power and torque by six-dimension force sensor, by machine
The current pose of device vision sensor detection robot, summary information design position/force mixture control.Also research leans on
The motor periodic data that ETHERCAT main websites gather robot driver is overlapped and is hindered with the desired value of setting
Anti- control, output is with reference to moment values to robotically-driven, it is adaptable to contact operation application.Or installed on industrial robot
Flexible polishing cutter, computer carries out both-way communication and is connected by robot communication interface and robot controller, robot control
Device processed controls industrial machine human action, and Polishing machining is implemented to the workpiece being fixed on workbench by flexible polishing cutter, and power is passed
The polishing force data of collection is delivered to computer disposal by sensor as closed loop feedback signal, and its key technology is to be applicable multiple
Force snesor perceives environment force, realizes impedance control using Sheng Qu robots, it is adaptable to flexible pipe arm type environment work.
Drilling robot based on position control when being drilled to the yielding metal of sheet type, using based on kinematic control
Scheme processed, is operated by control targe of punch position, promotes the power and acceleration of drill bit to be fluctuated in dynamic process is controlled
It is larger, when cannot be maintained at rational specific on variate, therefore drilling object can be caused to deform, the destruction of hole shape, burr mistake
It is more unqualified；It is applied to surface contact more current Active Compliance Control scheme and needs to keep the yard of specified pressure
Close, should not be directly applicable for the workplace that material surface is worn out in drilling etc.；Valency being used current Active Compliance Control scheme more
The expensive force snesor of lattice is relatively costly as force checking device.
The content of the invention
In order to solve the above problems, the present invention proposes a kind of axle drilling robot Active Compliance Control devices of XYZR tetra-, its control
Object processed is No. four servomotor modules, electric drill module, and described device includes main control module, servo drive control module and people
Machine interactive module；Main control module is connected with each other with servo drive control module, and servo drive control module is connected with electric drill module,
Main control module is also connected with each other with human-computer interaction module；
The main control module be used for complete kinematic trajectory planning, Active Compliance Control decision-making, expertise learn, acceleration-
Power-electric current is matched offline, acceleration-power-electric current On-line matching, telecommunication management, IO management, driving data interaction；
The servo-drive main control module is used for real-time control No. four servomotor module；
The electric drill module belongs to the basic element of character of XYZR surrounding drilling robots, including be controlled by main control module frequency converter and
Main shaft electric drill, for controlling main shaft electric drill, completes drilling；
The human-computer interaction module for operating personnel carry out task editor, instruction send, display robot working condition and
Completion communicates with main control module.
The axle drilling robot Active Compliance Control devices of a kind of XYZR tetra-, it is characterised in that the main control module includes fortune
Dynamic trajectory planning module, Active Compliance Control decision-making module, expertise study module, acceleration, power, the electric current learned is matched offline
Module, acceleration, power, electric current On-line matching module, RS485 communication modules, IO controls management module, power management module, peace
Full control module, driving data interactive module, instrument part calibration module, PC debugging communication module, SD card module for reading and writing；
Expertise learns submodule, the offline matched sub-block of acceleration, power, electric current, acceleration, power, electric current On-line matching
Module, instrument part calibration submodule relation is sequentially connected in series relation for order, is connected by data communication, by above-mentioned module definition
It is first kind submodule, first kind submodule only needs to operation once, generates necessary control data before online implementing operation
For subsequently using；Kinematic trajectory planning submodule, Active Compliance Control decision-making submodule, IO control management submodule, driving
Data interaction submodule relation is sequentially connected in series relation for order, is connected by data communication, and these submodules are defined as into second
Class submodule, Equations of The Second Kind submodule must run module when online implementing runs, and Equations of The Second Kind submodule uses first kind
The data of module generation, are connected by data communication between the two；We are fixed for RS485 communications submodule, PC debugging communication module
Justice is the 3rd class submodule, and the relation that the 3rd class submodule is used between man-machine interactive operation, with other class submodules is concurrent
Synchronized relation；We are defined as the 4th class submodule for power management submodule, security control submodule, SD card read-write submodule,
4th class submodule is concurrent synchronized relation with other class submodule relations.
Main control module is by the WINDOWS system architectures industrial computer based on INTEL X86 hardware platforms or based on INTEL X86
The LINUX system framework industrial computer of hardware platform or the VXWORKS system architectures industrial computer based on INTEL X86 hardware platforms or
Embedded control platform based on ARM frameworks is constituted.
The human-computer interaction module includes task editor module, monitoring module, instruction transceiver module and serial communication
Module；
In human-computer interaction module, task editor submodule, condition monitoring submodule are concurrent synchronized relation, and both are respectively at instruction
Transmitting-receiving submodule, serial communication submodule carry out order and are sequentially connected in series by data wire；
Human-computer interaction module is by the demonstration platform based on SOS or based on showing with master control system sharing operation system
Religion platform or SCM Based independent pilot teaching platform are constituted.
The servo drive control module includes major control data interactive module and the drive control module of servomotor 1, servo
The drive control module of motor 2, the drive control module of servomotor 3, the connection of the drive control module of servomotor 4, motor 1 drive control
Molding block, the drive control module of servomotor 2, the drive control module of servomotor 3, the drive control module of servomotor 4 difference
With the drive amplification module of servomotor 1, the drive amplification module of servomotor 2, the drive amplification module of servomotor 3, servomotor 4
Drive amplification module is connected, and is then connected with No. four servomotor modules respectively again；No. four servomotor modules include servo electricity
Machine 1, servomotor 2, servomotor 3, servomotor 4, are the direct control objects of servo-driven module, are also to constitute XYZR tetra-
The basic former dynamic component of axle drilling robot；
Servo drive control module is completely independent formula servo-driver or multi-disc by multichannel with current control, position control
The absolute integral type servo-driver or a piece of that the relative integral type servo-driver or a piece of DSP that DSP or FPGA is constituted are constituted
The absolute integral type servo-driver that FPGA is constituted is constituted.
A kind of axle drilling robot Active Compliance Control methods of XYZR tetra- based on claim 1 described device, specially：
Step 1, operating personnel are interacted by human-computer interaction module and main control module, and it is special that control robot completes boring procedure
Family's empirical learning；
Step 2, complete that acceleration-power-electric current is offline and On-line matching by human-computer interaction module order system, it is determined that driving electricity
Stream and the scale parameter of reference acceleration, are sent to servo-driven module and use by driving data interactive module；
Step 3, teaching is carried out to robot task by human-computer interaction module；
Step 4, main control module complete kinematic trajectory planning according to teaching task, and generation driving data is sent to servo-drive control
Module references processed are performed；
Step 5, main control module carry out Active Compliance Control decision-making according to the robotary of servo drive control module feedback, really
The fixed position control parameter and Shared control parameter for using, is sent to servo-driven module and refers to by driving data interactive module
Perform；
Step 6, main control module complete management and decision-making that IO controls management module simultaneously；
Step 7, servo-driven module complete the real-time control of each axle servomotor according to master control instruction；
Step 8, electric drill module are drilled according to the state start and stop electric drill of I/O module.
The process of the expertise study is concretely comprising the following steps for the work of expertise study module：
Step 101, the acceleration transducer serial port data line in electric drill module is connected to system PC debugging serial ports, by man-machine
Interactive module start boring procedure expertise study module, gather N group mechanism of Advanced skill worker boring procedures drilling time with
Acceleration amplitude data, wherein N in the time period>100；
97.5% confidence area of step 102, the average value, variance and these data of the drilling time of the N group data of calculating collection
Between；
Step 103, whether the drilling time of N group data is checked in the confidential interval described in 2., if in reservation, otherwise picked
Remove, N is assumed to be through the remaining data of this process1Group；
Step 104, to the N in step 1031Group data carry out time normalization, and drilling time is pressed more than the part of average time
Data compression is carried out according to average time, drilling time carries out data expansion less than the part of average time on the basis of average time
Exhibition；
Step 105, the data to being drawn in step 104 are smoothed, and processing method uses moving average method, afterwards by N1
Group data are averaged by sampling time point, obtain the average penetration acceleration information after time normalization；
Step 106, the data to being drawn in step 105 carry out calculus of differences, and number is splitted data into plus accelerated according to difference result
Data and subtract acceleration data according to, even acceleration, the three class data corresponding time period is respectively plus acceleration time section, section of even acceleration time
With subtract the acceleration time section.
Determine that driving current is with the detailed process of the scale parameter of reference acceleration in the step 2
The offline matching module of acceleration, power, electric current and acceleration, power, electric current On-line matching module will need control in drill process
The transformation that the acceleration of system passes through power is the control to boost current；In system prototype development, by electric drill module
The serial port data line of acceleration transducer be connected to system PC debugging serial ports, online acceleration is started by human-computer interaction module
Degree, power, currents match function, the acceleration magnitude that then the offline matching module of acceleration, power, electric current arrives actual acquisition and reference
Acceleration is compared, and forms negative-feedback, regulation driving current and the scale parameter of reference acceleration, completes offline matching；Plus
Speed, power, electric current On-line matching module before actual test boring first, in enabling the offline matching module of acceleration, power, electric current
Driving current and the scale parameter of reference acceleration, control driving current to promote rig to advance, while passing through robot present bit
Appearance state-detection rig position carries out the actual acceleration of second differnce collection rig propulsion, then by adding that the actual acquisition is arrived
Velocity amplitude is compared with reference acceleration, forms negative-feedback, updates the scale parameter of driving current and reference acceleration, completes
On-line matching.
The detailed process of the step 4 is：
Kinematic trajectory planning module in main control module is to realize the robot position movement's process i.e. motion of non-drilled process
Synchronousness and motion process flatness, current each spindle motor run duration is unified and electricity is realized by Discrete control
Machine rate smoothing is moved；
Step 401, the process that motor to be moved is divided into 7 sections, i.e., plus acceleration, even acceleration, subtract acceleration, at the uniform velocity, it is acceleration and deceleration, even
Slow down, slow down, be set to plus the accelerating sections time, for the even accelerating sections time, for subtract the accelerating sections time, at the uniform velocity section time, for plus
The braking section time, for the even braking section time, to subtract the braking section time, represent the numbering of motor shaft；
Step 402, the spot speed v by the motion processs, terminal velocity ve, maximal rate vm, peak acceleration am, most greatly
Acceleration jmWith total displacement S as plan constraint condition；
Step 403, planning first axle are X-axis gear stage run duration, judge whether to contain uniform gear stage, wherein accelerator
For：
If vm-vs> QUOTE , then t1-1= QUOTE , t1-2= QUOTE ,t1-3=
t1-1；
If vm-vs≤ QUOTE , then t1-1= QUOTE , t1-2=0,t1-3=t1-1, in accelerator
Actual peak acceleration be not reaching to limit value am；
Acceleration according to time each time period of correspondence obtained is integrated, and obtains each section of corresponding speed, then to each section
Corresponding speed is integrated, and obtains accelerationSection moves Sacc；
Step 404, gear stage planning in moderating process drawn using symmetry, braking section displacement Sdec=Sacc,t1-6=t1-2,
t1-5=t1-7=t1-3=t1-1；
Step 405, judge whether there is at the uniform velocity section in motion process, judgment criterion is if Sdec+Sacc<S then contains at the uniform velocity section, otherwise
At the uniform velocity section is not contained；
Step 406, if at the uniform velocity section, the at the uniform velocity section time is QUOTE If do not had
There are at the uniform velocity section, at the uniform velocity section time t1-4=0；
Step 407, repeat step 103-106, to complete second and third, the planning of four axles；
The total runtime of step 408, relatively more each axle, takes maximum for each axle runs simultaneously total time；
According to constraint equation
Obtain t2And t4；
Wherein, it is synchronized with the movement the acceleration of each spindle motor after constraining, even acceleration and time at the uniform velocity with respectively four spindle motors；
If constraint equation is without solution or t2<0, then it is assumed that in the absence of adding accelerating sections and subtracting braking section, now constraint equation is converted into
T is obtained according to the equation1And t4, according further to symmetry t7=t5=t3=t1,t6=t2=0；, and respectively four spindle motors are same
Each spindle motor after step kinematic constraint subtracts the time of acceleration, acceleration and deceleration, even deceleration and deceleration；Be it is corresponding plus accelerate and subtract plus
The displacement of fast stage motor；
Step 409, using the position quantity and speed amount in above-mentioned each time tried to achieve and correspondent section as driving data transmit
Performed to servo drive control module.
Active Compliance Control decision-making in the step 5 is currently practical according to current robot task status and robot
Position and posture adjusts the weight factor of the control of active compliance power and kinematics position control, and detailed process is：
The input quantity of Active Compliance Control decision-making module is the current position and posture of task status and robot of man-machine interaction, works as people
Machine interactive task for drilling and robot current state near or have been positioned at drilling region when, Active Compliance Control decision-making module
Improve Shared control weight, reduce position control weight, and then generate control parameter adjust instruction：Joined using big Shared control
Several, small position control parameter；When man-machine interaction task for motion or robot current state from drilling region farther out when, decision model
Block reduction Shared control weight, raising position control weight, and then generate control parameter adjust instruction：Joined using small Shared control
Several, big position control parameter；Wherein Shared control parameter and position control parameter are the ginseng for mixing up and being stored in system in advance
Number；Shared control parameter includes big Shared control parameter and small Shared control parameter, position control parameter includes big position control
Parameter and small position control parameter,.
Master control instruction in the step 7 is generated by kinematic trajectory planning module and Active Compliance Control decision-making module,
Master control instruction includes each spindle motor reference position, rig boost current and control parameter adjust instruction；
Position ring, current ring parameter and a set of speed ring for having at least two sets offline debugging to complete in servo drive control module are joined
Number, wherein position ring 1, the parameter of electric current loop 1 are appropriate for accurately kinematics position control, and position ring 2, the parameter of electric current loop 2 are fitted
Conjunction carries out active compliance power current control when rig is advanced, and speed ring is the same in two sets of control parameters；When master control refers to
When control parameter adjust instruction is using big Shared control parameter, small position control parameter in order, the choosing of servo drive control module
The control module constituted with position ring 2, speed ring, electric current loop 2, rig boost current is major control mesh in now master control instruction
Mark, kinematics position control now mainly plays limitation protective effect, and collision etc. is unexpected to be occurred to prevent rig progradation from producing；When
When control parameter adjust instruction is using small Shared control parameter, big position control parameter in master control instruction, servo drive control
The control module that module preferred site ring 1, speed ring, electric current loop 1 are constituted, the motor reference position control in now master control instruction
It is main control targe, realizes the quick precise motion of system.
Beneficial effect
The present invention is controlled using the Active Compliance Control mechanism of power/Position Hybrid Control framework as the axle drilling robots of XYZR tetra-
Scheme, during the position motion control of robot point, based on position control, it is ensured that the speed of motion process, smooth；In punching
During, based on the power control with test position information as switching threshold, it is ensured that robot promotes adding for drill bit in boring procedure
Speed is strict controlled in deviation from the desired value；To avoid using expensive force snesor, will add during Active Compliance Control
Speed control index switchs to power Con trolling index, power Con trolling index is switched into current control index again is designed, using robot
The current detection sensor that control system is carried is perceived as detection means, is controlled using electric current loop and is expected
Electric current, driven machine people work, realizes Active Compliance Control；Devise a set of automatic offline/On-line matching acceleration, power, electricity
The flow and device of stream, it is to avoid cumbersome manual matching and calculating process is taken between acceleration, power, electric current；Based on drilling
Expertise study mechanism, devises the flow and device of a set of self study expert drilling experience, it is not necessary to additionally carry out complexity
Boring procedure modeling and data identification.Perfect in shape and function of the present invention, clear in structure, realize that simple, module coupling degree is low；It is simultaneously real
The synchronism and flatness of system motion are showed；Active Compliance Control decision-making module is individually designed, no longer by the part
Be blended in control law, have the advantages that it is clear it is bright and clear, be simply easily achieved；Kept away during related data in acquisition rig progradation
Experiment is pieced together in the modeling of rig progradation and the repetition without guiding rule for having exempted from complexity, and process is simple, realize convenient, saving
Time；Every robot is avoided to be required for online using expensive accelerating sections sensor and force snesor, it is cost-effective, it is convenient to use
Family uses；System control parameters are good offline debugging, it is to avoid destabilizing factor and system that on-line tuning control parameter is introduced
Delay machine process, rationally, structure is realized simple, safe, logical for kinematics position control and active compliance power control handover mechanism
It is strong with property.
Brief description of the drawings
Fig. 1 is a kind of composition schematic diagram of the axle drilling robot Active Compliance Control devices of XYZR tetra-.
Fig. 2 is the course of work schematic diagram of Active Compliance Control decision-making module.
Fig. 3 is the control block diagram of servo drive control module.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention is elaborated.The present invention proposes a kind of axle drilling robot masters of XYZR tetra-
Dynamic Shared control device, as shown in figure 1, its control object is No. four servomotor modules, electric drill module, described device includes master
Control module, servo drive control module and human-computer interaction module；Main control module is connected with each other with servo drive control module, watches
Take drive control module to be connected with electric drill module, main control module is also connected with each other with human-computer interaction module；
The main control module be used for complete kinematic trajectory planning, Active Compliance Control decision-making, expertise learn, acceleration-
Power-electric current is matched offline, acceleration-power-electric current On-line matching, telecommunication management, IO management, driving data interaction；
The servo-drive main control module is used for real-time control No. four servomotor module；
The electric drill module belongs to the basic element of character of XYZR surrounding drilling robots, including be controlled by main control module frequency converter and
Main shaft electric drill, for controlling main shaft electric drill, completes drilling；
The human-computer interaction module for operating personnel carry out task editor, instruction send, display robot working condition and
Completion communicates with main control module.
The main control module includes kinematic trajectory planning module, Active Compliance Control decision-making module, expertise study
The offline matching module of module, acceleration, power, electric current, acceleration, power, electric current On-line matching module, RS485 communication modules, IO controls
Management module processed, power management module, safety control module, driving data interactive module, instrument part calibration module, PC debugging
Communication module, SD card module for reading and writing；
Main control module is by the WINDOWS system architectures industrial computer based on INTEL X86 hardware platforms or based on INTEL X86 hardware
The LINUX system framework industrial computer of platform or the VXWORKS system architectures industrial computer based on INTEL X86 hardware platforms are based on
The embedded control platform of ARM frameworks is constituted.
The human-computer interaction module includes task editor module, monitoring module, instruction transceiver module and serial communication
Module；
Human-computer interaction module is by the demonstration platform based on SOS or based on showing with master control system sharing operation system
Religion platform or SCM Based independent pilot teaching platform are constituted.
The servo drive control module includes major control data interactive module and the drive control module of servomotor 1, servo
The drive control module of motor 2, the drive control module of servomotor 3, the connection of the drive control module of servomotor 4, motor 1 drive control
Molding block, the drive control module of servomotor 2, the drive control module of servomotor 3, the drive control module of servomotor 4 difference
With the drive amplification module of servomotor 1, the drive amplification module of servomotor 2, the drive amplification module of servomotor 3, servomotor 4
Drive amplification module is connected, and is then connected with No. four servomotor modules respectively again；No. four servomotor modules include servo electricity
Machine 1, servomotor 2, servomotor 3, servomotor 4, are the direct control objects of servo-driven module, are also to constitute XYZR tetra-
The basic former dynamic component of axle drilling robot；
Servo drive control module is completely independent formula servo-driver or multi-disc by multichannel with current control, position control
The absolute integral type servo-driver or a piece of that the relative integral type servo-driver or a piece of DSP that DSP or FPGA is constituted are constituted
The absolute integral type servo-driver that FPGA is constituted is constituted.
The axle drilling robot Active Compliance Control methods of XYZR tetra- based on said apparatus, its detailed process is：
Step 1, operating personnel are interacted by human-computer interaction module and main control module, and it is special that control robot completes boring procedure
Family's empirical learning；
Step 101, the acceleration transducer serial port data line in electric drill module is connected to system PC debugging serial ports, by man-machine
Interactive module start boring procedure expertise study module, gather N group mechanism of Advanced skill worker boring procedures drilling time with
Acceleration amplitude data, wherein N in the time period>100；
97.5% confidence area of step 102, the average value, variance and these data of the drilling time of the N group data of calculating collection
Between；
Step 103, whether the drilling time of N group data is checked in the confidential interval described in 2., if in reservation, otherwise picked
Remove, N is assumed to be through the remaining data of this process1Group；
Step 104, to the N in step 1031Group data carry out time normalization, and drilling time is pressed more than the part of average time
Data compression is carried out according to average time, drilling time carries out data expansion less than the part of average time on the basis of average time
Exhibition；
Step 105, the data to being drawn in step 104 are smoothed, and processing method uses moving average method, afterwards by N1
Group data are averaged by sampling time point, obtain the average penetration acceleration information after time normalization；
Step 106, the data to being drawn in step 105 carry out calculus of differences, and number is splitted data into plus accelerated according to difference result
Data and subtract acceleration data according to, even acceleration, the three class data corresponding time period is respectively plus acceleration time section, section of even acceleration time
With subtract the acceleration time section.
Step 2, complete that acceleration-power-electric current is offline and On-line matching by human-computer interaction module order system, it is determined that driving
Streaming current and the scale parameter of reference acceleration, are sent to servo-driven module and use by driving data interactive module；
The offline matching module of acceleration, power, electric current and acceleration, power, electric current On-line matching module will need control in drill process
The transformation that the acceleration of system passes through power is the control to boost current；In system prototype development, by electric drill module
The serial port data line of acceleration transducer be connected to system PC debugging serial ports, online acceleration is started by human-computer interaction module
Degree, power, currents match function, the acceleration magnitude that then the offline matching module of acceleration, power, electric current arrives actual acquisition and reference
Acceleration is compared, and forms negative-feedback, regulation driving current and the scale parameter of reference acceleration, completes offline matching；Plus
Speed, power, electric current On-line matching module before actual test boring first, in enabling the offline matching module of acceleration, power, electric current
Driving current and the scale parameter of reference acceleration, control driving current to promote rig to advance, while passing through robot present bit
Appearance state-detection rig position carries out the actual acceleration of second differnce collection rig propulsion, then by adding that the actual acquisition is arrived
Velocity amplitude is compared with reference acceleration, forms negative-feedback, updates the scale parameter of driving current and reference acceleration, completes
On-line matching.
Step 3, teaching is carried out to robot task by human-computer interaction module；
Step 4, main control module complete kinematic trajectory planning according to teaching task, and generation driving data is sent to servo-drive control
Module references processed are performed；
The detailed process of the step 4 is：
Kinematic trajectory planning module in main control module is to realize the robot position movement's process i.e. motion of non-drilled process
Synchronousness and motion process flatness, current each spindle motor run duration is unified and electricity is realized by Discrete control
Machine rate smoothing is moved；
Step 401, the process that motor to be moved is divided into 7 sections, i.e., plus acceleration, even acceleration, subtract acceleration, at the uniform velocity, it is acceleration and deceleration, even
Slow down, slow down, be set to plus the accelerating sections time, for the even accelerating sections time, for subtract the accelerating sections time, at the uniform velocity section time, for plus
The braking section time, for the even braking section time, to subtract the braking section time, represent the numbering of motor shaft；
Step 402, the spot speed v by the motion processs, terminal velocity ve, maximal rate vm, peak acceleration am, most greatly
Acceleration jmWith total displacement S as plan constraint condition；
Step 403, planning first axle are X-axis gear stage run duration, judge whether to contain uniform gear stage, wherein accelerator
For：
If vm-vs> QUOTE , then t1-1= QUOTE , t1-2= QUOTE ,t1-3=
t1-1；
If vm-vs≤ QUOTE , then t1-1= QUOTE , t1-2=0,t1-3=t1-1, then accelerator
In actual peak acceleration be not reaching to limit value am；
Acceleration according to time each time period of correspondence obtained is integrated, and obtains each section of corresponding speed, then to each section
Corresponding speed is integrated, and obtains accelerating sections displacement Sacc；
Step 404, gear stage planning in moderating process drawn using symmetry, braking section displacement Sdec=Sacc,t1-6=t1-2,
t1-5=t1-7=t1-3=t1-1；
Step 405, judge whether there is at the uniform velocity section in motion process, judgment criterion is if Sdec+Sacc<S then contains at the uniform velocity section, otherwise
At the uniform velocity section is not contained；
Step 406, if at the uniform velocity section, the at the uniform velocity section time is QUOTE If do not had
There are at the uniform velocity section, at the uniform velocity section time t1-4=0；
Step 407, repeat step 103-106, to complete second and third, the planning of four axles；
The total runtime of step 408, relatively more each axle, takes maximum for each axle runs simultaneously total time；
According to constraint equation
Obtain t2And t4；
Wherein, it is synchronized with the movement the acceleration of each spindle motor after constraining, even acceleration and time at the uniform velocity with respectively four spindle motors；
If constraint equation is without solution or t2<0, then it is assumed that in the absence of adding accelerating sections and subtracting braking section, now constraint equation is converted into
T is obtained according to the equation1And t4, according further to symmetry t7=t5=t3=t1,t6=t2=0；, and respectively four spindle motors are same
Each spindle motor after step kinematic constraint subtracts the time of acceleration, acceleration and deceleration, even deceleration and deceleration；Be it is corresponding plus accelerate and subtract plus
The displacement of fast stage motor；
Step 409, using the position quantity and speed amount in above-mentioned each time tried to achieve and correspondent section as driving data transmit
Performed to servo drive control module.
Step 5, main control module carry out Active Compliance Control and determine according to the robotary of servo drive control module feedback
Plan, it is determined that the position control parameter and Shared control parameter that use, servo-drive mould is sent to by driving data interactive module
Block is with reference to execution；
Active Compliance Control decision-making is according to the currently practical position and posture adjustment active of current robot task status and robot
Compliant Force Control and the weight factor of kinematics position control, detailed process are as shown in Figure 2：
The input quantity of Active Compliance Control decision-making module is the current position and posture of task status and robot of man-machine interaction, works as people
Machine interactive task for drilling and robot current state near or have been positioned at drilling region when, Active Compliance Control decision-making module
Improve Shared control weight, reduce position control weight, and then generate control parameter adjust instruction：Joined using big Shared control
Several, small position control parameter；When man-machine interaction task for motion or robot current state from drilling region farther out when, decision model
Block reduction Shared control weight, raising position control weight, and then generate control parameter adjust instruction：Joined using small Shared control
Several, big position control parameter；Wherein Shared control parameter and position control parameter are the ginseng for mixing up and being stored in system in advance
Number；Shared control parameter includes big Shared control parameter and small Shared control parameter, position control parameter includes big position control
Parameter and small position control parameter,.
Step 6, main control module complete management and decision-making that IO controls management module simultaneously；
Step 7, servo-driven module complete the real-time control of each axle servomotor according to master control instruction；Master control is instructed by kinematics
Trajectory planning module and Active Compliance Control decision-making module are generated, and master control instruction includes each spindle motor reference position, rig propulsion
Electric current and control parameter adjust instruction；As shown in figure 3, there is the position that at least two sets offline debugging are completed in servo drive control module
Ring, current ring parameter and a set of speed ring parameter are put, wherein position ring 1, the parameter of electric current loop 1 is appropriate for accurately moving degree
Control is put, position ring 2, the parameter of electric current loop 2 are appropriate for active compliance power current control when rig is advanced, and speed ring is at two sets
It is the same in control parameter；When control parameter adjust instruction is to be controlled using big Shared control parameter, small position in master control instruction
During parameter processed, the control module that servo drive control module preferred site ring 2, speed ring, electric current loop 2 are constituted, now master control refers to
Rig boost current is main control targe in order, and kinematics position control now mainly plays limitation protective effect, prevents rig
Progradation produces the unexpected generation such as collision；When master control instruction in control parameter adjust instruction be using small Shared control parameter,
During big position control parameter, the control module that servo drive control module preferred site ring 1, speed ring, electric current loop 1 are constituted, this
When master control instruction in motor reference position be controlled to major control target, realize the quick precise motion of system.
Step 8, electric drill module are drilled according to the state start and stop electric drill of I/O module.
Claims (10)
1. a kind of axle drilling robot Active Compliance Control devices of XYZR tetra-, its control object is No. four servomotor modules, electricity
Drill jig block, it is characterised in that described device includes main control module, servo drive control module and human-computer interaction module；Master control
Module and servo drive control module are connected with each other, and servo drive control module is connected with electric drill module, main control module also with people
Machine interactive module is connected with each other；
The main control module be used for complete kinematic trajectory planning, Active Compliance Control decision-making, expertise learn, acceleration-
Power-electric current is matched offline, acceleration-power-electric current On-line matching, telecommunication management, IO management, driving data interaction；
The servo-drive main control module is used for real-time control No. four servomotor module；
The electric drill module belongs to the basic element of character of XYZR surrounding drilling robots, including be controlled by main control module frequency converter and
Main shaft electric drill, for controlling main shaft electric drill, completes drilling；
The human-computer interaction module for operating personnel carry out task editor, instruction send, display robot working condition and
Completion communicates with main control module.
2. a kind of axle drilling robot Active Compliance Control devices of XYZR according to claim 1 tetra-, it is characterised in that institute
Stating main control module includes kinematic trajectory planning module, Active Compliance Control decision-making module, expertise study module, acceleration
The offline matching module of degree, power, electric current, acceleration, power, electric current On-line matching module, RS485 communication modules, IO control management moulds
Block, power management module, safety control module, driving data interactive module, instrument part calibration module, PC debugging communication moulds
Block, SD card module for reading and writing；
Expertise learns submodule, the offline matched sub-block of acceleration, power, electric current, acceleration, power, electric current On-line matching
Module, instrument part calibration submodule relation is sequentially connected in series relation for order, is connected by data communication, by above-mentioned module definition
It is first kind submodule, first kind submodule only needs to operation once, generates necessary control data before online implementing operation
For subsequently using；Kinematic trajectory planning submodule, Active Compliance Control decision-making submodule, IO control management submodule, driving
Data interaction submodule relation is sequentially connected in series relation for order, is connected by data communication, and these submodules are defined as into second
Class submodule, Equations of The Second Kind submodule must run module when online implementing runs, and Equations of The Second Kind submodule uses first kind
The data of module generation, are connected by data communication between the two；We are fixed for RS485 communications submodule, PC debugging communication module
Justice is the 3rd class submodule, and the relation that the 3rd class submodule is used between man-machine interactive operation, with other class submodules is concurrent
Synchronized relation；We are defined as the 4th class submodule for power management submodule, security control submodule, SD card read-write submodule,
4th class submodule is concurrent synchronized relation with other class submodule relations；
Main control module is by the WINDOWS system architectures industrial computer based on INTEL X86 hardware platforms or based on INTEL X86 hardware
The LINUX system framework industrial computer of platform or the VXWORKS system architectures industrial computer based on INTEL X86 hardware platforms are based on
The embedded control platform of ARM frameworks is constituted.
3. a kind of axle drilling robot Active Compliance Control devices of XYZR according to claim 1 tetra-, it is characterised in that institute
Stating human-computer interaction module includes task editor module, monitoring module, instruction transceiver module and serial communication modular；
In human-computer interaction module, task editor submodule, condition monitoring submodule are concurrent synchronized relation, and both are respectively at instruction
Transmitting-receiving submodule, serial communication submodule carry out order and are sequentially connected in series by data wire；
Human-computer interaction module is by the demonstration platform based on SOS or based on showing with master control system sharing operation system
Religion platform or SCM Based independent pilot teaching platform are constituted.
4. a kind of axle drilling robot Active Compliance Control devices of XYZR according to claim 1 tetra-, it is characterised in that institute
State servo drive control module and drive control with the drive control module of servomotor 1, servomotor 2 including major control data interactive module
Molding block, the drive control module of servomotor 3, the connection of the drive control module of servomotor 4, the drive control module of motor 1, servo
The drive control module of motor 2, the drive control module of servomotor 3, the drive control module of servomotor 4 respectively with servomotor 1
Drive amplification module, the drive amplification module of servomotor 2, the drive amplification module of servomotor 3, the drive amplification mould of servomotor 4
Block is connected, and is then connected with No. four servomotor modules respectively again；No. four servomotor modules include servomotor 1, servo electricity
Machine 2, servomotor 3, servomotor 4, are the direct control objects of servo-driven module, are also to constitute the axle bored machines of XYZR tetra-
The basic former dynamic component of people；
Servo drive control module is completely independent formula servo-driver or multi-disc by multichannel with current control, position control
The absolute integral type servo-driver or a piece of that the relative integral type servo-driver or a piece of DSP that DSP or FPGA is constituted are constituted
The absolute integral type servo-driver that FPGA is constituted is constituted.
5. a kind of axle drilling robot Active Compliance Control methods of XYZR tetra- based on claim 1 described device, its feature exists
In methods described is specially：
Step 1, operating personnel are interacted by human-computer interaction module and main control module, and it is special that control robot completes boring procedure
Family's empirical learning；
Step 2, complete that acceleration-power-electric current is offline and On-line matching by human-computer interaction module order system, it is determined that driving electricity
Stream and the scale parameter of reference acceleration, are sent to servo-driven module and use by driving data interactive module；
Step 3, teaching is carried out to robot task by human-computer interaction module；
Step 4, main control module complete kinematic trajectory planning according to teaching task, and generation driving data is sent to servo-drive control
Module references processed are performed；
Step 5, main control module carry out Active Compliance Control decision-making according to the robotary of servo drive control module feedback, really
The fixed position control parameter and Shared control parameter for using, is sent to servo-driven module and refers to by driving data interactive module
Perform；
Step 6, main control module complete management and decision-making that IO controls management module simultaneously；
Step 7, servo-driven module complete the real-time control of each axle servomotor according to master control instruction；
Step 8, electric drill module are drilled according to the state start and stop electric drill of I/O module.
6. method according to claim 5, it is characterised in that the process of the expertise study is expertise study
The work of module is concretely comprised the following steps：
Step 101, the acceleration transducer serial port data line in electric drill module is connected to system PC debugging serial ports, by man-machine
Interactive module start boring procedure expertise study module, gather N group mechanism of Advanced skill worker boring procedures drilling time with
Acceleration amplitude data, wherein N in the time period>100；
97.5% confidence area of step 102, the average value, variance and these data of the drilling time of the N group data of calculating collection
Between；
Step 103, whether the drilling time of N group data is checked in the confidential interval described in 2., if in reservation, otherwise picked
Remove, N is assumed to be through the remaining data of this process1Group；
Step 104, to the N in step 1031Group data carry out time normalization, and drilling time is pressed more than the part of average time
Data compression is carried out according to average time, drilling time carries out data expansion less than the part of average time on the basis of average time
Exhibition；
Step 105, the data to being drawn in step 104 are smoothed, and processing method uses moving average method, afterwards by N1
Group data are averaged by sampling time point, obtain the average penetration acceleration information after time normalization；
Step 106, the data to being drawn in step 105 carry out calculus of differences, and number is splitted data into plus accelerated according to difference result
Data and subtract acceleration data according to, even acceleration, the three class data corresponding time period is respectively plus acceleration time section, section of even acceleration time
With subtract the acceleration time section.
7. method according to claim 5, it is characterised in that driving current and reference acceleration are determined in the step 2
The detailed process of scale parameter be
The offline matching module of acceleration, power, electric current and acceleration, power, electric current On-line matching module will need control in drill process
The transformation that the acceleration of system passes through power is the control to boost current；In system prototype development, by electric drill module
The serial port data line of acceleration transducer be connected to system PC debugging serial ports, online acceleration is started by human-computer interaction module
Degree, power, currents match function, the acceleration magnitude that then the offline matching module of acceleration, power, electric current arrives actual acquisition and reference
Acceleration is compared, and forms negative-feedback, regulation driving current and the scale parameter of reference acceleration, completes offline matching；Plus
Speed, power, electric current On-line matching module before actual test boring first, in enabling the offline matching module of acceleration, power, electric current
Driving current and the scale parameter of reference acceleration, control driving current to promote rig to advance, while passing through robot present bit
Appearance state-detection rig position carries out the actual acceleration of second differnce collection rig propulsion, then by adding that the actual acquisition is arrived
Velocity amplitude is compared with reference acceleration, forms negative-feedback, updates the scale parameter of driving current and reference acceleration, completes
On-line matching.
8. method according to claim 5, it is characterised in that the detailed process of step 4 is：
Kinematic trajectory planning module in main control module is to realize the robot position movement's process i.e. motion of non-drilled process
Synchronousness and motion process flatness, current each spindle motor run duration is unified and electricity is realized by Discrete control
Machine rate smoothing is moved；
Step 401, the process that motor to be moved is divided into 7 sections, i.e., plus acceleration, even acceleration, subtract acceleration, at the uniform velocity, it is acceleration and deceleration, even
Slow down, slow down, be set to plus the accelerating sections time, for the even accelerating sections time, for subtract the accelerating sections time, at the uniform velocity section time, for plus
The braking section time, for the even braking section time, to subtract the braking section time, represent the numbering of motor shaft；
Step 402, the spot speed v by the motion processs, terminal velocity ve, maximal rate vm, peak acceleration am, most greatly
Acceleration jmWith total displacement S as plan constraint condition；
Step 403, planning first axle are X-axis gear stage run duration, judge whether to contain uniform gear stage, wherein accelerator
For：
If vm-vs> , then t1-1=, t1-2=,t1-3=t1-1；
If vm-vs≤, then t1-1=, t1-2=0,t1-3=t1-1, then the actual peak acceleration in accelerator do not have
Have and reach limit value am；
Acceleration according to time each time period of correspondence obtained is integrated, and obtains each section of corresponding speed, then to each section
Corresponding speed is integrated, and obtains accelerating sections displacement Sacc；
Step 404, gear stage planning in moderating process drawn using symmetry, braking section displacement Sdec=Sacc,t1-6=t1-2,
t1-5=t1-7=t1-3=t1-1；
Step 405, judge whether there is at the uniform velocity section in motion process, judgment criterion is if Sdec+Sacc<S then contains at the uniform velocity section, otherwise
At the uniform velocity section is not contained；
Step 406, if at the uniform velocity section, the at the uniform velocity section time isIf, without at the uniform velocity section,
At the uniform velocity section time t1-4=0；
Step 407, repeat step 103-106, to complete second and third, the planning of four axles；
The total runtime of step 408, relatively more each axle, takes maximum for each axle runs simultaneously total time；
According to constraint equation
Obtain t2And t4；
Wherein, it is synchronized with the movement the acceleration of each spindle motor after constraining, even acceleration and time at the uniform velocity with respectively four spindle motors；
If constraint equation is without solution or t2<0, then it is assumed that in the absence of adding accelerating sections and subtracting braking section, now constraint equation is converted into
T is obtained according to the equation1And t4, according further to symmetry t7=t5=t3=t1,t6=t2=0；, and respectively four spindle motors are same
Each spindle motor after step kinematic constraint subtracts the time of acceleration, acceleration and deceleration, even deceleration and deceleration；Be it is corresponding plus accelerate and subtract plus
The displacement of fast stage motor；
Step 409, using the position quantity and speed amount in above-mentioned each time tried to achieve and correspondent section as driving data transmit
Performed to servo drive control module.
9. method according to claim 5, it is characterised in that the Active Compliance Control decision-making in the step 5 is basis
Current robot task status and robot currently practical position and posture adjustment active compliance power control and kinematics position control
Weight factor, detailed process is：
The input quantity of Active Compliance Control decision-making module is the current position and posture of task status and robot of man-machine interaction, works as people
Machine interactive task for drilling and robot current state near or have been positioned at drilling region when, Active Compliance Control decision-making module
Improve Shared control weight, reduce position control weight, and then generate control parameter adjust instruction：Joined using big Shared control
Several, small position control parameter；When man-machine interaction task for motion or robot current state from drilling region farther out when, decision model
Block reduction Shared control weight, raising position control weight, and then generate control parameter adjust instruction：Joined using small Shared control
Several, big position control parameter；Wherein Shared control parameter and position control parameter are the ginseng for mixing up and being stored in system in advance
Number；Shared control parameter includes big Shared control parameter and small Shared control parameter, position control parameter includes big position control
Parameter and small position control parameter.
10. method according to claim 5, it is characterised in that the master control instruction in the step 7 is advised by kinematic trajectory
Draw module and Active Compliance Control decision-making module generation, master control instruction include each spindle motor reference position, rig boost current and
Control parameter adjust instruction；
Position ring, current ring parameter and a set of speed ring for having at least two sets offline debugging to complete in servo drive control module are joined
Number, wherein position ring 1, the parameter of electric current loop 1 are appropriate for accurately kinematics position control, and position ring 2, the parameter of electric current loop 2 are fitted
Conjunction carries out active compliance power current control when rig is advanced, and speed ring is the same in two sets of control parameters；When master control refers to
When control parameter adjust instruction is using big Shared control parameter, small position control parameter in order, the choosing of servo drive control module
The control module constituted with position ring 2, speed ring, electric current loop 2, rig boost current is major control mesh in now master control instruction
Mark, kinematics position control now mainly plays limitation protective effect, and collision etc. is unexpected to be occurred to prevent rig progradation from producing；When
When control parameter adjust instruction is using small Shared control parameter, big position control parameter in master control instruction, servo drive control
The control module that module preferred site ring 1, speed ring, electric current loop 1 are constituted, the motor reference position control in now master control instruction
It is main control targe, realizes the quick precise motion of system.
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