CN106965187A - A kind of method of generation feedback force vector during bionic hand crawl object - Google Patents
A kind of method of generation feedback force vector during bionic hand crawl object Download PDFInfo
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- CN106965187A CN106965187A CN201710376760.6A CN201710376760A CN106965187A CN 106965187 A CN106965187 A CN 106965187A CN 201710376760 A CN201710376760 A CN 201710376760A CN 106965187 A CN106965187 A CN 106965187A
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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
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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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
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39061—Calculation direct dynamics
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Abstract
The invention provides the method and bionic hand control method of generation feedback force vector during a kind of bionic hand crawl object, the control method comprises the following steps：Required according to operation task, produce the target location Xd=(x of cartesian spaced,yd,zd)；By inverse kinematics, joint space desired locations q is obtainedd；By the joint space desired locations qdThe input of process is adjusted as endocyclic position, trajectory planning is carried out in joint space, and complete the Position Tracking Control of joint space；Wherein, during the endocyclic position regulation, by driving the motor position in space, the actual angle q in joint is obtained by articular kinesiology, the first feedback quantity and the joint space desired locations q are used as in the first feedback elementdIt is compared, participates in the endocyclic position regulation of control system；Meanwhile, one-dimensional force vector is obtained by the force snesor of bionic hand end, the force vector obtains the location components in three directions in the second feedback element by processing, the control to the bionic hand is participated in as the second feedback quantity.
Description
Technical field
The present invention relates to a kind of control method of bionical Dextrous Hand, the force feedback method during particularly capturing belongs to
Robot system technical field.
Background technology
Bionical Dextrous Hand, to make the contact target object that Dextrous Hand is submissive, does not cause to imitate when carrying out crawl object operation
The infringement of green hand or object in contact end, it is necessary to crawl process progress force feedback, i.e., install force snesor additional.Because force feedback
The information of acquisition multiple directions is needed, therefore generally force snesor can select six-dimensional force/torque sensor, so that captured
The feedback quantity of sensor is excessive in journey, and it is excessive to easily cause processor amount of calculation, and feedback is not in time or even error.
Existing patent 201010515986.8 provides a kind of application of force sensor feedback, and impedance control regulation robot is grabbed
The scheme of object is taken, this method carries out grasping body by the force snesor feedack on arm end effector.Should
How patent obtains best impedance parameter if being focused on.
Bionical Dextrous Hand, to make the contact target object that Dextrous Hand is submissive, does not cause to imitate when carrying out crawl object operation
The infringement of green hand or object in contact end, it is necessary to crawl process progress force feedback, i.e., install force snesor additional.Because force feedback
The information of acquisition multiple directions is needed, therefore generally force snesor can select six-dimensional force/torque sensor, so that captured
The feedback quantity of sensor is excessive in journey, and it is excessive to easily cause processor amount of calculation, and feedback is not in time or even error.
Accordingly, it would be desirable to a kind of method using one-dimensional pressure sensor generation feedback force vector, by series of computation
After processing, obtain being equally applicable to the result of force feedback.
The content of the invention
It is an object of the invention to provide a kind of vectorial decomposer and corresponding vectorial decomposition algorithm, one-dimensional position can be made
Vector obtains the three-dimensional position vector under object coordinates system via vectorial decomposition algorithm.
Technical scheme is as follows.
A kind of bionic hand control method, the control method comprises the following steps：
Required according to operation task, produce the target location Xd=(x of cartesian spaced,yd,zd)；
By inverse kinematics, joint space desired locations q is obtainedd；
By the joint space desired locations qdThe input of process is adjusted as endocyclic position, rail is carried out in joint space
Mark is planned, and completes the Position Tracking Control of joint space；
Wherein, during the endocyclic position regulation, by driving the motor position in space, closed by articular kinesiology
The actual angle q of section, the actual angle q in the joint is used as the first feedback quantity and the joint space phase in the first feedback element
Hope position qdIt is compared, participates in the endocyclic position regulation of control system；
Meanwhile, one-dimensional force vector is obtained by the force snesor of bionic hand end, the force vector is passed through in the second feedback element
The location components that processing obtains three directions are crossed, the location components in three directions are participated in described imitative as the second feedback quantity
The control of green hand.
Preferably, second feedback element includes：
Step i：Force snesor produces one-dimensional force vector F, input impedance controllerProduce one-dimensional
Position correction vector Xe；
Step ii：By one-dimensional position vector Xe input vector decomposers, by vectorial decomposition algorithm, three-dimensional space meta is produced
Put vectorial Xr；
Step iii：Whole control system is participated in using three-dimensional position vector Xr as the final output of second feedback element
System work.
Preferably, the step of vectorial decomposition algorithm is as follows：
Step i：Finger motion is analyzed, a power F is obtained through force snesor, the direction of power is directed to the barycenter of object forever
Opposite direction, i.e. object coordinates system the center of circle, generate corresponding position quantity Xe by controller, obtain vectorial decomposer
Input；
Step ii：Vector is taken respectivelyAngle with object coordinates system ∑ object_ [x, y, z] is (α, β, γ), [x,
Y, z] direction difference multiplying factor cos (α, β, γ), one-dimensional vector is converted into three-dimensional vector；
Step iii：Step ii result is multiplied into a variable parameter D, i.e. Xr=D*cos (ω) * Xe, expanded into
Wherein D is amplification coefficient, contacts object space with actual finger relevant.
Preferably, the amplification coefficient D values are 3~6.
Preferably, the reference position vector that the location components in three directions are produced with trajectory planning subtracts each other, and obtains interior
Ring controlled quentity controlled variable.
Preferably, the bionic hand has three contact points when capturing target object with the target object.
The present invention also provides a kind of bionic hand control system, including：
For being required according to operation task, the target location Xd=(x of cartesian space are producedd,yd,zd) device；
For by inverse kinematics, obtaining joint space desired locations qdDevice；
For by the joint space desired locations qdThe input of process is adjusted as endocyclic position, is entered in joint space
Row trajectory planning, and complete the device of the Position Tracking Control of joint space；
Wherein, during the endocyclic position regulation, by driving the motor position in space, closed by articular kinesiology
The actual angle q of section, the actual angle q in the joint is used as the first feedback quantity and the joint space phase in the first feedback element
Hope position qdIt is compared, participates in the endocyclic position regulation of control system；
Meanwhile, one-dimensional force vector is obtained by the force snesor of bionic hand end, the force vector can be defeated through impedance controller
Go out corresponding one-dimensional position modification vector Xe, position correction vector is produced as the input of vectorial decomposer through vectorial decomposition algorithm
The reference position vector Xd that the location components Xr, Xr in three directions of raw three dimensions are produced with trajectory planning subtracts each other, and obtains interior
Ring controlled quentity controlled variable
The present invention also provides a kind of bionic hand, and it includes the bionic hand control system according to above above scheme.
Preferably, the bionic hand has three contact points when capturing target object with the target object.
The present invention also provides a kind of robot system, and it includes the bionic hand according to above technical scheme.
By above technical scheme, present invention uses simple one-dimensional force snesor can with reach three-dimension sensor or
The effect of sextuple sensor, calculates simple, cost is greatly reduced.Unlike the prior art, how the application obtains if not being focused on
The optimal control parameter in three directions is obtained, but the vector majorization parameter in three directions how is generated by a direction.
Brief description of the drawings
Fig. 1 is the force-feedback control system schematic of the present invention.
Fig. 2 is the bionic hand crawl contact schematic diagram of the present invention.
Embodiment
As shown in figure 1, in the schematic diagram of force-feedback control system, XdFor the three-dimensional position vector of planning generation, qd is
Corresponding joint angles, q is bionic hand actual motion joint angles, and Xe is the one-dimensional position vector produced by controller, Xr
For the three-dimensional position vector produced by vectorial decomposer.
It is as follows according to the workflow of the control system of the present invention.
Required first according to operation task, produce the target location Xd=(x of cartesian spaced,yd,zd), pass through inverse motion
Learn, obtain joint space desired locations qd, trajectory planning is carried out in joint space, and complete the position tracking control of joint space
System.
In order to carry out observation, the tracking of position control, by driving the motor position in space, closed by articular kinesiology
The actual angle q of section, the endocyclic position for participating in control system as closed loop is adjusted；On the other hand, passed by the power of bionic hand end
Sensor can obtain one-dimensional force vector, and the force vector can export corresponding one-dimensional position modification vector Xe through impedance controller,
Position correction vector produces the position point in three directions of three dimensions through vectorial decomposition algorithm as the input of vectorial decomposer
Xr is measured, the reference position vector Xd that Xr is produced with trajectory planning subtracts each other, and obtains inner ring controlled quentity controlled variable X.
The control system flow relevant with feedback element is as follows.
Step i：Force snesor produces one-dimensional force vector F, input impedance controllerProduce one-dimensional
Position correction vector Xe.
Step ii：By one-dimensional position vector Xe input vector decomposers, by vectorial decomposition algorithm, three-dimensional space meta is produced
Put vectorial Xr.
Step iii：Whole control system work is participated in using three-dimensional position vector Xr as the final output of feedback element.
Below by taking the three-point prehension grasp object of bionic hand as an example, illustrate the operation principle of vectorial decomposer.
Schematic diagram is captured as Fig. 2 (a) carries out three-point prehension grasp for finger, corresponding object coordinates system contacts coordinate system with three
As shown in Fig. 2 (b).So-called vector is decomposed, and refers to that a space one-dimensional vector resolves into three directions under a coordinate system
Vector.And force snesor is obtained for an one-dimensional vector, this make it that obtained by impedance controller be also necessarily one one
Position vector is tieed up, still, the coordinate for participating in the space bionic hand of control system operation is three-dimensional vector, and this to apply one dimension force
Sensor is necessarily required to just obtain space three-dimensional feedback information the step of decomposition by a vector.
The operation principle of multidimensional sensor is had nothing in common with each other, but final result can obtain the three-dimensional force vector of finger tip,
And the vector is with to finger dialysis, to contact coordinate system as according to acquisition；This vectorial decomposer is due to requiring no knowledge about finger
The relative position of point and object, that is, contact the posture of coordinate system, so decomposition algorithm is carried out under object coordinates system, so
The generality of the method can be ensured.
The step of crawl vector decomposition algorithm, is as follows.
Step i：Finger motion is analyzed, a power F is obtained through force snesor, such as Fig. 2 (c), the direction of power is directed to forever
The center of circle of the opposite direction of the barycenter of object, i.e. object coordinates system, corresponding position quantity Xe is generated by controller, obtain to
Measure the input of decomposer；
Step ii：Vector is taken respectivelyAngle with object coordinates system ∑ object_ [x, y, z] is (α, β, γ),
[x, y, z] direction difference multiplying factor cos (α, β, γ).So, one-dimensional vector is just converted into three-dimensional vector；
Step iii：In theory, to ii steps, three-dimensional of the one-dimensional position correction under object coordinates system is had been obtained for
Decomposition result, but empirical tests, this and the total poor multiple that immobilizes of the result that is directly obtained through six-dimension force sensor.Experience
Card, this is that object coordinates are tied to the influence that the spin matrix of contact coordinate system is brought.So, ii result is multiplied into a variable
Parameter D, i.e. Xr=D*cos (ω) * Xe, are expanded into
Wherein D is amplification coefficient, and it is relevant to contact object space with actual finger, typically takes 3~6 preferably.
One kind of embodiment described above, simply more preferably embodiment of the invention, those skilled in the art
The usual variations and alternatives that member is carried out in the range of technical solution of the present invention all should be comprising within the scope of the present invention.
Claims (10)
1. a kind of bionic hand control method, the control method comprises the following steps：
Required according to operation task, produce the target location Xd=(x of cartesian spaced,yd,zd)；
By inverse kinematics, joint space desired locations q is obtainedd；
By the joint space desired locations qdThe input of process is adjusted as endocyclic position, track rule are carried out in joint space
Draw, and complete the Position Tracking Control of joint space；
Wherein, during the endocyclic position regulation, by driving the motor position in space, joint is obtained by articular kinesiology
Actual angle q, the actual angle q in the joint expects position in the first feedback element as the first feedback quantity and the joint space
Put qdIt is compared, participates in the endocyclic position regulation of control system；
Meanwhile, one-dimensional force vector is obtained by the force snesor of bionic hand end, the force vector is at the second feedback element process
Reason obtains the location components in three directions, and the location components in three directions are participated in the bionic hand as the second feedback quantity
Control.
2. bionic hand control method according to claim 1, it is characterised in that second feedback element includes：
Step i：Force snesor produces one-dimensional force vector F, input impedance controllerProduce one-dimensional position
Modification vector Xe；
Step ii：By one-dimensional position vector Xe input vector decomposers, by vectorial decomposition algorithm, produce three-dimensional space position to
Measure Xr；
Step iii：Whole control system work is participated in using three-dimensional position vector Xr as the final output of second feedback element
Make.
3. bionic hand control method according to claim 2, it is characterised in that as follows the step of vectorial decomposition algorithm：
Step i：Finger motion is analyzed, a power F is obtained through force snesor, the direction of power is directed to the phase of the barycenter of object forever
The center of circle of opposite direction, i.e. object coordinates system, corresponding position quantity Xe is generated by controller, the defeated of vectorial decomposer is obtained
Enter；
Step ii：Vector is taken respectivelyAngle with object coordinates system ∑ object_ [x, y, z] is (α, β, γ), at [x, y, z]
One-dimensional vector, is converted into three-dimensional vector by direction difference multiplying factor cos (α, β, γ)；
Step iii：Step ii result is multiplied into a variable parameter D, i.e. Xr=D*cos (ω) * Xe, expanded into
Wherein D is amplification coefficient, contacts object space with actual finger relevant.
4. bionic hand control method according to claim 3, it is characterised in that the amplification coefficient D values are 3~6.
5. bionic hand control method according to claim 1, it is characterised in that the location components and rail in three directions
The reference position vector that mark planning is produced subtracts each other, and obtains inner ring controlled quentity controlled variable.
6. the bionic hand control method according to one of claim 1-5, it is characterised in that the bionic hand is in crawl target
During object, there are three contact points with the target object.
7. a kind of bionic hand control system, including：
For being required according to operation task, the target location Xd=(x of cartesian space are producedd,yd,zd) device；
For by inverse kinematics, obtaining joint space desired locations qdDevice；
For by the joint space desired locations qdThe input of process is adjusted as endocyclic position, rail is carried out in joint space
Mark is planned, and completes the device of the Position Tracking Control of joint space；
Wherein, during the endocyclic position regulation, by driving the motor position in space, joint is obtained by articular kinesiology
Actual angle q, the actual angle q in the joint expects position in the first feedback element as the first feedback quantity and the joint space
Put qdIt is compared, participates in the endocyclic position regulation of control system；
Meanwhile, one-dimensional force vector is obtained by the force snesor of bionic hand end, the force vector can be exported pair through impedance controller
The one-dimensional position modification vector Xe answered, position correction vector produces three as the input of vectorial decomposer through vectorial decomposition algorithm
The reference position vector Xd that the location components Xr, Xr in three directions of dimension space are produced with trajectory planning subtracts each other, and obtains inner ring control
Amount processed.
8. a kind of bionic hand, it is characterised in that including bionic hand control system according to claim 7.
9. bionic hand according to claim 8, it is characterised in that the bionic hand is and described when capturing target object
Target object has three contact points.
10. a kind of robot system, it is characterised in that including bionic hand according to claim 8 or claim 9.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111195906A (en) * | 2018-11-20 | 2020-05-26 | 西门子工业软件有限公司 | Method and system for predicting motion trajectory of robot |
| US10875179B2 (en) | 2018-12-29 | 2020-12-29 | Ubtech Robotics Corp Ltd | Impedance control method for biped robot and apparatus and biped robot using the same |
| CN113110051A (en) * | 2021-04-14 | 2021-07-13 | 南开大学 | Polishing machine manpower/position hybrid control method and system considering error constraint |
| CN116533237A (en) * | 2023-05-09 | 2023-08-04 | 浙江钧控智能科技有限公司 | Fuzzy variable impedance control method integrating attitude measurement and one-dimensional force sensor information |
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| CN103679216A (en) * | 2014-01-06 | 2014-03-26 | 重庆大学 | Method for detecting infrared small/weak targets based on space-time sparse representation |
| CN105014672A (en) * | 2015-08-20 | 2015-11-04 | 常州先进制造技术研究所 | Control system of wearable robot for helping disabled |
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| US20060284118A1 (en) * | 2005-06-15 | 2006-12-21 | Board Of Trustees Of Michigan State University | Process and apparatus for modifying a surface in a work region |
| CN103336968A (en) * | 2013-05-28 | 2013-10-02 | 中国矿业大学 | Hyperspectral data dimensionality reduction method based on tensor distance patch alignment |
| CN103679216A (en) * | 2014-01-06 | 2014-03-26 | 重庆大学 | Method for detecting infrared small/weak targets based on space-time sparse representation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111195906A (en) * | 2018-11-20 | 2020-05-26 | 西门子工业软件有限公司 | Method and system for predicting motion trajectory of robot |
| CN111195906B (en) * | 2018-11-20 | 2023-11-28 | 西门子工业软件有限公司 | Method and system for predicting motion trail of robot |
| US10875179B2 (en) | 2018-12-29 | 2020-12-29 | Ubtech Robotics Corp Ltd | Impedance control method for biped robot and apparatus and biped robot using the same |
| CN113110051A (en) * | 2021-04-14 | 2021-07-13 | 南开大学 | Polishing machine manpower/position hybrid control method and system considering error constraint |
| CN116533237A (en) * | 2023-05-09 | 2023-08-04 | 浙江钧控智能科技有限公司 | Fuzzy variable impedance control method integrating attitude measurement and one-dimensional force sensor information |
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