CN107160389B - A kind of Torque Control method of industrial robot - Google Patents

A kind of Torque Control method of industrial robot Download PDF

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CN107160389B
CN107160389B CN201710321578.0A CN201710321578A CN107160389B CN 107160389 B CN107160389 B CN 107160389B CN 201710321578 A CN201710321578 A CN 201710321578A CN 107160389 B CN107160389 B CN 107160389B
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acceleration
joint
robot
speed
velocity
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CN107160389A (en
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胥芳
王佳才
陈教料
张立彬
鲍官军
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Zhejiang University of Technology ZJUT
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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
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • 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
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40519—Motion, trajectory planning

Abstract

A kind of Torque Control method of industrial robot establishes Dynamic Models of Robot Manipulators by recognizing each articular kinesiology and inertial parameter；The displacement of each joint angle when obtaining moving to terminal posture by inverse kinematics；It using joint angular displacement as travel, is planned using a kind of Velocity-acceleration that sinusoidal acceleration planing method carries out each joint, velocity and acceleration substitution kinetic model can be solved into the control moment in motion path.That the present invention provides a kind of control precision is higher, effectively realizes avoidance, the Torque Control method of the higher industrial robot of safety.

Description

A kind of Torque Control method of industrial robot
Technical field
The present invention relates to a kind of industrial robot method for planning track, especially a kind of Torque Control side of industrial robot Method.
Background technique
The manufacture of nearly more than ten years industrial robot and control technology are quickly grown, and have been widely used for auto manufacturing And very high control precision can be reached.As China's labor cost increases, under the requirement of " machine substitute human labor " and industrial upgrading The automated production level of every profession and trade needs to improve.Applicable industry robot can be avoided the cumbersome hand labor of repetition, realize High stable, high precision, so that working efficiency be made to be greatly improved.It is most to the path of individual machine people, trajectory planning It can be completed by artificial teaching, so having there is more and more factories to replace on production line using programmable industrial robot It is artificial.But for the task that one kind needs the mutual cooperation of multirobot that could complete, how to allow robot that can keep away Exempt from the interference being likely to occur and collision while can rapidly and accurately complete task, this just to joint of robot motion control and keeps away Barrier path planning proposes requirements at the higher level.
Summary of the invention
In order to overcome the control precision of existing industrial robot method for planning track it is lower, can not effectively avoidance, safety Lower deficiency, that the present invention provides a kind of control precision is higher, effectively realizes avoidance, safety higher industrial robot Torque Control method.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of Torque Control method of industrial robot, firstly, being built by recognizing each articular kinesiology and inertial parameter Vertical Dynamic Models of Robot Manipulators；Then, the displacement of each joint angle when obtaining moving to terminal posture by inverse kinematics；Most Afterwards, using joint angular displacement as travel, accelerated using a kind of speed that sinusoidal acceleration planing method carries out each joint Metric is drawn, and velocity and acceleration substitution kinetic model can be solved the control moment in motion path.
Further, the Torque Control method the following steps are included:
Step 1: the dynamic parameters identification of industrial robot
The kinetic parameter of robot is recognized using the whole identification method integrally tested robot.In order to Robot is set to be able to achieve arbitrary trajectory planning, using periodical track, the excitation track in each joint is sine and cosine functions Algebraical sum, i.e., limited fourier series function, then each joint of robot joint position q planning it is as follows:
Wherein q indicates joint rotation angle, ai、biIndicate the constant coefficient of track, ωfFor the fundamental frequency of track, ωfI indicates the i-th rank Frequency, t=kTsIndicate sampling instant, k indicates number of samples, TsIndicate the sampling period；
Track is motivated by the identification in robot joint to be identified of limited fourier series function, Robot presets rail In mark motion process, the driving moment in joint is acquired by surveying current method；Joint is acquired by the encoder being mounted on motor Corner obtains the angular speed in dynamic parameter to corner differentialAnd angular accelerationIt can as identification algorithm using least square method To solve the value of inertial parameter:
To acquire accurately kinetic model:Wherein τ is the driving of robot Torque；Vector D (q) is known as the mass matrix of mechanical arm；For coriolis force and centrifugal force item；G (q) is gravity item；
Step 2: the inverse solution of industrial robot kinematics
Robot each joint motions angular displacement from initial position to terminal position is solved using analytic solution, for inverse movement Learn to solve and the problem of more solutions and singular solution occur, except through set the rotating range limitation in each joint remove trivial solution with Other than the method for avoiding singular solution, select the consumption the smallest inverse solution value of energy as joint also according to kinergety minimum principle Execution amount, calculation method are as follows: calculating the quadratic sum with previous joint difference, select the smallest one group of joint position of calculated result As the position that next joint executes, the inverse expression formula for solving selection is as follows:
Step 3: sinusoidal acceleration joint trajectory planning
High speed, smooth planning can be carried out to each joint trajectories using sinusoidal acceleration planing method, completed from The posture of point to terminal is planned.
In order to realize the ability of movement velocity and Acceleration Control, for the speed of tail end manipulator of robot, The boundary of acceleration is limited, and has at following 3 points:
1) moving angular displacement: D；
2) kinematics coboundary: maximum angular rate ωmax, maximum angular acceleration αmax, maximum angular acceleration Jmax。
3) kinematics lower boundary:
Acceleration is set as the tracks of line voltage:
Under the restrictive condition of motion profile, it is respectively D that there are two critical points for move distance toolminAnd Dmin2, tieing up Hold acceleration it is constant in the case where, maximum speed and peak acceleration can reach, and moving displacement has a critical minimum Value, referred to as Dmin:
Wherein dminω is accelerated to when for initial velocity being zeromaxWhen move distance daccincWhen indicating to accelerate to maximum speed Move distance；daccdecIt indicates plus ω speed is reduced to the distance moved when minimum value；If peak acceleration have not been able to reach but It is to have reached maximum speed just, moving displacement has another critical value minimum value, referred to as Dmin2:
Wherein dt ' is the accelerated motion time after recalculating, and then calculates difference according to the difference of moving boundaries value The run duration in stage obtains acceleration, speed and the motion profile of displacement by integrating to sinusoidal acceleration.
Further, in the step 3, if the execution distance D of mission requirements is greater than peak acceleration and maximum speed The minimum range D that can reach simultaneouslymin, D >=Dmin2, then will according to the following formula:
TaccincIndicate run duration when accelerating to maximum speed；TaccdecIt indicates plus ω speed is reduced to minimum value luck The dynamic time；TaccIndicate the time moved in accelerator when acceleration increases to maximum value constant periods, TretIt indicates The time moved in moderating process when negative acceleration increases to maximum value constant periods, TvelIndicate the time of constant motion.
In the step 3, if the move distance D of mission requirements is less than the minimum range D for meeting peak accelerationmin, but Maximum speed distance, D >=D can be reached by being greater thanmin2；At this moment moving the peak acceleration reached and accelerate the time need to It recalculates:
Taccinc=Taccdec=dt ', Tretinc=Tretdec=dt, Tacc=0,
In the step 3, if the move distance D that task gives reaches given insufficient for velocity and acceleration Velocity and acceleration, D≤Dmin2, then taking the Motion first at the uniform velocity to slow down afterwards:
As D > αmaxDt,
As D < αmaxRetarded motion time and peak acceleration needs are recalculated according to distance when dt:
It, can be to subsequent motion using sinusoidal acceleration trajectory planning according to present speed and remaining path distance Acceleration and speed carry out smoothly planning to realize steady Torque Control in operational process.
Technical concept of the invention are as follows: the present invention carries out dynamics and fortune to industrial robot according to accurate parameter identification It is dynamic to learn modeling, it is realized based on this to robot Torque Control of each joint based on model: respectively being closed by inverse kinematics After saving movement angle, carry out each joint velocity planning and solve by Dynamic Models of Robot Manipulators to control using sinusoidal acceleration Torque processed.
Beneficial effects of the present invention are mainly manifested in: can be completed thereafter according to joint motions distance and current angular velocity The dynamic speed, acceleration planning of reforwarding；It can effectively realize avoidance, safety is higher.
Detailed description of the invention
Fig. 1 is dynamic parameters identification procedure chart.
Fig. 2 is sinusoidal acceleration trajectory planning flow chart.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Referring to Figures 1 and 2, a kind of Torque Control method of industrial robot, firstly, by recognize each articular kinesiology with And inertial parameter establishes accurate Dynamic Models of Robot Manipulators；Then, it obtains moving to terminal posture by inverse kinematics When each joint angle displacement；Finally, using joint angular displacement as travel, using a kind of sinusoidal acceleration planing method into The Velocity-acceleration planning in each joint of row.Velocity and acceleration substitution kinetic model can be solved into the control in motion path Torque.The Torque Control method the following steps are included:
Step 1: the dynamic parameters identification of industrial robot
The present invention uses the whole identification method integrally tested robot to distinguish the kinetic parameter of robot Know.Plan that the excitation track in each joint is using periodical track in this method to make robot be able to achieve arbitrary trajectory The algebraical sum of sine and cosine functions, i.e., limited fourier series function, then the joint position q planning in each joint of robot It is as follows:
Wherein q indicates joint rotation angle, ai、biIndicate the constant coefficient of track, ωfFor the fundamental frequency of track, ωfI indicates the i-th rank Frequency, t=kTsIndicate sampling instant, k indicates number of samples, TsIndicate the sampling period.With limited fourier series function Track is motivated for the identification in robot joint to be identified, in Robot desired guiding trajectory motion process, passes through and surveys current method acquisition The driving moment in joint；Joint rotation angle is acquired by the encoder being mounted on motor, the available dynamic of corner differential is joined Angular speed in numberAnd angular accelerationThe value of inertial parameter can be solved using least square method as identification algorithm:
To acquire accurately kinetic model:Wherein τ is the driving of robot Torque；Vector D (q) is known as the mass matrix of mechanical arm；For coriolis force and centrifugal force item；G (q) is gravity item.
Step 2: the inverse solution of industrial robot kinematics
Robot each joint motions angular displacement from initial position to terminal position is solved using analytic solution.For inverse movement Learn to solve and the problem of more solutions and singular solution occur, except through set the rotating range limitation in each joint remove trivial solution with Other than the method for avoiding singular solution, select the consumption the smallest inverse solution value of energy as joint also according to kinergety minimum principle Execution amount, circular are as follows: calculating the quadratic sum with previous joint difference, select the smallest one group of joint of calculated result The position that position is executed as next joint.The inverse expression formula for solving selection is as follows:
Step 3: sinusoidal acceleration joint trajectory planning
High speed, smooth planning, efficiently and accurately can be carried out to each joint trajectories using sinusoidal acceleration planing method It completes to plan from the posture of origin-to-destination in ground.
In order to realize the ability of movement velocity and Acceleration Control, for the speed of tail end manipulator of robot, The boundary of acceleration is limited, and specifically has at following 3 points:
1) moving angular displacement: D
2) kinematics coboundary: maximum angular rate ωmax, maximum angular acceleration αmax, maximum angular acceleration Jmax。
3) kinematics lower boundary:
Here acceleration is set as the tracks of line voltage:
Under the restrictive condition of motion profile, it is respectively D that there are two critical points for move distance toolminAnd Dmin2.It is tieing up Hold acceleration it is constant in the case where, maximum speed and peak acceleration can reach, and moving displacement has a critical minimum Value, referred to as Dmin:
Wherein dminω is accelerated to when for initial velocity being zeromaxWhen move distance daccincWhen indicating to accelerate to maximum speed Move distance；daccdecIt indicates plus ω speed is reduced to the distance moved when minimum value；If peak acceleration have not been able to reach but It is to have reached maximum speed just, moving displacement has another critical value minimum value, referred to as Dmin2:
Wherein dt ' is the accelerated motion time after recalculating.Then difference is calculated according to the difference of moving boundaries value The run duration in stage obtains acceleration, speed and the motion profile of displacement by integrating to sinusoidal acceleration.
The each step and calculation expression of trajectory planning are described below:
1: in this step, the displacement of the movement velocity and acceleration and movement that are required according to task is initial Change.The calculating of each phases-time is carried out after the size adjusted the distance is judged.
2: if the execution distance D of mission requirements is greater than the most narrow spacing that peak acceleration and maximum speed can reach simultaneously From Dmin(D≥Dmin2), then will according to the following formula:
TaccincIndicate run duration when accelerating to maximum speed；TaccdecIt indicates plus ω speed is reduced to minimum value luck The dynamic time；TaccIndicate the time moved in accelerator when acceleration increases to maximum value constant periods.TretIt indicates The time moved in moderating process when negative acceleration increases to maximum value constant periods.TvelIndicate the time of constant motion.To each The time of a course movement is calculated, this is because velocity and acceleration can sufficiently accelerate to maximum value, so wherein There are acceleration Time constant and the constant airspeed at the uniform velocity time to need according to its size of actual distance calculation.
3: if the move distance D of mission requirements is less than the minimum range D for meeting peak accelerationmin, but being greater than can Reach maximum speed distance (D >=Dmin2) at this moment move the peak acceleration reached and accelerate time needs and recalculate :
Taccinc=Taccdec=dt ', Tretinc=Tretdec=dt, Tacc=0,
4: if the move distance D that task gives reaches given speed and acceleration insufficient for velocity and acceleration Spend (D≤Dmin2) Motion first at the uniform velocity to slow down afterwards is so taken in this step:
As D > αmaxDt:
As D < αmaxRetarded motion time and peak acceleration needs are recalculated according to distance when dt:
It, can be to the acceleration of subsequent motion using sinusoidal acceleration trajectory planning according to present speed and path distance Degree and speed carry out smoothly planning to realize the steady Torque Control in operational process.
It is right using a kind of detection joint interference between projections situation for the collision that may be sent out in operational process in the present embodiment Judge that the method for key point distance carries out prediction of collision afterwards: joint of robot being projected to the normal plane of velocity vector, if joint Projection interferes, and judges the key point shortest distance each in joints axes, recognizes if safe distance when being less than operation To there is the risk of collision；It detects that collision may occur, a kind of impedance acceleration reduction joint then is applied to dangerous joint Movement velocity is to realize avoidance.

Claims (4)

1. a kind of Torque Control method of industrial robot, it is characterised in that:
Firstly, establishing Dynamic Models of Robot Manipulators by recognizing each articular kinesiology and inertial parameter；
Then, the displacement of each joint angle when obtaining moving to terminal posture by inverse kinematics；
Finally, carrying out the speed in each joint using a kind of sinusoidal acceleration planing method using joint angular displacement as travel Acceleration planning is spent, velocity and acceleration substitution kinetic model can be solved into the control moment in motion path；
The planing method the following steps are included:
Step 1: the dynamic parameters identification of industrial robot
The kinetic parameter of robot is recognized using the whole identification method integrally tested robot, in order to make machine Device people is able to achieve arbitrary trajectory planning, and using periodical track, the excitation track in each joint is the generation of sine and cosine functions Number and, i.e., limited fourier series function, then each joint of robot joint position q planning it is as follows:
Wherein q indicates joint rotation angle, ai、biIndicate the constant coefficient of track, ωfFor the fundamental frequency of track, ωfI indicates the frequency of the i-th rank Rate, t=kTsIndicate sampling instant, k indicates number of samples, TsIndicate the sampling period；
Track, Robot desired guiding trajectory fortune are motivated by the identification in robot joint to be identified of limited fourier series function During dynamic, the driving moment in joint is acquired by surveying current method；Joint rotation angle is acquired by the encoder being mounted on motor, The angular speed in dynamic parameter is obtained to corner differentialAnd angular accelerationIt can be solved using least square method as identification algorithm The value of inertial parameter out:
To acquire accurately kinetic model:Wherein τ is the driving moment of robot； Vector D (q) is known as the mass matrix of mechanical arm；For coriolis force and centrifugal force item；G (q) is gravity item；
Step 2: the inverse solution of industrial robot kinematics
Robot each joint motions angular displacement from initial position to terminal position is solved using analytic solution, inverse kinematics is asked There is the problem of more solutions and singular solution in solution, removes trivial solution except through setting the rotating range limitation in each joint and avoids Other than the method for singular solution, consumption the smallest inverse execution of the solution value as joint of energy is selected also according to kinergety minimum principle Amount, calculation method is as follows: calculate the quadratic sum with previous joint difference, select the smallest one group of joint position of calculated result as The position that next joint executes, the inverse expression formula for solving selection are as follows:
Step 3: sinusoidal acceleration joint trajectory planning
Using sinusoidal acceleration planing method can to each joint trajectories carry out high speed, smooth planning, complete from starting point to The posture of terminal is planned；
In order to realize the ability of movement velocity and Acceleration Control, for the speed of tail end manipulator of robot, accelerate The boundary of degree is limited, and has at following 3 points:
1) moving angular displacement: D；
2) kinematics coboundary: maximum angular rate ωmax, maximum angular acceleration αmax, maximum angular acceleration Jmax；
3) kinematics lower boundary:
Acceleration is set as the tracks of line voltage:
Under the restrictive condition of motion profile, it is respectively D that there are two critical points for move distance toolminAnd Dmin2, maintaining plus adding In the case that speed is constant, maximum speed and peak acceleration can reach, and moving displacement has a critical minimum, referred to as Dmin:
Wherein dminω is accelerated to when for initial velocity being zeromaxWhen move distance daccincIndicate movement when accelerating to maximum speed Distance；daccdecIt indicates plus ω speed is reduced to the distance moved when minimum value；If peak acceleration has not been able to reach still just Maximum speed is reached easily, and moving displacement has another critical value minimum value, referred to as Dmin2:
Wherein dt ' is the accelerated motion time after recalculating, and then calculates different phase according to the difference of moving boundaries value Run duration, obtain acceleration, speed and the motion profile of displacement by integrating to sinusoidal acceleration.
2. the Torque Control method of industrial robot as described in claim 1, it is characterised in that: in the step 3, if appointed The execution distance D that business requires is greater than the minimum range D that peak acceleration and maximum speed can reach simultaneouslymin, D >=Dmin2, that It will according to the following formula:
TaccincIndicate run duration when accelerating to maximum speed；TaccdecIt indicates plus ω speed is reduced to and moves when minimum value Time；TaccIndicate the time moved in accelerator when acceleration increases to maximum value constant periods, TretIt indicates to add negative The time moved in moderating process when speed increases to maximum value constant periods, TvelIndicate the time of constant motion.
3. the Torque Control method of industrial robot as described in claim 1, it is characterised in that: in the step 3, if appointed The move distance D that business requires is less than the minimum range D for meeting peak accelerationmin, but be greater than can reach maximum speed away from From D >=Dmin2；At this moment it moves the peak acceleration reached and accelerates time needs and recalculate:
Tacxinc=Taccdec=dt, Tretinc=Tretdec=dt, Tacc=0,
4. the Torque Control method of industrial robot as described in claim 1, it is characterised in that: in the step 3, if appointed The given move distance D of business reaches given velocity and acceleration, D≤D insufficient for velocity and accelerationmin2, then Take the Motion first at the uniform velocity to slow down afterwards:
As D > αmaxDt,
As D < αmaxRetarded motion time and peak acceleration needs are recalculated according to distance when dt:
Using sinusoidal acceleration trajectory planning according to present speed and path distance, can acceleration to subsequent motion with And speed carries out smoothly planning to realize the steady Torque Control in operational process.
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