CN107160396A - A kind of robot vibration controller and method based on track optimizing - Google Patents
A kind of robot vibration controller and method based on track optimizing Download PDFInfo
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- CN107160396A CN107160396A CN201710432259.7A CN201710432259A CN107160396A CN 107160396 A CN107160396 A CN 107160396A CN 201710432259 A CN201710432259 A CN 201710432259A CN 107160396 A CN107160396 A CN 107160396A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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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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- 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
- G05B2219/40448—Preprocess nodes with arm configurations, c-space and planning by connecting nodes
Abstract
The present invention relates to a kind of robot vibration controller based on track optimizing and method.The problem of solving the existing industrial robot structural vibration that mechanical linkage and actuated element trigger in the process of running.Controller includes task input module, adjusting module, control output module.Pass through the planning and adjusting to robot task track, joint of robot motion is reduced in the interval run time of vibration, the oscillation phenomenon that robot triggers due to system flexibility is slow down, so as to ensure that continuous, the even running of robot manipulating task, the homework precision of robot is improved.
Description
Technical field
The present invention relates to a kind of industrial robot control technology field, more particularly, to a kind of reduction vibration based on track
The robot vibration controller and method of optimization.
Background technology
The control targe of industrial robot includes the quick and exact operations to operation instrument.Yet with robot system
The flexible characteristic that link component and driving original paper have, industrial robot easily faces asking for structural vibration in the process of running
Topic, especially in robot, the range of movement in the weaker position shape structure of rigidity, robot manipulating task is larger and speed
In the case of.This problem will trigger the uncontrolled motion of end effector of robot, and the homework precision of industrial robot is produced
Large effect, is unfavorable for the stable operation of robot system, influences the performance of industrial robot.In addition, in running
Uncontrolled motion also produces safely influence to the operation of industrial robot, is unfavorable for the steady progress of production operation.
Existing robot damping control technology is roughly divided into two classes：Realized by setting up mechanical device and robot is run
Vibration damping control and build feedback controller and realize the vibration control to robot system.The former passes through in robot system
The extra mechanical structure of increase, improves the dynamics of robot, so as to improve the oscillation phenomenon in robot running.
For example, application publication number is the patent of invention in CN102829118 A, a kind of robot passive energy dissipation method and realization are disclosed
Device.It is this that the method for shockproof control is realized by mechanical device, it is necessary to which the extra hardware of system increase, adds system complex
Degree and cost.And design method needs to carry out complicated computing according to the specific mechanical property of robot system, does not possess universal
Property, it is difficult to extensive use.
The operation of robot is obtained more than the vibration-reducing control method for building feedback controller using acceleration/vibration sensor
State, and build feedback controller to realize the vibration control to robot system by complicated control algolithm, for example please public affairs
Cloth number is the patent of invention in CN106094528 A.The controller architecture and design process of this kind of method are complex, to control
The operational capability of device requires higher, is unfavorable for the popularization and popularization of relevant art.In addition, above-mentioned vibration damping controller design method master
The operational movement process of robot point-to-point is directed to, and the tracking for the track that is not directed to work continuously is performed.For continuous
Job task, such as spraying, cutting, polishing operation, generally require to control the position and attitude progress of end effector continuously accurate
Change.Above-mentioned vibration damping controller design method does not consider the Position-Attitude control of robot in robot running status,
It is difficult to meet actual job demand.
The content of the invention
The present invention mainly solves industrial robot in the prior art, and mechanical linkage and actuated element draw in the process of running
The problem of structural vibration of hair, there is provided a kind of robot vibration controller based on track optimizing for reducing vibration and side
Method.
The above-mentioned technical problem of the present invention is mainly what is be addressed by following technical proposals：One kind is based on track optimizing
Robot vibration controller, it is characterised in that including the task input module being sequentially connected, adjusting module, control output mould
Block, adjusting module includes trajectory planning unit, kinematics solution unit, vibration detecting unit and the track optimizing list being sequentially connected
Member, task input module is connected with trajectory planning unit, and track optimizing unit is connected with control output module；
Trajectory planning unit：According to the operation task of input, operation of the generation end effector in operating space discretization
Task coordinate sequence；
Kinematics solution unit：According to operation task coordinate sequence, perform Inverse Kinematics Solution and calculate, generate control machine people
Joint position shape command sequence needed for motion；
Vibration detecting unit：Robot is obtained by calculus of differences according to joint position shape command sequence and performs operation task institute
The joint velocity curve needed, and it is interval according to the resonant speed core in each joint, judge whether corresponding joint triggers system to shake
It is dynamic；
Track optimizing unit：Adjustment is optimized to the speed trajectory for vibrating segment according to judged result.
The present invention reduces joint of robot motion in vibration interval by the planning and adjusting to robot task track
Run time, slow down the oscillation phenomenon that robot triggers due to system flexibility, so as to ensure that the continuous, flat of robot manipulating task
Steady operation, improves the homework precision of robot.Task input module is used to input robot manipulation's task, controls output module
By the joint velocity Curve transform after optimization into joint position shape command sequence, end effector is sent to.
A kind of robot vibration control method based on track optimizing, using the controller in claim 1, including it is following
Step：
S1. determine that each joint resonant speed regulation of robot is interval；
S2. operation task track is generated according to input operation task；
S3. kinematics solution is carried out to task track, obtains the joint position shape command sequence needed for control machine people motion；
S4. the vibration of each joint is judged in advance according to joint position shape command sequence；
S5. adjustment is optimized in the track of vibration segment to joint；
S6. joint position shape command sequence is converted into according to the rate curve after optimization.
The inventive method reduces joint of robot motion in vibrating area by the planning and adjusting to robot task track
Between run time, the oscillation phenomenon that robot triggers due to system flexibility is slow down, so as to ensure that the company of robot manipulating task
Continuous, even running, improves the homework precision of robot.The track adjusting method that controller is used, is closed only for robot
The running status saved in vibration interval is adjusted, and the robot manipulating task time is not influenceed, and do not influence the sky of job task
Half interval contour shape, is adapted to the tracking to track of working continuously and performs.The present invention in robot system without increasing extra shake
The add ons such as dynamic sensor.
From kinematical theory, joint motions pass through the interval required time T of resonant speed and are：
Wherein：v1To enter the joint velocity that resonant speed is interval, v2For the joint velocity of off-resonance speed interval, a (t) is joint
Move corresponding acceleration.It is assumed that in resonant speed is interval, the natural frequency ω changes of system vibration are smaller, are approximately constant,
Then passing through the fluctuation frequency n brought in vibration interval is about：F is vibration frequency.Pass through
Adjustment is optimized to joint of robot rate curve, can make robot corresponding joint speed be in resonant speed interval in when
Between T reduce, the frequency n that now robot system is vibrated also will reduction.Operation task track performs tracing deviation e's (t)
Integral square error indexIntegrating range reduce, thus desired value
Also it is corresponding to reduce, so as to improve execution precision of the robot to operation task, improve robot interval in resonant speed
The performance of interior operation.
As a kind of preferred scheme, the interval obtaining step of each joint resonance governing speed includes in step S1：
S11. calculated according to robot system intrinsic vibration coefficient and obtain resonant speed v0, according to robot rigidity and machinery
Coefficient obtains resonant speed core interval [v10 v20]；
S12. according to resonant speed core interval [v10 v20] setting joint resonant speed regulation interval [v1 v2]。
For the robot system with flexible member, it is thus necessary to determine that its resonant speed interval range, to determine that vibration is excellent
Change the target of control.There is flexible robot for joint, due to using flexible drive element, its joint has flexible characteristic.
For example, using the robot of harmonic wave speed reducing machine, it can be seen from the drive characteristic of harmonic gear：Harmonic gear rotates one and enclosed, and will produce
Raw two harmonic excitations.When robot system operates in system eigentone, the harmonic wave tradition of robot will cause knot
Structure resonates.The resonance speed can be calculated by intrinsic vibration coefficient and obtained.
As a kind of preferred scheme, operation task Track Pick-up step includes in step S2：
S21. the geometric locus that end effector is continuously moved in operation task space is generated according to the operation task of input；
S22. by path curves discretization, task location/posture target point sequence in operation task space is obtained.
This programme generates target point sequence in space according to operation task, and this method is known technology.Due to modern machines
It is controlled more than people's system using digital computer, operation task track should carry out corresponding discretization.
As a kind of preferred scheme, shape command sequence acquisition detailed process in joint position is in step S3：According to system of robot
The structural parameters of system, carry out kinematics solution to task location/posture target point sequence, obtain corresponding to robot manipulation's task
Joint space configuration coordinate, using joint space configuration coordinate be used as joint space position shape command sequence.
Vibrating the detailed process judged in advance to each joint as a kind of preferred scheme, in step S4 includes：
S41. according to joint space position shape command sequence, corresponding joint is obtained by calculus of differences and moves corresponding speed,
And formation speed curve；
S42. it is interval according to the resonant speed core of acquisition, detect whether that articulate movement velocity enters resonant speed core
Between heart district and resonate；
S43. entering and leaving joint configuration coordinate when resonant speed adjusts interval if determination corresponding joint if having, closing
Save speed and joint velocity.Joint velocity can be obtained by joint velocity by calculus of differences.
As a kind of preferred scheme, the specific steps optimized and revised in step S5 include：
S51. note joint velocity curve is in resonant speed v0When corresponding joint coordinates p0, joint velocity a0, when corresponding
Carve t0；
Joint velocity curve is in resonant speed regulation interval border v2Corresponding joint coordinates p during place2, joint velocity a2,
T at the time of correspondence2；
Joint velocity curve is in resonant speed regulation interval border v1Corresponding joint coordinates p during place1, joint velocity a1,
T at the time of correspondence1；
S52. five rank multinomial planning are carried out to joint coordinates, if the corresponding five rank multinomials curves of joint coordinates p are
P (t)=at5+b·t4+c·t3+d·t2+e·t1+f·t0,
Wherein a, b, c, d, e, f are polynomial parameters,
The corresponding rate curve in joint is
The corresponding accelerating curve in joint is
S53. by joint resonant speed v0Place's joint velocity is adjusted to ka0, wherein k is regulation parameter, k >=1；
By joint resonant speed v0Locate corresponding joint coordinates and be adjusted to λ p1+(1-λ)p2, wherein being λ regulation parameters, λ ∈
[0.5 1]；K and λ rule of thumb choose, and additional optimizations index can be set according to the actual requirements further excellent to k and λ progress
Change.
S54. interval [v is adjusted to resonant speed respectively1 v0] and [v0 v2] in joint velocity carry out planning and adjusting,
Subinterval [v1 v0] edge-restraint condition be：
p1=p (t1)=at1 5+b·t1 4+c·t1 3+d·t1 2+e·t1 1+f·t1 0
v1=v (t1)=5at1 4+4b·t1 3+3c·t1 2+2d·t1 1+1e·t1 0
a1=a (t1)=20at1 3+12b·t1 2+6c·t1 1+2d·t1 0
λp1+(1-λ)p2=at0 5+b·t0 4+c·t0 3+d·t0 2+e·t0 1+f·t0 0
v0=v (t0)=5at0 4+4b·t0 3+3c·t0 2+2d·t0 1+1e·t0 0
k·a0=a (t0)=20at0 3+12b·t0 2+6c·t0 1+2d·t0 0
Subinterval [v is obtained according to above-mentioned boundary condition1 v0] corresponding multinomial coefficient a, b, c, d, e, f；
Subinterval [v0 v2] edge-restraint condition be：
p2=p (t2)=at2 5+b·t2 4+c·t2 3+d·t2 2+e·t2 1+f·t2 0
v2=v (t2)=5at2 4+4b·t2 3+3c·t2 2+2d·t2 1+1e·t2 0
a2=a (t2)=20at2 3+12b·t2 2+6c·t2 1+2d·t2 0
λp1+(1-λ)p2=at0 5+b·t0 4+c·t0 3+d·t0 2+e·t0 1+f·t0 0
v0=v (t0)=5at0 4+4b·t0 3+3c·t0 2+2d·t0 1+1e·t0 0
k·a0=a (t0)=20at0 3+12b·t0 2+6c·t0 1+2d·t0 0
Subinterval [v is obtained according to above-mentioned boundary condition0 v2] corresponding multinomial coefficient a, b, c, d, e, f；
S55. according to speed subranges [v1 v0] and [v0 v2] the interior multinomial coefficient tried to achieve, determine respectively in subinterval
Rate curve, complete regulation to joint velocity.
Therefore, it is an advantage of the invention that：1. by the planning and adjusting to robot task track, reduce joint of robot
Move in the interval run time of vibration, the oscillation phenomenon that robot triggers due to system flexibility is slow down, so as to ensure that machine
Continuous, the even running of device people's operation, improve the homework precision of robot.2. the track adjusting method that controller is used, only
It is adjusted only for running status of the joint of robot in vibration interval, robot manipulating task time, and not shadow is not influenceed
The space curve shape of job task is rung, is adapted to the tracking to track of working continuously and performs.3. the present invention is without in system of robot
Increase the add ons such as extra vibrating sensor in system.
Brief description of the drawings
Accompanying drawing 1 is a kind of structural frames diagram of the present invention；
Accompanying drawing 2 is a kind of schematic flow sheet of the inventive method；
Accompanying drawing 3 is speed curve diagram before and after track optimizing in the embodiment of the present invention 2；
Accompanying drawing 4 is the corresponding joint velocity curve map of the preceding task of optimization in the embodiment of the present invention 3；
Accompanying drawing 5 is the corresponding joint velocity curve map of task after optimizing in the embodiment of the present invention 3；
Accompanying drawing 6 is the front and rear velocity contrast of joint 2 figure of optimization in the embodiment of the present invention 3；
Accompanying drawing 7 is that the speed of joint 2 enters the interval local contrast figure of resonant speed before and after optimizing in the embodiment of the present invention 3；
Accompanying drawing 8 is the local contrast figure of the front and rear speed off-resonance speed interval of joint 2 of optimization in the embodiment of the present invention 3.
1- task input module 2- adjusting module 21- trajectory planning unit 22- kinematics solution units 23- vibration inspections
Survey unit 24- track optimizing units 3- control output modules.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment 1：
A kind of robot vibration controller based on track optimizing of the present embodiment, as shown in figure 1, including appointing for being sequentially connected
Business input module 1, adjusting module 2, control output module 3, adjusting module include trajectory planning unit 21, the motion being sequentially connected
Learn and solve unit 22, vibration detecting unit 23 and track optimizing unit 24, task input module is connected with trajectory planning unit, rail
Mark optimizes unit and is connected with control output module；
Trajectory planning unit：According to the operation task of input, operation of the generation end effector in operating space discretization
Task coordinate sequence；
Kinematics solution unit：According to operation task coordinate sequence, perform Inverse Kinematics Solution and calculate, generate control machine people
Joint position shape command sequence needed for motion；
Vibration detecting unit：Robot is obtained by calculus of differences according to joint position shape command sequence and performs operation task institute
The joint velocity curve needed, and it is interval according to the resonant speed core in each joint, judge whether corresponding joint triggers system to shake
It is dynamic；
Track optimizing unit：Adjustment is optimized to the speed trajectory for vibrating segment according to judged result.
A kind of robot vibration control method based on track optimizing, as shown in Fig. 2 comprising the following steps：
S1. determine that each joint resonant speed regulation of robot is interval；Specifically include：
S11. calculated according to robot system intrinsic vibration coefficient and obtain resonant speed v0, according to robot rigidity and machinery
Coefficient obtains resonant speed core interval [v10 v20]；
S12. according to resonant speed core interval [v10 v20] setting joint resonant speed regulation interval [v1 v2]。
S2. operation task track is generated according to input operation task；Specifically include：
S21. the geometric locus that end effector is continuously moved in operation task space is generated according to the operation task of input；
S22. by path curves discretization, task location/posture target point sequence in operation task space is obtained.
S3. kinematics solution is carried out to task track, obtains the joint position shape command sequence needed for control machine people motion；
Detailed process is：According to the structural parameters of robot system, kinematics solution is carried out to task location/posture target point sequence,
The joint space configuration coordinate corresponding to robot manipulation's task is obtained, joint space configuration coordinate is regard as joint space position shape
Command sequence.
S4. the vibration of each joint is judged in advance according to joint position shape command sequence；Detailed process includes：
S41. according to joint space position shape command sequence, corresponding joint is obtained by calculus of differences and moves corresponding speed,
And formation speed curve；
S42. it is interval according to the resonant speed core of acquisition, detect whether that articulate movement velocity enters resonant speed core
Between heart district and resonate；
S43. entering and leaving joint configuration coordinate when resonant speed adjusts interval if determination corresponding joint if having, closing
Save speed and joint velocity.
S5. the rate curve to joint in vibration segment optimizes adjustment；Specific steps include：
S51. note joint velocity curve is in resonant speed v0When corresponding joint coordinates p0, joint velocity a0, when corresponding
Carve t0；
Joint velocity curve is in resonant speed regulation interval border v2Corresponding joint coordinates p during place2, joint velocity a2,
T at the time of correspondence2；
Joint velocity curve is in resonant speed regulation interval border v1Corresponding joint coordinates p during place1, joint velocity a1,
T at the time of correspondence1；
S52. five rank multinomial planning are carried out to joint coordinates, if the corresponding five rank multinomials curves of joint coordinates p are
P (t)=at5+b·t4+c·t3+d·t2+e·t1+f·t0,
Wherein a, b, c, d, e, f are polynomial parameters,
The corresponding rate curve in joint is
The corresponding accelerating curve in joint is
S53. by joint resonant speed v0Place's joint velocity is adjusted to ka0, wherein k is regulation parameter, k >=1；
By joint resonant speed v0Locate corresponding joint coordinates and be adjusted to λ p1+(1-λ)p2, wherein being λ regulation parameters, λ ∈
[0.5 1]；K and λ rule of thumb choose, and additional optimizations index can be set according to the actual requirements further excellent to k and λ progress
Change.
S54. interval [v is adjusted to resonant speed respectively1 v0] and [v0 v2] in joint velocity carry out planning and adjusting,
Subinterval [v1 v0] edge-restraint condition be：
p1=p (t1)=at1 5+b·t1 4+c·t1 3+d·t1 2+e·t1 1+f·t1 0
v1=v (t1)=5at1 4+4b·t1 3+3c·t1 2+2d·t1 1+1e·t1 0
a1=a (t1)=20at1 3+12b·t1 2+6c·t1 1+2d·t1 0
λp1+(1-λ)p2=at0 5+b·t0 4+c·t0 3+d·t0 2+e·t0 1+f·t0 0
v0=v (t0)=5at0 4+4b·t0 3+3c·t0 2+2d·t0 1+1e·t0 0
k·a0=a (t0)=20at0 3+12b·t0 2+6c·t0 1+2d·t0 0
Subinterval [v is obtained according to above-mentioned boundary condition1 v0] corresponding multinomial coefficient a, b, c, d, e, f；
Subinterval [v0 v2] edge-restraint condition be：
p2=p (t2)=at2 5+b·t2 4+c·t2 3+d·t2 2+e·t2 1+f·t2 0
v2=v (t2)=5at2 4+4b·t2 3+3c·t2 2+2d·t2 1+1e·t2 0
a2=a (t2)=20at2 3+12b·t2 2+6c·t2 1+2d·t2 0
λp1+(1-λ)p2=at0 5+b·t0 4+c·t0 3+d·t0 2+e·t0 1+f·t0 0
v0=v (t0)=5at0 4+4b·t0 3+3c·t0 2+2d·t0 1+1e·t0 0
k·a0=a (t0)=20at0 3+12b·t0 2+6c·t0 1+2d·t0 0
Subinterval [v is obtained according to above-mentioned boundary condition0 v2] corresponding multinomial coefficient a, b, c, d, e, f；
S55. according to speed subranges [v1 v0] and [v0 v2] the interior multinomial coefficient tried to achieve, determine respectively in subinterval
Rate curve, complete regulation to joint velocity.
S6. joint position shape command sequence is converted into according to the rate curve after optimization.
Embodiment 2：
The present embodiment is optimized and revised result to the progress vibration of simple joint motion process using specific example and illustrated.For
Without loss of generality, it is considered to which simple joint does one section of constant motion of acceleration, and do normalized to the boundary condition of motion,
I.e. joint initial position be p (0)=0 radian, initial velocity be v (0)=0 radian per second, initial acceleration be a (0)=0 radian/
Second2, motion process duration is 1 second, at the end of motion process, and desired locations target is p (1)=0.5 radian, desired speed
For v (1)=1 radian per second, it is a (1)=1 radian per second to expect acceleration2。
It is assumed that it is v=0.5 radian per seconds that the corresponding joint velocity of vibration, which occurs, for system, vibrating corresponding speed interval is
[0.3,0.7] radian per second.When not doing track optimizing, from uniformly accelrated rectilinear motion process, joint motions are in vibration velocity
Interval operation duration is 0.4 second, as shown in Fig. 3 finishing lines.
Adjustment is now optimized to the movement locus of robot using optimization method, in gained Optimal Curve result such as Fig. 3
Shown in dotted line.Now, joint motions are 0.12 second in the interval operation duration of vibration velocity.In contrast to the result being not optimised, close
Section motion shortens 70% in the interval operation duration of vibration velocity, and the vibration number of robot system operation is greatly diminished,
Improve the stationarity in robot running.
Embodiment 3：
The present embodiment is illustrated using specific example to Multi-link Robot Manipulators structure vibration controlling result.Herein
Provide the track optimizing Numerical Simulation Results that the six axle all-purpose robot platforms based on PUMA560 are carried out.It is assumed that puma560 is initial
Joint configuration coordinate is qn=[pi/2s 0 of 0 pi/2 π 0] radian.Operation task for control end flange vertically to
Upper 0.5 meter of motion and to preserve posture constant, the motion process duration is 1 second, and sets the resonant speed area of joint of robot 2
For 0.475 to 0.525 radian per second, siding-to-siding block length is about 50 revs/min.The SERVO CONTROL frequency of robot system is 5kHz, control
Cycle is 200 microseconds.When without track optimizing, the joint velocity curve corresponding to operation task is as shown in Figure 4.
It is 136 that joint 2 counts (vibration number) in the vibration velocity interval cycle of operation.Now using track optimizing method to closing
Section track is adjusted.Obtained operation task rate curve is as shown in Figure 5：Joint 2 in vibration velocity is interval operation when
Between length be 56 cycles, reduce 58.8% relative to not optimized result, robot is during operation task is performed
Substantially reduced by vibration caused by joint 2.Before and after optimization, the contrast of the rate curve of joint 2 is as shown in Figure 6.It can be seen that, Jin Jin
In vibration velocity is interval, both program resultses have differences, as shown in Figure 7 and Figure 8.From the figure, it can be seen that by optimization
The speed of joint 2 afterwards passes through the interval time reduction of vibration velocity, reduces tasks carrying deviation caused by vibration.And in vibration
Outside speed interval, it is optimized after perform track and the result before optimization be consistent, maintain operation task performs essence
Degree.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more having used task input module, adjusting module, trajectory planning unit, kinematics solution unit herein
Deng term, but it is not precluded from the possibility using other terms.Conciliate using these terms just for the sake of more easily description
Release the essence of the present invention；Any additional limitation is construed as all to disagree with spirit of the present invention.
Claims (7)
1. a kind of robot vibration controller based on track optimizing, it is characterised in that the task including being sequentially connected inputs mould
Block, adjusting module, control output module, trajectory planning unit that adjusting module includes being sequentially connected, kinematics solution unit, shake
Dynamic detection unit and track optimizing unit, task input module are connected with trajectory planning unit, and track optimizing unit and control are defeated
Go out module to be connected；
Trajectory planning unit：According to the operation task of input, operation task of the generation end effector in operating space discretization
Coordinate sequence；
Kinematics solution unit：According to operation task coordinate sequence, perform Inverse Kinematics Solution and calculate, the people's motion of generation control machine
Required joint position shape command sequence；
Vibration detecting unit：According to needed for joint position shape command sequence obtains robot execution operation task by calculus of differences
Joint velocity curve, and it is interval according to the resonant speed core in each joint, judge whether corresponding joint triggers system vibration；
Track optimizing unit：Adjustment is optimized to the speed trajectory for vibrating segment according to judged result.
2. a kind of robot vibration control method based on track optimizing, using the controller in claim 1, it is characterized in that bag
Include following steps：
S1. determine that each joint resonant speed regulation of robot is interval；
S2. operation task track is generated according to input operation task；
S3. kinematics solution is carried out to task track, obtains the joint position shape command sequence needed for control machine people motion；
S4. the vibration of each joint is judged in advance according to joint position shape command sequence；
S5. the rate curve to joint in vibration segment optimizes adjustment；
S6. joint position shape command sequence is converted into according to the rate curve after optimization.
3. a kind of robot vibration control method based on track optimizing according to claim 2, it is characterized in that step S1
In the interval obtaining step of each joint resonant speed regulation include：
S11. calculated according to robot system intrinsic vibration coefficient and obtain resonant speed v0, according to robot rigidity and mechanical index
Obtain resonant speed core interval [v10 v20]；
S12. according to resonant speed core interval [v10 v20] setting joint resonant speed regulation interval [v1 v2]。
4. a kind of robot vibration control method based on track optimizing according to claim 2, it is characterized in that step S2
Middle operation task Track Pick-up step includes：
S21. the geometric locus that end effector is continuously moved in operation task space is generated according to the operation task of input；
S22. by path curves discretization, task location/posture target point sequence in operation task space is obtained.
5. a kind of robot vibration control method based on track optimizing according to claim 4, it is characterized in that step S3
Middle joint position shape command sequence obtains detailed process and is：According to the structural parameters of robot system, to task location/posture target
Point sequence carries out kinematics solution, obtains the joint space configuration coordinate corresponding to robot manipulation's task, by joint space position
Shape coordinate is used as joint space position shape command sequence.
6. a kind of robot vibration control method based on track optimizing according to claim 5, it is characterized in that step S4
In the detailed process that is judged in advance vibrated to each joint included：
S41. according to joint space position shape command sequence, corresponding joint is obtained by calculus of differences and moves corresponding speed, and it is raw
Into rate curve；
S42. it is interval according to the resonant speed core of acquisition, detect whether that articulate movement velocity enters resonant speed core space
Between and resonate；
S43. the joint configuration coordinate, joint are fast when determining that corresponding joint is entering and leaving resonant speed regulation interval if having
Degree and joint velocity.
7. a kind of robot vibration control method based on track optimizing according to claim 6, it is characterized in that step S5
In the specific steps optimized and revised include：
S51. note joint velocity curve is in resonant speed v0When corresponding joint coordinates p0, joint velocity a0, t at the time of correspondence0；
Joint velocity curve is in resonant speed regulation interval border v2Corresponding joint coordinates p during place2, joint velocity a2, correspondence
At the time of t2；
Joint velocity curve is in resonant speed regulation interval border v1Corresponding joint coordinates p during place1, joint velocity a1, correspondence
At the time of t1；
S52. five rank multinomial planning are carried out to joint coordinates, if the corresponding five rank multinomials curves of joint coordinates p are
P (t)=at5+b·t4+c·t3+d·t2+e·t1+f·t0,
Wherein a, b, c, d, e, f are polynomial parameters,
The corresponding rate curve in joint is
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S53. by joint resonant speed v0Place's joint velocity is adjusted to ka0, wherein k is regulation parameter, k >=1；
By joint resonant speed v0Locate corresponding joint coordinates and be adjusted to λ p1+(1-λ)p2, wherein being λ regulation parameters, λ ∈ [0.5
1]；
S54. interval [v is adjusted to resonant speed respectively1 v0] and [v0 v2] in joint velocity carry out planning and adjusting,
Subinterval [v1 v0] edge-restraint condition be：
p1=p (t1)=at1 5+b·t1 4+c·t1 3+d·t1 2+e·t1 1+f·t1 0
v1=v (t1)=5at1 4+4b·t1 3+3c·t1 2+2d·t1 1+1e·t1 0
a1=a (t1)=20at1 3+12b·t1 2+6c·t1 1+2d·t1 0
λp1+(1-λ)p2=at0 5+b·t0 4+c·t0 3+d·t0 2+e·t0 1+f·t0 0
v0=v (t0)=5at0 4+4b·t0 3+3c·t0 2+2d·t0 1+1e·t0 0
k·a0=a (t0)=20at0 3+12b·t0 2+6c·t0 1+2d·t0 0
Subinterval [v is obtained according to above-mentioned boundary condition1 v0] corresponding multinomial coefficient a, b, c, d, e, f；
Subinterval [v0 v2] edge-restraint condition be：
p2=p (t2)=at2 5+b·t2 4+c·t2 3+d·t2 2+e·t2 1+f·t2 0
v2=v (t2)=5at2 4+4b·t2 3+3c·t2 2+2d·t2 1+1e·t2 0
a2=a (t2)=20at2 3+12b·t2 2+6c·t2 1+2d·t2 0
λp1+(1-λ)p2=at0 5+b·t0 4+c·t0 3+d·t0 2+e·t0 1+f·t0 0
v0=v (t0)=5at0 4+4b·t0 3+3c·t0 2+2d·t0 1+1e·t0 0
k·a0=a (t0)=20at0 3+12b·t0 2+6c·t0 1+2d·t0 0
Subinterval [v is obtained according to above-mentioned boundary condition0 v2] corresponding multinomial coefficient a, b, c, d, e, f；
S55. according to speed subranges [v1 v0] and [v0 v2] the interior multinomial coefficient tried to achieve, the speed in subinterval is determined respectively
Curve, completes the regulation to joint velocity.
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