CN107414824A - A kind of robot controller and control module - Google Patents
A kind of robot controller and control module Download PDFInfo
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- CN107414824A CN107414824A CN201710489265.6A CN201710489265A CN107414824A CN 107414824 A CN107414824 A CN 107414824A CN 201710489265 A CN201710489265 A CN 201710489265A CN 107414824 A CN107414824 A CN 107414824A
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- pneumatic muscles
- robot
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- moving platform
- control module
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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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
Abstract
The invention discloses a kind of robot controller and control module, the robot controller includes moving platform, silent flatform, spring supporting device, pneumatic muscles, force snesor, pressure sensor, ball pivot, revolute pair, proportional pressure valve；Control module includes the free degree compensating module based on inverse dynamics, moving platform speed is calmed module, pneumatic muscles dynamics module, Method of Calculation of Robotic Movements module.The control device realizes pneumatic muscles pulling force and pressure measxurement using force snesor and pressure sensor, and high-precision, the high response free degree of robot is controlled by the free degree compensating module of inverse dynamics, the calm module of moving platform speed, pneumatic muscles dynamics module, the realization of Method of Calculation of Robotic Movements module, it the composite can be widely applied to simulative automobile, flight simulation, game is simulated, VR/AR moves the fields such as simulation.
Description
Technical field
The present invention relates to a kind of robot controller and control module, belong to machinery equipment field.
Background technology
Traditional parallel robot is driven using hydraulic cylinder, cylinder or motor mostly, but these driver knots
Structure is complicated, power consumption is big, it is flexible to lack.And to be simulation organism muscle manufacture and design out pneumatic muscles, its is simple in construction,
Power density is big, quality is small, efficiency high, response are fast, and has good compliance as organism muscle, it is this naturally
Man-machine friendly cause pneumatic muscles in field of human-computer interaction such as driving simulator, anthropomorphic robot, rehabilitation physical therapy machine people
It is widely applied.Because gas has very strong compressibility and elastic by pneumatic muscles rubber tube and inside and outside rub
Very strong nonlinear characteristic be present, it is more difficult that accurate control ratio carried out to it in the influence of wiping etc., pneumatic muscles.For that can be succeeded
A kind of the characteristics of ground is applied to redundant parallel robot, and the present invention is directed to pneumatic muscles and parallel robot, it is proposed that robot
Control device and control module, the control device and control module can greatly improve the parallel robot of pneumatic muscles driving
Control accuracy, response characteristic, stability.
The content of the invention
The defects of to overcome prior art to be difficult to accurately control to pneumatic muscles stroke, the present invention are filled using a kind of control
Put and control module improve pneumatic muscles driving robot control accuracy, response characteristic, stability.
To achieve the above object, technical scheme is as follows：
A kind of robot controller and control module, the robot controller include moving platform, silent flatform, spring branch
Support arrangement, pneumatic muscles, force snesor, pressure sensor, ball pivot, revolute pair, proportional pressure valve；
The moving platform is installed on the spring supporting device above the silent flatform；
The spring supporting device is connected with the moving platform using the revolute pair with three degree of freedom；
The pneumatic muscles are parallel between the moving platform and the silent flatform using the ball pivot；
The force snesor and the pneumatic muscles are installed in series between the moving platform and the silent flatform；
The robot control module includes：Free degree compensating module, moving platform speed based on inverse dynamics are calmed mould
Block, pneumatic muscles dynamics module, Method of Calculation of Robotic Movements module；
The robot control module is controlled using following steps to robot：
The first step, calculate pneumatic muscles and it is expected output, desired length and it is expected expansion and contraction；
Second step, check in pneumatic muscles the blowing pressure desired value；
3rd step, check in the actual expansion and contraction of pneumatic muscles and calculate physical length；
4th step, calculating robot's moving platform attained pose；
5th step, calculate pneumatic muscles the blowing pressure；
The control module is arranged in control cabinet, and control casing is fixed on the control device silent flatform.
In the preferred technical solution of the present invention, the blowing pressure of the pneumatic muscles is controlled by proportional pressure valve, the ratio
Example pressure valve is furnished with pressure sensor, can feed back pneumatic muscles operating pressure to the control module in real time.
In the preferred technical solution of the present invention, in the free degree compensating module based on inverse dynamics, the calculating of inverse dynamics
Method can use Newton-Euler Method, Lagrangian method, Kai Enfa, principle of virtual work method, differential geometry principle method, spinor antithesis
Number method, Gauss method.
In the preferred technical solution of the present invention, the inverse dynamics calculating side in the free degree compensating module of the inverse dynamics
The robot pose parameter that method uses, attained pose data or expected pose data can be selected；Need to divide when inverse dynamics calculate
Analyse spring supporting resistance；In the case where not considering inertia force and coriolis force, inverse dynamics can be reduced to only consider gravity
With the inverse statics module of elastic force.
In the preferred technical solution of the present invention, the moving platform speed is calmed module, by pneumatic muscles physical length
Carry out single order high-pass filtering, multiplied by with scale factor, the additional inflation pressure as pneumatic muscles.
In the preferred technical solution of the present invention, the relation of power, air pressure and stroke in the pneumatic muscles dynamics module
Obtained by the way of dynamic table inquiry；Any two amount in known force, air pressure and the amount of stroke three is tabled look-up acquisition
3rd amount；In the case where taking into full account pneumatic muscles nonlinear characteristic, the blowing pressure of pneumatic muscles is stretched according to what is estimated
Contracting amount obtains with output On-line Timing Plan Selection；The actual stroke of pneumatic muscles is according to the actual output and operating pressure of pneumatic muscles
On-line Timing Plan Selection obtains；Attribute testing of the data from pneumatic muscles in dynamic table.
In the preferred technical solution of the present invention, Method of Calculation of Robotic Movements module is using the inferior method of newton pressgang, nerve net
Network Function Mapping method is realized.
In the preferred technical solution of the present invention, the specific implementation process of the control module includes the following steps：
The first step, calculate pneumatic muscles and it is expected output, desired length and it is expected expansion and contraction：
According to the expected pose q of parallel robot moving platform, speedAccelerationCalculated using inverse dynamics of robot
Pneumatic muscles it is expected output fp,d：
In formula, fp,dIt is expected to contribute for parallel robot pneumatic muscles；Mp(q) it is the mass matrix of parallel robot；For Ge Shi/centripetal force；Gp(q) it is gravity item；Fp(q) it is elastic force item；Jpq(q) it is parallel robot Jacobi square
Battle array；Q,Respectively expected pose, speed, acceleration of the moving platform with respect to silent flatform；For matrix Jpq(q)
Inverse transposed matrix；
According to the expected pose q of parallel robot moving platform, using robot kinematics' anti-phase for solving calculating pneumatic muscles
Hope length ld,i：
In formula, R is rotational transformation matrix；P is position vector of the upper hinge in moving coordinate system；B is that lower hinge is being sat quietly
Position vector in mark system；T is the translation vector of the relatively quiet coordinate system of moving platform；Ld,iFor i-th of pneumatic muscles length vector；
ld,iFor the length of i-th of pneumatic muscles, and it is scalar；(*)TFor the transposition of (*)；Radical sign operation is opened for (*)；(*)iTable
Show i-th of element of (*)；
Calculate the expectation expansion and contraction ε of pneumatic musclesd,i
εd,i=(ld,i-li,0)/lf,0
In formula, εd,iIt is expected expansion and contraction for i-th of pneumatic muscles；li,0For i-th of pneumatic muscles initial length, and it is mark
Amount；lf,0For i-th of pneumatic muscles drift, and it is scalar；
Second step, check in pneumatic muscles the blowing pressure desired value：
It is expected output f according to pneumatic musclesp,dWith it is expected expansion and contraction εd,i, tabled look-up using dynamic table and show that pneumatic muscles fill
Atmospheric pressure desired value Pd,i；
Pd,i=F1(fp,d,i,εd,i)
In formula, Pd,iFor pneumatic muscles the blowing pressure desired value；F (x, y) represents the function being made up of variable x and variable y；
F (x, y) value can be checked in using dynamic table according to variable x and variable y value；F1(fp,d,i,εd,i) it is according to variable
fp,d,iAnd variable εd,iTo check in Pd,iFunction；
3rd step, check in the actual expansion and contraction of pneumatic muscles and calculate physical length：
According to the force sensor measuring value f of every pneumatic musclesm,iWith pressure sensor measurements Pm,i, using dynamic table
Table look-up and provide the actual expansion and contraction ε of every pneumatic musclesa,i, and calculate every pneumatic muscles physical length la,i；
εa,i=F2(fm,i,Pm,i)
la,i=lf,0εa,i+li,0
In formula, εa,iFor i-th actual expansion and contraction of pneumatic muscles；la,iFor i-th pneumatic muscles physical length, and it is mark
Amount； F2(fm,i,Pm,i) it is according to variable fm,iAnd variable Pm,iTo check in εa,iFunction；
4th step, calculating robot's moving platform attained pose：
According to the physical length L of pneumatic musclesa, it is actual based on Method of Calculation of Robotic Movements modular computer device people moving platform
Pose qe：
In formula；J is iterations；qe(j+1) q after+1 iterative calculation of jth is representedeValue；qe(j) iteration j is represented
Q after calculatingeValue；(*)-1For the inverse operation of (*)；LaFor by each pneumatic muscles physical length la,iThe vector of composition；L (j) tables
Show the pneumatic muscles length vector of iteration j；
5th step, calculate pneumatic muscles the blowing pressure：
Based on the robot moving platform attained pose q obtained by expected pose q and the 4th stepe, design and be based on the machine
The inverse dynamics free degree compensating module of people's forward kinematics solution module：
In formula, QΔ(t) it is the free degree compensating module of robot；fpTo be contributed after parallel robot pneumatic muscles amendment；
E (t)=q-qeFor robot moving platform position and attitude error；KP, KI, KdRespectively ratio battle array, integration battle array and differential battle array；∫ (*) dt tables
Show integration operation；Represent * derivation operation；
According to the f that contributed after pneumatic muscles amendmentpWith it is expected expansion and contraction εd,i, tabled look-up using dynamic table and draw pneumatic muscles
The blowing pressure correction value Pi：
Pi=F1(fp,i,εd,i)
In formula, PiFor i-th of pneumatic muscles the blowing pressure correction value；
To the physical length l of every pneumatic musclesa,iSingle order high-pass filtering is carried out, its result is multiplied by scale factor kp,i, make
For pneumatic muscles additional inflation pressure PΔ,i：
In formula, PΔ,iFor pneumatic muscles additional inflation pressure, this additional inflation pressure PΔ,iFor entering scanning frequency to moving platform
Degree is calm； kp,iFor the scale factor of setting；TcFor filter constant；S is derivation operation；
Based on free degree compensating module and the calm module of speed, the blowing pressure P of parallel robot pneumatic musclesi' be：
Pi'=Pi+PΔ,i
In formula, PiFor i-th of pneumatic muscles the blowing pressure correction value；PΔ,iFor the additional inflation pressure of pneumatic muscles.
It is described pneumatic in the 5th step during the control module specific implementation in the preferred technical solution of the present invention
Muscle additional inflation pressure can use other two ways to obtain：Low pass filtered is carried out using the physical length to pneumatic muscles
Difference after ripple, is obtained multiplied by with scale factor；Or the physical length based on pneumatic muscles is counted using extended mode observer ESO
Flexible speed is calculated, is obtained multiplied by with scale factor.
The advantage of the invention is that：
(1) stability is good：For the present invention on the basis of the nonlinear characteristic of pneumatic muscles is taken into full account, pneumatic muscles are simple
Stress control be transformed into the control of accurate power, this to use advanced inverse metabolic engineering.And reserve motion power
Learn module and then make it that system converting is double integrator link, its stability is fully ensured that under PD proportion-plus-derivative controls；
(2) precision is high：The present invention adds free degree compensation control on the basis of inverse metabolic engineering, can offset weight
Power load and site error caused by elastic load change；
(3) response quickly：The tri-consult volume relation such as power, air pressure and stroke is adopted in pneumatic muscles dynamics module in the present invention
Being obtained with dynamic table inquiry mode, any two amount in known three amounts is tabled look-up and can obtain the 3rd amount, and this
It is non-linear to eliminate pneumatic muscles through in the power and Stress control, freedom calculation and compensation tache of pneumatic muscles for relation
Influence, avoid the overshoot occurred in being controlled using conventional linear and rebound phenomenon, improve pneumatic muscles quick response energy
Power.
Brief description of the drawings
Fig. 1 is robot controller structural representation of the present invention.
Fig. 2 is robot controller of the present invention and control module workflow diagram.
Embodiment
The specific implementation to the present invention is described in detail below in conjunction with the accompanying drawings.
As shown in figure 1, robot controller and control module include control device 10 and control module 20, wherein described
Control device 10 includes moving platform 11, silent flatform 12, spring supporting device 13, pneumatic muscles 14, force snesor 15 and pressure
Sensor 16, ball pivot 17, the (not shown) of revolute pair 18, proportional pressure valve 19 (as shown in Figure 2)；
The moving platform 11 is installed on the spring supporting device 13 above the silent flatform 12；
The spring supporting device 13 is linked with the moving platform 11 using the revolute pair 18 with three degree of freedom；
The pneumatic muscles 14 are parallel between the moving platform 11 and silent flatform 12 using ball pivot 17；
The force snesor 15 and the pneumatic muscles 14 be installed in series in the moving platform 11 and the silent flatform 12 it
Between；
The robot control module 20 includes：Pneumatic muscles dynamics module 21, Method of Calculation of Robotic Movements module 22,
Free degree compensating module 23, moving platform speed based on inverse dynamics are calmed module 24；
The robot control module 20 is controlled using following steps to robot：
The first step, calculate pneumatic muscles 14 and it is expected output, desired length and it is expected expansion and contraction：
According to the expected pose q of parallel robot moving platform 11, speedAccelerationUsing inverse dynamics of robot meter
Calculate pneumatic muscles 14 and it is expected output fp,d：
In formula, fp,dIt is expected to contribute for parallel robot pneumatic muscles 14；Mp(q) it is the mass matrix of parallel robot；For Ge Shi/centripetal force；Gp(q) it is gravity item；Fp(q) it is elastic force item；Jpq(q) it is parallel robot Jacobi square
Battle array；Q,Respectively expected pose, speed, acceleration of the moving platform 11 with respect to silent flatform 12；For matrix
Jpq(q) inverse transposed matrix；
According to the expected pose q of parallel robot moving platform 11, pneumatic muscles 14 are calculated using counter solve of robot kinematics
Desired length ld,i：
In formula, R is rotational transformation matrix；P is position vector of the upper hinge of ball pivot 17 in moving coordinate system；B is ball pivot
Position vector of the 17 lower hinge in quiet coordinate system；T is the translation vector of the relatively quiet coordinate system of moving platform 11；Ld,iFor i-th
The individual length vector of pneumatic muscles 14；ld,iFor the length of i-th of pneumatic muscles 14, and it is scalar；(*)TFor the transposition of (*)；Radical sign operation is opened for (*)；(*)iRepresent i-th of element of (*)；
Calculate the expectation expansion and contraction ε of pneumatic muscles 14d,i
εd,i=(ld,i-li,0)/lf,0
In formula, εd,iIt is expected expansion and contraction for i-th of pneumatic muscles 14；li,0For i-th of initial length of pneumatic muscles 14, and it is
Scalar； lf,0For i-th of drift of pneumatic muscles 14, and it is scalar；
Second step, check in the blowing pressure desired value of pneumatic muscles 14：
The relation of power, air pressure and stroke is by the way of dynamic table inquiry in the pneumatic muscles dynamics module 21
Obtain；Any two amount in three known force, air pressure and stroke amounts, which is tabled look-up, obtains the 3rd amount；Taking into full account gas
In the case of the dynamic nonlinear characteristic of muscle 14, the air pressure input order of proportional pressure valve 19 is according to the stroke and output estimated
On-line Timing Plan Selection obtains；The actual stroke of pneumatic muscles 14 is looked into according to the actual output of pneumatic muscles 14 with operating pressure dynamic
Table obtains；Attribute testing of the data from pneumatic muscles 14 in dynamic table.
It is expected output f according to pneumatic muscles 14p,dWith it is expected expansion and contraction εd,i, tabled look-up using dynamic table and draw pneumatic muscles
14 the blowing pressure desired value Pd,i；
Pd,i=F1(fp,d,i,εd,i)
In formula, Pd,iFor the blowing pressure desired value of pneumatic muscles 14；F (x, y) represents the letter being made up of variable x and variable y
Number；F (x, y) value can be checked in using dynamic table according to variable x and variable y value；F1(fp,d,i,εd,i) it is according to variable
fp,d,iAnd variable εd,iTo check in Pd,iFunction；
Relation under different pressures between pneumatic muscles output f and expansion and contraction ε
3rd step, check in 14 actual expansion and contraction of pneumatic muscles and calculate physical length：
According to the measured value f of force snesor 15 of every pneumatic muscles 14m,iWith the measured value P of pressure sensor 16m,i, using dynamic
State form, which is tabled look-up, provides the actual expansion and contraction ε of every pneumatic muscles 14a,i, and calculate the every physical length l of pneumatic muscles 14a,i；
εa,i=F2(fm,i,Pm,i)
la,i=lf,0εa,i+li,0
In formula, εa,iFor i-th 14 actual expansion and contraction of pneumatic muscles；la,iFor i-th physical length of pneumatic muscles 14, and it is
Scalar； F2(fm,i,Pm,i) it is according to variable fm,iAnd variable Pm,iTo check in εa,iFunction；
4th step, the attained pose of calculating robot's moving platform 11：
According to the physical length L of pneumatic muscles 14a, based on the calculating robot's moving platform of Method of Calculation of Robotic Movements module 22
11 attained pose qe：
In formula；J is iterations；qe(j+1) q after+1 iterative calculation of jth is representedeValue；qe(j) iteration j is represented
Q after calculatingeValue；(*)-1For the inverse operation of (*)；LaFor by each physical length l of pneumatic muscles 14a,iThe vector of composition；L(j)
Represent the length vector of pneumatic muscles 14 of iteration j；
5th step, calculate the blowing pressure of pneumatic muscles 14：
Based on the attained pose q of robot moving platform 11 obtained by expected pose q and the 4th stepe, design and be based on the machine
The inverse dynamics free degree compensating module 23 of device people's forward kinematics solution module 22：
In formula, QΔ(t) it is the inverse dynamics free degree compensating module 23 of robot；fpFor parallel robot pneumatic muscles 14
Contributed after amendment；E (t)=q-qeFor the position and attitude error of robot moving platform 11；KP, KI, KdRespectively ratio battle array, integration battle array and
Differential battle array；∫ (*) dt represents integration operation；Represent * derivation operation；
Contribute f after being corrected according to pneumatic muscles 14pWith it is expected expansion and contraction εd,i, tabled look-up using dynamic table and draw pneumatic flesh
The blowing pressure correction value P of meat 14i：
Pi=F1(fp,i,εd,i)
In formula, PiFor i-th of the blowing pressure correction value of pneumatic muscles 14；
The moving platform speed is calmed module 24, by carrying out single order high-pass filtering to the physical length of pneumatic muscles 14, then
Scale factor is multiplied by, the additional control as proportional pressure valve 19 inputs.
To the physical length l of every pneumatic muscles 14a,iSingle order high-pass filtering is carried out, its result is multiplied by scale factor kp,i,
As the additional inflation pressure P of pneumatic muscles 14Δ,i：
In formula, PΔ,iFor the additional inflation pressure of pneumatic muscles 14, this additional inflation pressure PΔ,iFor entering to moving platform 11
Scanning frequency degree is calmed；kp,iFor the scale factor of setting；TcFor filter constant；S is derivation operation；
Based on inverse dynamics free degree compensating module 23 and the calm module 24 of moving platform speed, parallel robot pneumatic muscles
14 the blowing pressure Pi' be：
Pi'=Pi+PΔ,i
In formula, PiFor i-th of the blowing pressure correction value of pneumatic muscles 14；PΔ,iFor the additional inflation pressure of pneumatic muscles 14.
The embodiment of other two kinds of acquisition modes of additional inflation pressure, i.e., a kind of is using difference after LPF, again
Be multiplied by the mode of scale factor, another kind is to calculate flexible speed using extended mode observer ESO, multiplied by with ratio because
The mode of son, will not be described in detail herein, but still be used as protection scope of the present invention.
Five steps more than, the blowing pressure of pneumatic muscles 14 are calculated using robot control module 20, this fills
Control input of the atmospheric pressure as proportional pressure valve 19, passing ratio pressure valve 19 carry out the Stress control of pneumatic muscles 14, from
And the stretching motion of pneumatic muscles 14 is realized, the expectation rail of moving platform 11 can be achieved in the cooperation of each stretching motion of pneumatic muscles 14
Mark moves, you can completes the accurate control to robot moving platform 11.
Although the present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art, its
The technical scheme described in previous embodiment can still be modified, or similar replace is carried out to which part technical characteristic
Change, any modification for being made within the spirit and principles of the invention, improvement, replacement etc., be all contained in the protection of the present invention
Within the scope of.
Claims (9)
1. a kind of robot controller and control module, the robot controller includes moving platform, silent flatform, spring supporting
Device, pneumatic muscles, force snesor, pressure sensor, ball pivot, revolute pair, proportional pressure valve；
The moving platform is installed on the spring supporting device above the silent flatform；
The spring supporting device is connected with the moving platform using the revolute pair with three degree of freedom；
The pneumatic muscles are parallel between the moving platform and the silent flatform using the ball pivot；
The force snesor and the pneumatic muscles are installed in series between the moving platform and the silent flatform；
The robot control module includes：Free degree compensating module, moving platform speed based on inverse dynamics are calmed module, gas
Dynamic muscular motivation module, Method of Calculation of Robotic Movements module；
The robot control module is controlled using following steps to robot：
The first step, calculate pneumatic muscles and it is expected output, desired length and it is expected expansion and contraction；
Second step, check in pneumatic muscles the blowing pressure desired value；
3rd step, check in the actual expansion and contraction of pneumatic muscles and calculate physical length；
4th step, calculating robot's moving platform attained pose；
5th step, calculate pneumatic muscles the blowing pressure；
The control module is arranged in control cabinet, and control casing is fixed on the control device silent flatform.
2. robot controller according to claim 1 and control module, it is characterised in that：The pneumatic muscles fill
Atmospheric pressure is controlled by proportional pressure valve, and the proportional pressure valve is furnished with pressure sensor, can be fed back in real time to the control module
Pneumatic muscles operating pressure.
3. robot control module according to claim 1, it is characterised in that：Free degree compensation mould based on inverse dynamics
In block, the computational methods of inverse dynamics can use Newton-Euler Method, Lagrangian method, Kai Enfa, principle of virtual work method, differential several
What principle method, spinor dual numbers method, Gauss method.
4. robot control module according to claim 1, it is characterised in that：The free degree compensation mould of the inverse dynamics
The robot pose parameter that inverse dynamics computational methods in block use, attained pose data or expected pose data can be selected；
Inverse dynamics need to analyze spring supporting resistance when calculating；In the case where not considering inertia force and coriolis force, inverse dynamics
The inverse statics module of gravity and elastic force can be reduced to only consider.
5. robot control module according to claim 1, it is characterised in that：The moving platform speed is calmed module, is led to
Cross and single order high-pass filtering, multiplied by with scale factor, the additional inflation pressure as pneumatic muscles are carried out to pneumatic muscles physical length
Power.
6. robot controller according to claim 1 and control module, it is characterised in that：The pneumatic muscles power
The relation for learning power, air pressure and stroke in module is obtained by the way of dynamic table inquiry；In known force, air pressure and stroke
Any two amount in three amounts, which is tabled look-up, obtains the 3rd amount；In the case where taking into full account pneumatic muscles nonlinear characteristic, gas
The blowing pressure of dynamic muscle obtains according to the stroke estimated and output On-line Timing Plan Selection；The actual stroke of pneumatic muscles is according to gas
The actual output of dynamic muscle obtains with operating pressure On-line Timing Plan Selection；Characteristic examination of the data from pneumatic muscles in dynamic table
Test.
7. robot control module according to claim 1, it is characterised in that：Method of Calculation of Robotic Movements module uses ox
Dun Lafuxun methods, neural network function mapping method are realized.
8. robot controller according to claim 1 and control module, it is characterised in that：The tool of the control module
Body implementation process includes the following steps：
The first step, calculate pneumatic muscles and it is expected output, desired length and it is expected expansion and contraction：
According to the expected pose q of parallel robot moving platform, speedAccelerationCalculated using inverse dynamics of robot pneumatic
Muscle it is expected output fp,d：
In formula, fp,dIt is expected to contribute for parallel robot pneumatic muscles；Mp(q) it is the mass matrix of parallel robot；For
Ge Shi/centripetal force；Gp(q) it is gravity item；Fp(q) it is elastic force item；Jpq(q) it is parallel robot Jacobian matrix；Q,
Respectively expected pose, speed, acceleration of the moving platform with respect to silent flatform；For matrix Jpq(q) square is put in reverse
Battle array；
According to the expected pose q of parallel robot moving platform, grown using the anti-expectation for solving calculating pneumatic muscles of robot kinematics
Spend ld,i：
In formula, R is rotational transformation matrix；P is position vector of the upper hinge in moving coordinate system；B is lower hinge in quiet coordinate system
In position vector；T is the translation vector of the relatively quiet coordinate system of moving platform；Ld,iFor i-th of pneumatic muscles length vector；ld,iFor
The length of i-th of pneumatic muscles, and be scalar；(*)TFor the transposition of (*)；Radical sign operation is opened for (*)；(*)iRepresent
I-th of element of (*)；
Calculate the expectation expansion and contraction ε of pneumatic musclesd,i
εd,i=(ld,i-li,0)/lf,0
In formula, εd,iIt is expected expansion and contraction for i-th of pneumatic muscles；li,0For i-th of pneumatic muscles initial length, and it is scalar；
lf,0For i-th of pneumatic muscles drift, and it is scalar；
Second step, check in pneumatic muscles the blowing pressure desired value：
It is expected output f according to pneumatic musclesp,dWith it is expected expansion and contraction εd,i, tabled look-up using dynamic table and draw pneumatic muscles inflation pressure
Power desired value Pd,i；
Pd,i=F1(fp,d,i,εd,i)
In formula, Pd,iFor pneumatic muscles the blowing pressure desired value；F (x, y) represents the function being made up of variable x and variable y；F(x,
Y) value can be checked in using dynamic table according to variable x and variable y value；F1(fp,d,i,εd,i) it is according to variable fp,d,iAnd become
Measure εd,iTo check in Pd,iFunction；
3rd step, check in the actual expansion and contraction of pneumatic muscles and calculate physical length：
According to the force sensor measuring value f of every pneumatic musclesm,iWith pressure sensor measurements Pm,i, tabled look-up using dynamic table
Provide the actual expansion and contraction ε of every pneumatic musclesa,i, and calculate every pneumatic muscles physical length la,i；
εa,i=F2(fm,i,Pm,i)
la,i=lf,0εa,i+li,0
In formula, εa,iFor i-th actual expansion and contraction of pneumatic muscles；la,iFor i-th pneumatic muscles physical length, and it is scalar；F2
(fm,i,Pm,i) it is according to variable fm,iAnd variable Pm,iTo check in εa,iFunction；
4th step, calculating robot's moving platform attained pose：
According to the physical length L of pneumatic musclesa, based on Method of Calculation of Robotic Movements modular computer device people's moving platform attained pose
qe：
In formula, j is iterations；qe(j+1) q after+1 iterative calculation of jth is representedeValue；qe(j) represent that iteration j calculates
Q afterwardseValue；(*)-1For the inverse operation of (*)；LaFor by each pneumatic muscles physical length la,iThe vector of composition；L (j) represents jth
The pneumatic muscles length vector of secondary iteration；
5th step, calculate pneumatic muscles the blowing pressure：
Based on the robot moving platform attained pose q obtained by expected pose q and the 4th stepe, design and be based on the robot motion
Learn the inverse dynamics free degree compensating module of normal solution module：
In formula, QΔ(t) it is the free degree compensating module of robot；fpTo be contributed after parallel robot pneumatic muscles amendment；E (t)=
q-qeFor robot moving platform position and attitude error；KP, KI, KdRespectively ratio battle array, integration battle array and differential battle array；∫ (*) dt represents integration
Operation；Represent * derivation operation；
According to the f that contributed after pneumatic muscles amendmentpWith it is expected expansion and contraction εd,i, tabled look-up using dynamic table and draw pneumatic muscles inflation pressure
Power correction value Pi：
Pi=F1(fp,i,εd,i)
In formula, PiFor i-th of pneumatic muscles the blowing pressure correction value；
To the physical length l of every pneumatic musclesa,iSingle order high-pass filtering is carried out, its result is multiplied by scale factor kp,i, as gas
Dynamic muscle additional inflation pressure PΔ,i：
In formula, PΔ,iFor pneumatic muscles additional inflation pressure, this additional inflation pressure PΔ,iFor carrying out speed town to moving platform
It is fixed；kp,iFor the scale factor of setting；TcFor filter constant；S is derivation operation；
Based on free degree compensating module and the calm module of speed, the blowing pressure P of parallel robot pneumatic musclesi' be：
Pi'=Pi+PΔ,i
In formula, PiFor i-th of pneumatic muscles the blowing pressure correction value；PΔ,iFor the additional inflation pressure of pneumatic muscles.
9. robot controller according to claim 8 and control module, it is characterised in that：The control module is specific
In the 5th step in implementation process, the pneumatic muscles additional inflation pressure can use other two ways to obtain：I.e. using pair
The physical length of pneumatic muscles carries out difference after LPF, is obtained multiplied by with scale factor；Or the reality based on pneumatic muscles
Length calculates flexible speed using extended mode observer ESO, is obtained multiplied by with scale factor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113305879A (en) * | 2021-04-09 | 2021-08-27 | 南开大学 | Robot control system and method based on joint angle and muscle length measurement |
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| CN105904436A (en) * | 2016-04-22 | 2016-08-31 | 燕山大学 | Associated movement-free two-rotation and one-movement parallel mechanism |
| CN106677237A (en) * | 2016-11-30 | 2017-05-17 | 广西大学 | Method for adopting servo motor driving variable-mobility multi-connecting-rod mechanism for conducting industrial waste grabbing and loading work |
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| EP1306792A2 (en) * | 2001-10-29 | 2003-05-02 | Honda Giken Kogyo Kabushiki Kaisha | Simulation system, method and computer program for human augmentation devices |
| CN1909017A (en) * | 2006-08-18 | 2007-02-07 | 浙江大学 | Air-actuated muscle motion analog control platform device and posture control method |
| CN105904436A (en) * | 2016-04-22 | 2016-08-31 | 燕山大学 | Associated movement-free two-rotation and one-movement parallel mechanism |
| CN106677237A (en) * | 2016-11-30 | 2017-05-17 | 广西大学 | Method for adopting servo motor driving variable-mobility multi-connecting-rod mechanism for conducting industrial waste grabbing and loading work |
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| CN113305879A (en) * | 2021-04-09 | 2021-08-27 | 南开大学 | Robot control system and method based on joint angle and muscle length measurement |
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