CN107414834A - A kind of multirobot cooperative system Static stiffness real-time performance evaluation method - Google Patents
A kind of multirobot cooperative system Static stiffness real-time performance evaluation method Download PDFInfo
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- CN107414834A CN107414834A CN201710683026.4A CN201710683026A CN107414834A CN 107414834 A CN107414834 A CN 107414834A CN 201710683026 A CN201710683026 A CN 201710683026A CN 107414834 A CN107414834 A CN 107414834A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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- G05B2219/39064—Learn kinematics by ann mapping, map spatial directions to joint rotations
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Abstract
The present invention provides a kind of multirobot cooperative system rigidity property evaluation method of no attachment device.Stiffness matrix constitution and implementation joint of robot rigidity identification scheme is operated based on robot kinematics' transfer matrix and robot end, obtains the actual joint stiffness of accurate robot.Real-time joint angles are fed back using robotic system software to build robot Jacobian matrix, and the joint stiffness parameter picked out by Jacobian matrix and robot forms multirobot cooperative system Bulk stiffness matrix.Visual representation is carried out to the real-time rigidity of robot by Robot Stiffness matrix ellipsoid, while Robot Stiffness evaluation is carried out for evaluation index from the maximum of system stiffness matrix exgenvalue.The rigidity property based on double KUKA KR_16 robots cooperative systems, which is devised, finally by GUI design interfaces evaluates visualization interface.
Description
Technical field
The invention belongs to processing of robots applied technical field, is related to a kind of industrial robot system's Static stiffness performance evaluation
Application technology, particularly it is a kind of for multirobot cooperative system machining accuracy lifting robot system allomeric function evaluation
Method.
Background technology
As manufacturing industry is to " intellectuality ", the transformation of " Collaborative ", multiple co-operating autonomous production patterns of robot
It will be more widely used.Under high efficiency, high-precision production requirement, what current multirobot coordinated operation system faced
One important difficult point is how to lift machining accuracy.Rigidity is to influence the principal element of robot location's precision and dynamic property,
It is, it is necessary to which preferably rigidity lifts the resistance to overturning of multi-robot system, so as to be lifted when performing more complicated task
Processing of robots precision.It is logical that Robot Stiffness machining posture progress stiffness estimation can be solved effectively for the present Research of rigidity
The low problem of precision certainly caused by machining posture.Hoisting machine people's stiffness method of main flow is strengthened by special rigidity at present
Device reduces the mismachining tolerance that joint of robot flexible-belt comes.Such method needs to carry out special joint stiffness regulation to robot
Design, the versatility of industrial robot application is limited while the design difficulty of robot is added.It is another then pass through
Special fixture is clamped and positioned to work piece, reduces limitation of the device initial error to machining accuracy.But the method pair
Each work piece all needs special fixture, and its expensive expense brings great puzzlement to industrial production.
Therefore, for existing multirobot application technology, a kind of rational Robot Stiffness method of evaluating performance is proposed
The machining accuracy of robot is lifted, the versatility for lifting industrial robot work in-process is significant.
The content of the invention
It is an object of the invention to solve the deficiency in existing multirobot Combined process technology, there is provided a kind of without additional dress
The Robot Stiffness performance evaluation scheme put is with hoisting machine people's machining accuracy.It is characterized in that multirobot coordinated operation system
Multiple coupled kinematic chain can be formed, is to drive diarthrodial viewpoint, multirobot cooperative system rigidity based on each joint of industrial robot
Evaluation problem belongs to the research category of statically indeterminate problem.Machine is implemented based on robot kinematics' matrix and stiffness matrix set up the condition
Device person joint rigidity identification scheme obtains the accurate actual joint stiffness of robot, feeds back structure using the real-time joint angles of robot
Robot Jacobian matrix is built, multirobot cooperative system integral rigidity is formed by the actual joint of Jacobian matrix and robot
Matrix.Visual representation is carried out to the real-time rigidity of robot using Robot Stiffness matrix ellipsoid, it is special from system stiffness matrix
The maximum of value indicative is that evaluation index carries out Robot Stiffness evaluation.
To achieve the above object, the present invention uses following technical schemes：
(1) joint of robot rigidity identification scheme is implemented based on robot kinematics' matrix and stiffness matrix set up the condition；
Six-DOF robot end effector matrix general type is as follows：
K is that robot end operates the matrix of rigidity 6 × 6,It is transition matrix of the work piece center to robot base, pe
It is motion vector, work piece center is pointed to by robot end,Joint stiffness matrix, J are robot Jacobian matrix.
When machine is subject to processing active force, machine end produces broad sense offset, and robot is formed by power and generalized displacement
Rigidity fit equation
Bi is the observing matrix of n groups 6 × 6 in formula (2), and Di is measurement n foots generalized displacement measurement vector.Due to measurement error
In the presence of formula (2) can obtain six joint stiffness value c of actual six-DOF robot by least square fittingi(i=1,
2…6)。
(2) real-time multirobot collaboration stiffness matrix is established based on industrial robot practical stiffness value
K=K1+K2…+Kn (3)
The end effector stiffness matrix of individual machine individual human is given in derivation formula (1), whole system is moved
Chain link coupling obtains robot system rigidity and the linear superposition of machine individual human stiffness matrix.
(3) visual representation is carried out to the real-time stiffness matrix of robot using matrix ellipsoid；
Robot Stiffness matrix is 6 × 6 real symmetric matrixs, and the relation of robot end's generalized displacement and broad sense force vector is simultaneously
It is not one-to-one, but according to matrix kijFormation influences each other the relation of being mutually related, therefore can not intuitively find out machine
Rigidity property is good and bad under some posture of device people.For this, we establish Robot Stiffness matrix ellipsoid：
Assuming that robot end is all the time by the broad sense force vector of τ=1
τ·τT=1 (4)
Established by the relation of Robot Generalized force vector and operation stiffness matrix
The expression that formula (5) represents is with the related elliptic equation of matrix K.Above formula can be carried out by three-dimensional drawing software firm
The drafting of ellipsoid is spent, this image is loaded into robot control system, can also pass through figure while robot pose is adjusted
As rigidity property under intuitively observer robot system current pose.
(4) multirobot cooperative system rigidity property is evaluated
Robot Stiffness matrix can not directly express the quality of Robot Stiffness performance, and the present invention cooperates with for multirobot
The multiple coupled characteristic of system, use for reference matrix Ruili business in a matrix with establishing multi-robot system stiffness matrix Ruili business,
A scalar directly perceived is obtained, quantization signifying multirobot collaboration rigidity property, functional evaluation is carried out to it whereby.
More machines collaboration stiffness matrix is divided into four submatrixs according to the relation of power and deformation：
Wherein submatrix KfdIt is to characterize linear displacement and the relation before linear force：
Stiffness matrix Ruili business can be represented with the length of vector, derive cooperative system stiffness matrix submatrix KfdIt is auspicious
Beautiful business's expression formula, it is the ratio between length square of flat method and end deformation failure in love of robot end's generalized force vector length.
Evaluation index of the stiffness matrix Ruili quotient of calculating as Robot Stiffness matrix, then have：
| f |=H | d | (9)
H expressions cause the external force size that robot cooperative system unit deformation needs apply, and H is bigger, illustrate that structure is resisted
Deformability is bigger, and H is smaller, then illustrates that the ability of system attack deformation is poorer.H is d function, is become with d direction change
Change, if KTK characteristic value is λ1≤λ1≤…λn, according to KTK property can proveSo we choose K
Minimal eigenvalue as rigidity property index I.According to k we can see that the robot collaboration under the configuration of middle joint angles is
Rigidity property of uniting is good and bad.
The present invention is compared with prior art compared with thiing have the advantage that：
Joint stiffness identification need to be only carried out to industrial robot can complete follow-up real-time rigidity property evaluation, method step
Rapid simple, real-time is good.Domestic and international all kinds of patents is traveled through, the invention belongs to carried out performance point to multi-robot system rigidity first
Analysis, and this rigidity property evaluation method is applied in industrialization system of processing by visual software, it has been obviously improved industry
Robot system machining accuracy.
Brief description of the drawings
Fig. 1 is dual robot collaboration stiffness system structure flow chart.
Fig. 2 is Six-DOF industrial robot joint stiffness identification schematic diagram.
Fig. 3 is joint of robot real time data processing flow chart.
Fig. 4 is multirobot cooperative system rigidity property visualization interface.
Embodiment
Below with reference to accompanying drawing 1-4 and embodiment, the present invention is described in further detail：
As shown in figure 1, multirobot Combined process system stiffness Performance Appraisal System proposed by the present invention, multiple robots
Same workpiece is clamped jointly, and the posture of robot individual cell is selected by multirobot collaboration posture planner.Machine
The nominal joint stiffness value of individual human unit can and actual conditions deviation be present, each joint of robot rigidity value is recognized
Experiment, obtains actual robot joint stiffness value and is used for follow-up system stiffness analysis.Machine individual human is given according to posture planner
The joint angles of unit distribution, build the operation stiffness matrix of machine individual human subelement.Robot is established by derivation formula (3)
Body unit operates stiffness matrix and the cumulative relation of systematic collaboration stiffness matrix.Robot is imported in three-dimensional drawing software MATLAB
D-H Mo Xing, multirobot collaboration rigidity matrix arithmetic is blended with robot model, form multirobot collaboration rigidity property
Visualization result.Collaboration rigidity property index value under current pose is provided simultaneously, judges whether performance index value meets work
Skill requirement, if backlog demand, robot individual cell posture is redistributed by multirobot collaboration posture planner, repeated
Above-mentioned steps.The optimization process that the change record and planner of Robot Stiffness performance indications distribute in posture.
As shown in Fig. 2 it is joint of robot stiffness parameters device for identifying of the present invention.The nominal joint of robot individual cell
Rigidity value can and actual conditions deviation be present, to end deformation error additive effect often lead to machining accuracy change with this hair
Bright obtained result is not fully consistent, therefore obtains the key link that actual robot joint stiffness value is the present invention.This hair
The bright quiet indirect measurement experiment method of deformation of design obtains this parameter.Mainly include industrial robot unit 1, gripping panel 2, laser
Tracker reflection sphere 3, load support 4, outer force regulator 5, laser tracker 6, data processor 7, loading device 8.Tested machine
The end gripping panel 2 of device people 1, laser tracker main element reflection sphere 3 and gripping panel 2 to be fixedly connected, by laser with
Track instrument 6 obtains the coordinate information of reflection sphere, measures caused deviation after robot end is loaded indirectly.Loading device is by adding
Support 4 is carried to form with load adjuster 5 and load weight 8.Robot end is a space three-dimensional vector by external force, is passed through
The given rational loading force direction of load adjuster, while the change by loading weight amount reaches the purpose of load change.
The change of the quiet deformation of robot is obtained in the following manner：1) posture of robot 1 is adjusted；2) direction of loading force is adjusted；3)
Adjust end load.Each robot individual cell joint parameter is finally recognized according to load, posture and the relation of deformation
As shown in figure 3, the machining posture real-time data signal process chart for the present invention.Industrial robot system's software
Joint of robot real time data can be provided, it is connected with three-dimensional visualization software MATLAB, carried in real time to MATLAB
Robot attitude data, cooperative system algorithm of rigidity is write in MATLAB softwares, according to the machine of real-time delivery during for processing
People's machining posture data, the Robot Stiffness performance under being configured using stiffness matrix ellipsoid real time reaction current joint, by soft
Part visualization interface shows Robot Stiffness performance.
As shown in figure 4, it is the Robot Stiffness performance visualization interface designed by the visual design software GUI.The boundary
Face mainly configures comprising robot individual cell joint angles, multirobot cooperative system rigidity property visualization interface, and
Rigidity property desired value is shown under current state.By the display directly perceived of visualization interface, current system can have both been observed three
Rigidity property in dimension space in either direction is good and bad, can describe evaluation multirobot by rigidity property quantification of targets again and assist
Same rigidity property, while the joint configuration under this interface, power ellipsoid, rigidity property desired value can serve as historical data, refer to
Lead the optimization of multirobot cooperative system rigidity property.
Claims (4)
1. implementing joint of robot rigidity identification scheme based on robot kinematics' matrix and stiffness matrix set up the condition, its is specific
Step is as follows：
(1) six-DOF robot end effector matrix general type is as follows：
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When machine is subject to processing active force, machine end produces broad sense offset, and Robot Stiffness is formed by power and generalized displacement
Fit equation
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Formula (2) can obtain six joint stiffness value c of actual six-DOF robot by least square fittingi(i=1,2 ...
6)。
(2) real-time multirobot collaboration stiffness matrix is established based on industrial robot practical stiffness value
K=K1+K2…+Kn (3)
The end effector stiffness matrix of individual machine individual human is given in derivation formula (1), motion chain link is carried out to whole system
Coupling obtains robot system rigidity and the linear superposition of machine individual human stiffness matrix.
(3) visual representation is carried out to the real-time stiffness matrix of robot using matrix ellipsoid；
Robot Stiffness matrix is 6 × 6 real symmetric matrixs, and robot end's generalized displacement and the relation of broad sense force vector are not
Correspondingly, but according to matrix kijFormation influences each other the relation of being mutually related, therefore can not intuitively find out robot
Rigidity property is good and bad under some posture.For this, we establish Robot Stiffness matrix ellipsoid：
Assuming that robot end is all the time by the broad sense force vector of τ=1
τ·τT=1 (4)
Established by the relation of Robot Generalized force vector and operation stiffness matrix
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The drafting of ball, this image is loaded into robot control system, also can be straight by image while robot pose is adjusted
Rigidity property under the observer robot system current pose of sight.
(4) multirobot cooperative system rigidity property is evaluated
Robot Stiffness matrix can not directly express the quality of Robot Stiffness performance, and the present invention is directed to multirobot cooperative system
Multiple coupled characteristic, use for reference matrix Ruili business in a matrix with multi-robot system stiffness matrix Ruili business is established, obtain
One scalar directly perceived, quantization signifying multirobot collaboration rigidity property, carries out functional evaluation to it whereby.
More machines collaboration stiffness matrix is divided into four submatrixs according to the relation of power and deformation：
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Expression formula, it is the ratio between length square of flat method and end deformation failure in love of robot end's generalized force vector length.
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<msubsup>
<mi>K</mi>
<mrow>
<mi>f</mi>
<mi>d</mi>
</mrow>
<mi>T</mi>
</msubsup>
<mo>&CenterDot;</mo>
<msub>
<mi>K</mi>
<mrow>
<mi>f</mi>
<mi>d</mi>
</mrow>
</msub>
<mo>)</mo>
</mrow>
<mi>d</mi>
</mrow>
<mrow>
<msup>
<mi>d</mi>
<mi>T</mi>
</msup>
<mo>&CenterDot;</mo>
<mi>d</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
</mrow>
Evaluation index of the stiffness matrix Ruili quotient of calculating as Robot Stiffness matrix, then have：
| f |=H | d | (9)
2. according to the method for claim 1, it is characterised in that：In step (1), industrial robot joint rigidity joint scheme
Active force or load only need to be applied in robot end, without being measured to joint of robot internal drive element, passed through
Least square fitting goes out to meet the joint of robot rigidity of experimental result.
3. according to claim 1, it is characterised in that：In step (2), multirobot collaboration system is derived according to theoretical algorithm
The overlaying relation united between Static stiffness and robot individual cell operation rigidity, find the compound matrice of description system stiffness.
4. according to claim 1, it is characterised in that：In step (3) and step (4), it is to collaboration using visual software
System rigidity is visualized, and an intuitively rigidity property display platform is provided for operator, and according to rigidity property
Optimizing index, quantization signifying go out system stiffness quality, and posture configuration provides judgment criteria is cooperateed with for multirobot.
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