CN107471206A - A kind of modularization industrial robot reconfiguration system and its control method - Google Patents
A kind of modularization industrial robot reconfiguration system and its control method Download PDFInfo
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- CN107471206A CN107471206A CN201710701727.6A CN201710701727A CN107471206A CN 107471206 A CN107471206 A CN 107471206A CN 201710701727 A CN201710701727 A CN 201710701727A CN 107471206 A CN107471206 A CN 107471206A
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
Abstract
The invention discloses a kind of open reconfigurable modular intelligent industrial robot reconfiguration system, device structure is simple, cost is relatively low, small volume, open height, it is long working life, low in energy consumption, configuration selection can effectively be carried out to reconfigurable modular robot to control with restructuring, that improves terminal uses transplantability and practicality, the upgrade cost of user is reduced, lifts the usage experience of user.The invention also provides corresponding reconfiguration system control method simultaneously, this method is simple to operation, accuracy rate is high, it can be very good meet the needs of flexible production line is to production Quick Casting, it makes system easily extend and customize with respect to reconfigurability, independence, reliability and maintainability improves, and is easy to the upgrading of system, intelligentized joint module can conveniently realize the distributed AC servo system in each joint.
Description
Technical field
The present invention relates to robot control field, and in particular to a kind of modularization industrial robot reconfiguration system and its control
Method.
Background technology
Modularization industrial robot has the characteristics that high flexibility, powerful, strong adaptability, Stability Analysis of Structures and changeable,
It is a Frontier Points of modern machines people control system development, its fundamental design idea is to adapt to flexible production line requirement, root
Robot classifying rationally it is relatively independent reconfigurable module according to correlation principle, the final of robot is determined by flexible production line
Structure.Reconfigurable modular robot has extensive adaptability and easily reconfigurability, in Agile Manufacturing System, flexible system
Make in system, small lot multifunctional production line, military affairs, space flight, nuclear waste disposal, extreme environment the field such as operation have it is very big
Development prospect and application potential.
Although accepted extensively in industrial robot research field reconfigurable modular design philosophy, in practical application
Rarely have perfect reconfigurable modular robot application, its reason be to lack one kind can by classifying rationally executing agency with
Bindiny mechanism carrys out Fast Construction and meets the robot reconfigurable control method of requirement, while lacks corresponding robot kinematics
With kinetic model foundation and derivation algorithm, it is difficult to provide model and number for robot motion's trajectory planning and control system's development
According to support.
The content of the invention
In view of insufficient existing for prior art, the invention aims to provide a kind of open module intelligent industrial machine
Device people's reconfiguration system, its module reconfigurability, independence make system be easy to extend and customize, while convenient can realize each joint mould
The distributed AC servo system of block, it is easy to the upgrading of system.
To achieve these goals, technical solution of the present invention is as follows：
A kind of modularization industrial robot reconfiguration system, it is characterised in that system includes：Host computer, communication unit, machine
Human body, insertion type multiple-shaft motion controller unit, ports-Extending unit, bottom collecting unit, teaching machine unit, security list
Member, execution unit and PMU；
Wherein, connected respectively with the bottom collecting unit, teaching machine unit and execution unit by ports-Extending unit
The embedded multi-axis controller unit connect is also connected with the safety guarantee unit, and passes through communication unit and the robot sheet
Body communication simultaneously carries out implementation data interaction with host computer；The execution unit is connected to robot body to drive robot body
Action；
During beginning, host computer automatically generates robot reconfiguration scheme and to the weight of generation according to experimental duties and engine request
Structure scheme is evaluated, while by communication unit and insertion type multiple-shaft motion controller unit communication with control machine human body
Connection is combined to meet the functional requirement to robot by execution unit with the corresponding functional module of bottom collecting unit；
Then, the insertion type multiple-shaft motion controller unit combines each module according to robot reconfiguration scheme successively,
And path planning and trajectory planning are carried out to reconstruct robot to realize the accurate control to reconstructing robot.
Further, the bottom collecting unit includes but is not limited to ultrasonic sensor modules, laser profile collector
Module, linear CCD module, pressure sensor module, gas pressure sensor module, gyro module.
Further, the security unit is included to realize decelerator module and use that robot body steadily slows down
In the limiter module for limiting robot body range of movement.
Further, the execution unit includes motor drive module and servomotor module.
It is another object of the present invention to provide a kind of modularization based on above-mentioned modularization industrial robot reconfiguration system
Industrial robot reconstructing method, it is characterised in that step includes：
Step 1, adaptive configuration Quick Casting, robot modeling automatic generating calculation is performed, generates satisfactory machine
Device people's configuration；
Step 2, robot adaptive motion credit analysis is reconstructed, performs kinematics adaptive algorithm, establish and solve
The kinematics universal model of reconstruction robot, meet the requirement of robot modeling kinematics；
Step 3, robot self-adapting power credit analysis is reconstructed, performs dynamics self-adapting algorithm, establish reconstruct machine
The universal model of device human body's dynamic analysis configuration, and the feasible solution of configuration is provided, realize the machine of the different frees degree and configuration
The dynamic (dynamical) quick analysis of device human body；
Step 4, path planning and trajectory planning are carried out to reconstruct robot, perform the path rule based on improved adaptive GA-IAGA
The method of calculating and the trajectory planning algorithm based on improved neural network algorithm, planned with real-time for different application occasion
Path and track.
Further, the design of Data correction and track renewal adjuster is included, including：
Actual motion data and predetermined exercise data are subjected to error analysis, if error below 0.1%, is carried out micro-
Adjust, otherwise send alarm, carry out hand inspection；
The task track of next stage is updated, and carries out feasibility planning.
Compared with prior art, beneficial effects of the present invention：
1st, the present invention can generate the module design of reconfigurable modular robot system within a short period of time (in 5 minutes)
Selected with configuration, the matching concatenation ability between the performance and module of module in itself can be given full play to, can preferably be met
The high efficient secondary exploitation of user, meet the primary demand of flexible production line.
2nd, the present invention is according to the principle of on-demand customization, is selected quickly generating the module design that meets mission requirements with configuration
On the basis of, using a kind of oriented mission adaptation module robot kinematics just/inverse arithmetic, can be in 5 minutes
The Method of Calculation of Robotic Movements and inverse solution for providing various configuration (when having closing solution, provide closing solution, when not closing solution, provided
Feasible solution).
3rd, the present invention proposes the kinetics equation of adaptive solution different machines people's configuration, meter based on kinematics analysis
Calculation form is succinct, is easy to the analysis and synthesis that control system was realized, was convenient in sequencing, preferably adapts to reconstruction robot structure
The characteristics of type is changeable；On the basis of dynamic analysis, the present invention uses adaptive universal robot path planning and track
Planning algorithm, (task different, time do not know) tracking and motion in robot motion path can be completed within a short period of time
The planning of track, while meet joint velocity, acceleration and torque constraint.
4th, for the present invention based on robot path planning and trajectory planning is realized, the open versatility for proposing to answer accordingly can
Reconstruct robot control method, it is possible to achieve each joint of various configuration robot is accurately with coordinating control, stable upper bottom
Machine communication, reliably work long hours.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is modularization industrial robot reconfiguration system functional schematic of the present invention；
Fig. 2 is robot reconfiguration system control method schematic flow sheet of the present invention；
Fig. 3 is robot reconfiguration system basic configuration workflow diagram of the present invention；
Fig. 4 is the design work flow schematic diagram of robot reconfiguration system kinematics analysis algorithm of the present invention；
Fig. 5 is the design cycle schematic diagram of robot reconfiguration system body dynamic analysis algorithm of the present invention；
Fig. 6 is robot reconfiguration system path planning of the present invention and trajectory planning algorithm design cycle schematic diagram；
Fig. 7 is that the design cycle of robot reconfiguration system control method Data correction of the present invention and track renewal adjuster is shown
It is intended to.
Drawing reference numeral explanation：
1- insertion type multiple-shaft motion controllers unit, 2- ports-Extendings unit, 3- teaching machines unit, the driving of 4- motors
Unit, 5- servomotors unit, 6- robot bodies unit, 7- communication units, 8- power supply managings unit, 9-PC
Host computer, 10- decelerators module, 11- limiters module, 12- ultrasonic sensor modules, 13- laser profile collectors
Module, 14- linear CCDs module, 15- pressure sensor modules, 16- gas pressure sensor modules, 17- gyro modules.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Below in conjunction with the accompanying drawings and specific embodiment further illustrates technical scheme：
As shown in figure 1, a kind of modularization industrial robot reconfiguration system, system mainly include：Host computer, communication unit,
Robot body, insertion type multiple-shaft motion controller unit, ports-Extending unit, bottom collecting unit, teaching machine unit, security
Unit, execution unit and PMU；
Wherein, connected respectively with the bottom collecting unit, teaching machine unit and execution unit by ports-Extending unit
The embedded multi-axis controller unit connect is also connected with the safety guarantee unit, and passes through communication unit and the robot sheet
Body communication simultaneously carries out implementation data interaction with host computer；The execution unit is connected to robot body to drive robot body
Action；
During beginning, host computer performs robot modeling automatic generating calculation and to generation according to experimental duties and engine request
Reconfiguration scheme evaluated, while pass through communication unit and insertion type multiple-shaft motion controller unit communication control machine people's sheet
Body combines connection to meet that the function to robot is wanted with the corresponding functional module of bottom collecting unit by execution unit effect
Ask；
Then, the insertion type multiple-shaft motion controller unit perform successively adapt to a variety of configuration kinematics analysis algorithms,
Versatility robot body dynamic analysis algorithm, adaptive universal robot path planning and trajectory planning algorithm are further
Realize the accurate control of robot.
In the application, the teaching machine unit is registered and stored to runtime, the control that memory mechanical movement is supporting
System, i.e. operating personnel are manipulated by teaching machine unit to control machine human body.
As the preferable embodiment of the present invention, the insertion type multiple-shaft motion controller unit is preferably transported using multiaxis
Movement controller+X86-based industrial computer；The ports-Extending unit preferably uses generic serial port extended edition；The teaching machine
Unit is preferably using the ARM control panels of operation WinCE6.0 systems；The robot body is preferably using with relative automatic control energy
The standalone module of power；Communication unit is preferably using ripe ethernet communication technology；The power supply managing unit is preferably adopted
With TIDA-00982 power-supply devices；The host computer is preferably the computer of built-in Windows7 systems.
Further, the bottom collecting unit includes but is not limited to ultrasonic sensor modules, laser profile collector
Module, linear CCD module, pressure sensor module, gas pressure sensor module, gyro module.
As the preferable embodiment of the present invention, the ultrasonic sensor modules preferably use TELESKY HC-SR04
Module；The laser profile collector module is preferably transformed using general laser scanner；The linear CCD module preferably uses
TSL1401CL modules；The pressure sensor module preferably uses TELESKY HX711 modules；The gas pressure sensor module
It is preferred that use GY-68BMP180 modules；The gyro module preferably uses GY-521 modules.
Further, the security unit is included to realize decelerator module and use that robot body steadily slows down
In the limiter module for limiting robot body range of movement.
As the preferable embodiment of the present invention, the decelerator module is preferably using the series production of Na Botesike companies
Product；The limiter module preferably uses universal impulse limiter module；
Further, the execution unit includes motor drive module and servomotor module.
As the preferable embodiment of the present invention, the motor drive module preferably uses the Panasonic MSDA of Panasonic
Series of driver；The servomotor module preferably uses the professional motor of Harmer Na Ke companies.
Modules of the present invention use standard component, commercially directly purchase, and can realize according to job task need
Realistic existing robot body configuration automatically generates, adapts to a variety of configuration kinematics analyses, versatility robot body dynamics
The functions such as analysis, adaptive universal robot path planning and trajectory planning, the fusion of each functional module is organic as one
It is overall, the wherein circuit structure of modules, and early published technology in the industry, generally include servo electrical machinery system, spacing
Switching system, sensing system etc..
It is another object of the present invention to provide a kind of modularization based on above-mentioned modularization industrial robot reconfiguration system
Industrial robot reconstructing method, as shown in Fig. 2 key step includes：
Step 1, adaptive configuration Quick Casting perform robot modeling automatic generating calculation, generate satisfactory machine
People's configuration.
Adaptive configuration Quick Casting, which performs robot modeling automatic generating calculation step, as shown in Figure 3 includes：
After S11, system start, insertion type multiple-shaft motion controller module 1 calls self-check program and initialization program, system
Self-test is by rear, system starts, and PC master systems 9 prepare to receive relevant task data.System is according to job task need
Ask the free degree for determining robot body, the size of each rod member, realize that the bottom collecting unit functional module of functional requirement is adjusted
The parameters such as the driving moment with, servomotor, and using first job task demand as reference position.
After S12, PC master system 9 receives task data, start to recombinate the basic of joint module and axostylus axostyle module
Configuration, joint body configuration, joint connection configuration, arthrodesis configuration and quick axostylus axostyle configuration are called respectively, standard is done for restructuring
It is standby.
S13, PC master system 9 calls patterned man-machine interaction mode auxiliary to realize the design of basic configuration, uses
Analytic hierarchy process (AHP) is evaluated by configuration design and decision-making.
S14, the change based on job task demand, adapt to new job task demand rapidly by on-line study mechanism,
Under the control of insertion type multiple-shaft motion controller module 1, coordinate motor drive module 4, servomotor module 5, ports-Extending
Module 2, communication module 7, motor drive module 4 etc., the joint module and the base of axostylus axostyle module designed according to PC master systems 9
This configuration is recombinated, and realizes that the free degree of robot body, the size of each rod member, driving moment of servomotor etc. are joined
Several real-time adjustment.
After the completion of S15, joint module and axostylus axostyle module basic configuration restructuring, by mission requirements designer to being generated
Configuration carry out further Inspection and analysis, by memory mechanism using the job task demand of last time as new reference position,
The rationality of robot modeling is further adjusted using feedback mechanism, to ensure that robot body is safe for operation, stably.
S16, system enter next circulation.
Step 2, robot adaptive motion credit analysis is reconstructed, performs and adapt to a variety of configuration kinematics analysis algorithms,
Establish and solve the kinematics universal model of reconstruction robot, meet the requirement of robot modeling kinematics.As shown in figure 4, institute
Stating kinematics adaptive algorithm step includes：
S21, joint module and axostylus axostyle module basic configuration restructuring are completed and after related personnel's inspection is errorless, entered
Robot body kinematics analysis stage, the stage are completed by insertion type multiple-shaft motion controller module 1.
S22, the present invention establish the motion of reconstruction robot using motion spinor method and conformal geometric algebra formula first
Universal model is learned, then according to the characteristics of various configuration, subproblem analysis is carried out and solves；
S23, the simplifying method for further systematically giving Exponential Product Formula, kinematics just/classification of inverse solution subproblem
And its computational methods, provide a kind of decomposable meter for the adaptive generation of the Inverse Kinematics Solution of reconstruction robot closing form
Calculation method, reduce the complexity of solution；
On the basis of above-mentioned work, the subproblem based on various configuration carries out various configuration robot sheet by S24, the present invention
The Inverse Kinematics Solution analysis and solution of body, further, carry out the determination of Inverse Kinematics Solution unique solution；
S25, last, the robot body configuration solved for no closing, Jacobean matrix is based on The present invention gives a kind of
The general Numerical Iteration Method of battle array calculates Inverse Kinematics Solution, can provide feasible solution；
S26, system enter next circulation.
The adaptation module robot kinematics of oriented mission just/inverse arithmetic, the formula being commonly used in the industry, belong to
Known technology in field
Step 3, robot self-adapting power credit analysis is reconstructed, performs dynamics self-adapting algorithm, establish reconstruct machine
The universal model of device human body's dynamic analysis configuration, and the feasible solution of configuration is provided, realize the machine of the different frees degree and configuration
The dynamic (dynamical) quick analysis of device human body.
Versatility robot body dynamic analysis algorithm of the present invention as shown in Figure 5, its step include：
After the completion of S31, adaptive a variety of configuration kinematics analysis algorithm designs, into versatility robot body dynamics
The design phase of parser, the stage are completed by insertion type multiple-shaft motion controller module 1；
S32, the robot body dynamic analysis structure as corresponding to the robot body sketch generation of adaptive more allosteric types
The universal model of type, then according to the characteristics of various configuration, carry out subproblem analysis and solve；
It is S33, theoretical based on kinematic screw and the wrench of a force system, according to the difference of workplace, the effect on end effector
Power (or its each component), which is converted into the same coordinate system, to be represented, spiral can of so making a concerted effort is synthesized by being superimposed；
S34, the active force by transformed end effector, Jacobian matrix, the Newton-Euler of closed loop change
It is applied to for algorithm in dynamic (dynamical) Lagrange's equation, obtains explicit closing solution；
S35, above-mentioned algorithm further realized by sequencing, it is changeable that reconstruction robot configuration can be well adapted to
Feature, meet that reconfigurable modular robot dynamics multi-configuration quick and precisely solves；
S36, system enter next circulation.
Step 4, path planning and trajectory planning are carried out to reconstruct robot, perform the path rule based on improved adaptive GA-IAGA
The method of calculating and the trajectory planning algorithm based on improved neural network algorithm, planned with real-time for different application occasion
Path and track.
As shown in Figure 6, adaptive universal robot path planning of the present invention designs with trajectory planning algorithm, its step
It is：
After the completion of S41, the design of versatility robot body dynamic analysis algorithm, into adaptive universal robot road
Footpath is planned to be designed with trajectory planning algorithm, and the stage is completed by insertion type multiple-shaft motion controller module 1；
S42, for path planning, The present invention gives a kind of path planning algorithm based on improved adaptive GA-IAGA, uses
Progressive method, using starting point as first feasible point, and it is oriented to, leads to as the motion reference of end effector current location
Cross the planning that feasible path is completed in limited number of time circulation.
S43, path planning problem is equivalent to robot inverse solution problem, under the complex environment for having irregular slalom thing really
Each joint variable for determining robot is the optimization problem of a multivariable multiple target, and the present invention is counted using Revised genetic algorithum
Calculate next optimal feasible point of robot present bit shape in joint space；
S44, using the trajectory planning algorithm based on improved neural network algorithm, pass through controller corresponding to training, it is real
When solve robot inverse solution, ensure joint angle displacement can track desired target trajectory, make Motor execution structure according to advance
Cook up the track operation come；
S45, the change based on movement environment, are adapted to rapidly by on-line study mechanism, so as to carry out track in real time
Planning and adjustment；
S46, finally by feedback with memory mechanism carry out trajectory planning Correctness checking and mark.
S47, system enter next circulation.
Further, the design of Data correction and track renewal adjuster is included, including：By actual motion data and in advance
Determine exercise data and carry out error analysis, if error below 0.1%, is finely adjusted, otherwise sends alarm, manually examined
Look into；The task track of next stage is updated, and carries out feasibility planning.As shown in fig. 7, its specific steps includes：
S51, after the design of open versatility reconstruction robot dcs is completed, into Data correction
With the design phase of track renewal adjuster, be mainly responsible for the contrast corrections of predetermined exercise data and actual motion data with real time
The renewal of track task.The stage is completed by insertion type multiple-shaft motion controller module 1；
S52, actual motion data and predetermined exercise data are subjected to error analysis first, if error below 0.1%,
Then it is finely adjusted, otherwise sends alarm, carries out hand inspection；
S53 and then the task track for updating next stage, and carry out feasibility planning；
S54, finally repeat the above steps, into next circulation.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of modularization industrial robot reconfiguration system, it is characterised in that system includes：Host computer, communication unit, robot
Body, insertion type multiple-shaft motion controller unit, ports-Extending unit, bottom collecting unit, teaching machine unit, security unit,
Execution unit and PMU；
Wherein, it is connected respectively with the bottom collecting unit, teaching machine unit and execution unit by ports-Extending unit
Embedded multi-axis controller unit is also connected with the safety guarantee unit, and is led to by communication unit and the robot body
Believe and carry out implementation data interaction with host computer；The execution unit is connected to robot body to drive the dynamic of robot body
Make；
During beginning, host computer automatically generates robot reconfiguration scheme and to the reconstruct side of generation according to experimental duties and engine request
Case is evaluated, while by communication unit and insertion type multiple-shaft motion controller unit communication with control machine human body and bottom
The corresponding functional module of layer collecting unit is connected to meet the functional requirement to robot by execution unit combination；
Then, the insertion type multiple-shaft motion controller unit combines each module according to robot reconfiguration scheme successively, and right
Reconstruct robot carries out path planning and trajectory planning to realize the accurate control to reconstructing robot.
2. modularization industrial robot reconfiguration system according to claim 1, it is characterised in that the bottom collecting unit
Including but not limited to ultrasonic sensor modules, laser profile collector module, linear CCD module, pressure sensor module, gas
Pressure sensor module, gyro module.
3. modularization industrial robot reconfiguration system according to claim 1, it is characterised in that the security unit includes
To realize the decelerator module that robot body steadily slows down and the limiter for limiting robot body range of movement
Module.
4. modularization industrial robot reconfiguration system according to claim 1, it is characterised in that the execution unit includes
Motor drive module and servomotor module.
A kind of 5. modularization industrial robot reconstruct side based on modularization industrial robot reconfiguration system described in claim 1
Method, it is characterised in that step includes：
Step 1, for reconstruct robot functional requirement analysis is carried out, and generate restructuring robot structure model, and model entered
Further evaluation analysis go to ensure that generation meets the robot modeling of functional requirement；
Step 2, robot adaptive motion credit analysis is reconstructed, establishes and solve the general mould of kinematics of reconstruction robot
Type, meet the requirement of robot modeling kinematics；
Step 3, robot self-adapting power credit analysis is reconstructed, establishes the one of reconstruct robot body dynamic analysis configuration
As model, and provide the feasible solution of configuration, realize the dynamic (dynamical) quick analysis of robot body of the different frees degree and configuration；
Step 4, path planning and trajectory planning are carried out to reconstruct robot, perform the path planning based on improved adaptive GA-IAGA and calculate
Method and the trajectory planning algorithm based on improved neural network algorithm, different application occasion path planning is directed to real-time
And track.
6. modularization industrial robot reconstructing method according to claim 5, it is characterised in that also including Data correction with
Track updates the design of adjuster, including：
Actual motion data and predetermined exercise data are subjected to error analysis, if error below 0.1%, is finely adjusted,
Otherwise alarm is sent, carries out hand inspection；
The task track of next stage is updated, and carries out feasibility planning.
7. modularization industrial robot reconstructing method according to claim 5, it is characterised in that the step 1 includes as follows
Step：
S11：The driving of the free degree of robot body, the size of each rod member, servomotor is determined according to job task demand
Torque, and the reference position that first job task demand is reconstructed as robot；
S12：Based on the change of job task demand, new job task demand is adapted to rapidly by on-line study mechanism, so as to
The real-time adjustment of the free degree of robot body, the size of each rod member, the driving moment of servomotor can be realized；
S13：New reference position is regard the reconstruction result for meeting last job task demand as by memory mechanism, used
Feedback mechanism further adjusts the rationality of robot modeling；
S14：Into next circulation.
8. modularization industrial robot reconstructing method according to claim 5, it is characterised in that the step 2 includes as follows
Step：
S21：The kinematics universal model of reconstruction robot, and root are established using motion spinor method and conformal geometric algebra formula
The characteristics of according to various configuration, carry out subproblem analysis and solve；
S22：Systematically provide the simplifying method of Exponential Product Formula, kinematics just/classification of inverse solution subproblem and its computational methods,
Decomposable computational methods are provided for the adaptive generation of the Inverse Kinematics Solution of reconstruction robot closing form, reduce solution
Complexity；
S23：Subproblem based on various configuration carries out the Inverse Kinematics Solution analysis of various configuration robot body and solved, if depositing
Solved in closing, then finally determine Inverse Kinematics Solution unique solution, otherwise perform step S24；
S24：For the robot body configuration of no closing solution, a kind of general iterative numerical based on Jacobian matrix is given
Method calculates Inverse Kinematics Solution and provides feasible solution；
S25：Into next circulation.
9. modularization industrial robot reconstructing method according to claim 5, it is characterised in that the step 3 includes as follows
Step：
S31：The robot body dynamic analysis configuration as corresponding to the robot body sketch generation of adaptive more allosteric types
Universal model, and carry out subproblem analysis according to the characteristics of various configuration and solve；
S32：It is theoretical based on kinematic screw and the wrench of a force system, according to the difference of workplace, the active force on end effector is turned
Change represents into the same coordinate system, by being superimposed synthesis spiral with joint efforts；
S33：The Newton-Euler iteration for spiral, Jacobian matrix and closed loop that the end effector that conversion obtains is made a concerted effort
Algorithm is applied in dynamics Lagrange's equation, explicit dynamics closing solution is obtained, to meet reconfigurable modular machine
People's dynamics multi-configuration quick and precisely solves；
S34：Into next circulation.
10. modularization industrial robot reconstructing method according to claim 5, it is characterised in that the step 4 is included such as
Lower step：
S41：It is using the gradual method based on improved adaptive GA-IAGA, original position is current as feasible point and end effector
The motion reference of position is oriented to, and the planning for completing feasible path is circulated by limited number of time；
S42：Path planning problem is equivalent to robot inverse solution problem, by machine under the complex environment for having irregular slalom thing
Optimization problem of each joint variable of people as a multivariable multiple target, is existed using Revised genetic algorithum come calculating robot
Next optimal feasible point of current location in joint space；
S43：Using the trajectory planning algorithm based on improved neural network algorithm, by training corresponding controller, Real-time solution
Robot inverse solution, ensure that joint angle displacement can track desired target trajectory, make Motor execution structure according to cooking up in advance
Run the track come；
S44：Change based on movement environment, adapted to rapidly by on-line study mechanism, so as to carry out the rule of track in real time
Draw and adjust；
S45：The Correctness checking and mark of trajectory planning are carried out with memory mechanism by feeding back；
S46：System enters next circulation.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108255058A (en) * | 2018-01-18 | 2018-07-06 | 山东大学深圳研究院 | Service robot inverse kinematics method and apparatus under intelligent space |
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| CN108312146A (en) * | 2018-01-31 | 2018-07-24 | 南京工程学院 | Modularization robot decentralized control method and system |
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| CN109483546A (en) * | 2018-12-09 | 2019-03-19 | 西安航天精密机电研究所 | Transplantable motion planning and robot control algorithms library and its creation application method |
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| CN110297490B (en) * | 2019-06-17 | 2022-06-07 | 西北工业大学 | Self-reconstruction planning method of heterogeneous modular robot based on reinforcement learning algorithm |
| CN110308669A (en) * | 2019-07-27 | 2019-10-08 | 南京市晨枭软件技术有限公司 | A kind of modular robot selfreparing analogue system and method |
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| CN110722570A (en) * | 2019-11-08 | 2020-01-24 | 清华大学深圳国际研究生院 | Robot reconstruction control method and system and robot |
| CN111515940A (en) * | 2020-05-21 | 2020-08-11 | 阜阳职业技术学院 | Reconfigurable modular robot system |
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| CN113524177A (en) * | 2021-06-25 | 2021-10-22 | 南方科技大学 | Control method of foot type robot |
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