CN107538494A - A kind of robot control method and system based on torque sensor and encoder - Google Patents
A kind of robot control method and system based on torque sensor and encoder Download PDFInfo
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- CN107538494A CN107538494A CN201610493680.4A CN201610493680A CN107538494A CN 107538494 A CN107538494 A CN 107538494A CN 201610493680 A CN201610493680 A CN 201610493680A CN 107538494 A CN107538494 A CN 107538494A
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Abstract
A kind of robot control method based on torque sensor and encoder, this method include：S1, the motor anglec of rotation θ for gathering by motor encoder and output coder measurement respectively1With the output angle θ of measurement joint torque sensor2；S2, motor anglec of rotation θ1With output angle θ2Differential seat angle, i.e. flexibility of joint deformation quantity Δ θ are calculated by the first formula；S3, the motor anglec of rotation θ1, flexibility of joint deformation quantity Δ θ and input quantity θdControl input amount θ is calculated by the second formula；S4, the control input amount θ input electric machine controller, are easy to the anglec of rotation of motor controller controls motor.Present invention additionally comprises a kind of robot control system based on torque sensor and encoder, the system includes motor, encoder, torque sensor and decelerator.Beneficial effects of the present invention：For in motion planning and robot control and power control process, it can measure flexibility of joint deformation and compensate into joint control amount, joint of robot control and TRAJECTORY CONTROL precision are improved.
Description
Technical field
The present invention relates to technical field of robot control, and torque sensor and coding are based on more specifically to one kind
The robot control method and system of device.
Background technology
The industrial machine manpower control sensor of early stage typically uses six-dimensional force/torque sensor, this sensing mode
Power controling power accuracy of detection is high, and control method is simple, suitable for application scenarios such as robotic asssembly, polishings.But due to six-dimensional force/
Torque sensor is arranged on robot end's flange, tends not to meet to detect the crash protection of each connecting rod, and sensor
It is expensive, limit the popularization of its application.In recent years, with advances in technology, controlled using the power of joint torque sensor
Mode is more and more applied, and joint torque sensor is arranged on joint position by this sensing mode, can be with detection machine
The collision that device people optional position occurs with external environment condition.But joint transmission mechanism itself has flexibility, joint torque sensor
Installation adds the flexibility in joint again, and when robot carries out motion control, flexible increase makes the joint position control of robot
Precision processed reduces, and then influences the position control accuracy of whole robot, or even can not effectively follow given trace, makes robot
Performance is decreased obviously.
The content of the invention
Controlled the technical problem to be solved by the invention is to provide a kind of based on the robot of torque sensor and encoder
In method and system, to solve the deficiencies in the prior art, power control and the power of robot are realized by joint torque sensor
Protection, the flexibility of joint deformation in motion planning and robot control and power control process is detected by Dual-encoder, and compensated
In the controlled quentity controlled variable of robot, joint control precision when motion planning and robot control and power control is improved, and then improve whole machine
The path accuracy of people.
The present invention solves above-mentioned technical problem, there is provided the technical scheme solved as follows：
A kind of robot control system based on torque sensor and encoder, the system include motor, encoder, torque
Sensor and decelerator, wherein, the motor is the execution unit of robot, described for realizing the joint control of robot
Encoder includes being connected with motor and the motor encoder for the robot measurement joint motor anglec of rotation and torque pass
Sensor is connected and for measuring the output coder of torque sensor output angle；The torque sensor is arranged on decelerator
Output end, the torque for robot measurement joint；The decelerator is arranged between motor and output coder, is used for
Control reducing motor rotation；The output coder is arranged on the output end of torque sensor, and the motor encoder is arranged on
The output end of motor, the other end of the motor are connected with decelerator.
In the robot control system based on torque sensor and encoder of the present invention, the torque sensor uses
Joint torque sensor, for the joint torque of robot measurement joint, for manipulator force control and shield of trying hard to keep.
In the robot control system based on torque sensor and encoder of the present invention, the decelerator uses harmonic wave
Decelerator, wherein, between joint torque sensor and harmonic speed reducer using tooth mouth match somebody with somebody and, bolt connection.
In the robot control system based on torque sensor and encoder of the present invention, the base of the output coder
The cage connection of plate and motor is fixed, and the electric machine controller is connected with robot controller.
In the robot control system based on torque sensor and encoder of the present invention, the arteries and veins of the output coder
Rush generator with joint torque sensor to be connected, realize the rotation of encoder.
Present invention additionally comprises a kind of robot control method based on torque sensor and encoder, this method includes as follows
Step：
S1, the motor anglec of rotation θ for gathering by motor encoder and output coder measurement respectively1Turn with measurement joint
The output angle θ of square sensor2；
S2, the motor anglec of rotation θ of motor encoder measurement1With output coder measurement joint torque sensor
Output angle θ2The differential seat angle of the motor encoder and output coder, i.e. flexibility of joint shape are calculated by the first formula
Variable Δ θ；
S3, the motor anglec of rotation θ of motor encoder measurement1, flexibility of joint deformation quantity Δ θ and robot controller
Angle given side input quantity θdControl input amount θ is calculated by the second formula；
S4, the control input amount θ are easy to the anglec of rotation of motor controller controls motor by inputting electric machine controller
Degree.
In the robot control method based on torque sensor and encoder of the present invention, first formula is calculating
The differential seat angle of motor encoder and output coder obtains flexibility of joint deformation quantity Δ θ=K θ2-θ1, wherein, K is subtracting for decelerator
Fast ratio.
In the robot control method based on torque sensor and encoder of the present invention, second formula is calculating
Input control input amount θ=θ of electric machine controllerd-Δθ-θ1。
In the robot control method based on torque sensor and encoder of the present invention, pass through the motor encoder
With the differential seat angle of output coder, for measurement motor, decelerator, joint torque sensor whole transmission link flexible shape
Variable, by the way that into the controlled quentity controlled variable of robot controller, dough deformation amount compensation is improved into the control of joint of robot and track
Precision processed.
Implement the robot control method and system based on torque sensor and encoder of the present invention, have beneficial below
Effect：For the flexibility of joint deformation during motion planning and robot control and power control (including shield of trying hard to keep), design one kind is based on
The backoff algorithm and device of joint torque sensor and Dual-encoder, it can measure flexibility of joint deformation and compensate and be controlled to joint
In amount processed, joint of robot control and TRAJECTORY CONTROL precision are improved.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the robot control system architecture schematic diagram based on torque sensor and encoder of the present invention；
Fig. 2 is the robot control system workflow diagram based on torque sensor and encoder of the present invention；
Fig. 3 is the robot control method schematic flow sheet based on torque sensor and encoder of the present invention；
Wherein, accompanying drawing includes：100th, robot controller, 200, electric machine controller, 300, motor, 400, motor encoder
Device, 500, joint torque sensor, 600, output coder, 700, decelerator, 800, shell.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
As shown in figure 1, the robot control system architecture schematic diagram based on torque sensor and encoder for the present invention.
A kind of robot control system based on torque sensor and encoder, the system include motor 300, encoder, torque sensing
Device 500 and decelerator 700, wherein, the motor 300 is the execution unit of robot, for realizing the joint control of robot,
The encoder includes being connected with motor 300 and for the motor encoder of the robot measurement joint motor anglec of rotation
400th, be connected and be used for the output coder 600 for measuring the output angle of torque sensor 500 with torque sensor 500；It is described
Torque sensor 500 is arranged on the output end of decelerator 700, the torque for robot measurement joint；The decelerator 700
It is arranged between motor 300 and output coder 600, for controlling reducing motor 300 to rotate；The output coder 600 is set
The output end in torque sensor 500 is put, the motor encoder 400 is arranged on the output end of motor 300, the motor 300
The other end be connected with decelerator 700.
In the robot control system based on torque sensor and encoder of the present invention, the torque sensor uses
Joint torque sensor 500, for the joint torque of robot measurement joint, for manipulator force control and shield of trying hard to keep.
In the robot control system based on torque sensor and encoder of the present invention, the decelerator 700 uses
Harmonic wave speed reducing machine, wherein, between joint torque sensor 500 and harmonic wave speed reducing machine using tooth mouth match somebody with somebody and, bolt connection, the electricity
Machine controller 200 is connected with robot controller 100..
In the robot control system based on torque sensor and encoder of the present invention, the output coder 600
The shell 800 of substrate and motor 300 be connected.
In the robot control system based on torque sensor and encoder of the present invention, the output coder 600
Impulse generator be connected with joint torque sensor 500, realize the rotation of encoder.
As shown in Fig. 2 the robot control system workflow diagram based on torque sensor and encoder for the present invention.
Wherein, in a particular embodiment of the present invention, the workflow of whole system is：
1st, robot controller 100 carries out trajectory planning and obtains the given angle in each cycle according to application job demand
θd, and send it to electric machine controller 200；
2nd, electric machine controller 200 obtains the input quantity θ of robot controller 100dAfterwards, on the one hand by θ1Feedback carries out position
Closed-loop control；
3rd, on the other hand electric machine controller 200 carries out the compensation control by the Δ θ flexibility of joint deformation fed back, improves position
Control accuracy.
Preferably, θdFor the input quantity of angle given side, rail is carried out according to application job demand by robot controller 100
Mark is planned to obtain.
As shown in figure 3, the robot control method schematic flow sheet based on torque sensor and encoder for the present invention；
In a kind of robot control method based on torque sensor and encoder of the present invention, this method comprises the following steps：
S1, the anglec of rotation θ of motor 300 for gathering by motor encoder 400 and output coder 600 measurement respectively1With
Measure the output angle θ of joint torque sensor 5002；
The anglec of rotation θ of motor 300 that S2, the motor encoder 400 measure1Joint is measured with output coder 600 to turn
The output angle θ of square sensor 5002The motor encoder 400 and output coder 600 are calculated by the first formula
Differential seat angle, i.e. flexibility of joint deformation quantity Δ θ；
The anglec of rotation θ of motor 300 that S3, the motor encoder 400 measure1, flexibility of joint deformation quantity Δ θ and angle give
The input quantity θ of fixed enddControl input amount θ is calculated by the second formula；
S4, the control input amount θ input electric machine controller 200, are easy to the rotation of the controlled motor 300 of electric machine controller 200
Gyration.
In the robot control method based on torque sensor and encoder of the present invention, first formula is calculating
The differential seat angle of motor encoder 400 and output coder 600 obtains flexibility of joint deformation quantity Δ θ=K θ2-θ1, wherein, K is deceleration
The speed reducing ratio of device, θ1The anglec of rotation of motor 300 measured for motor encoder 400, θ2The output measured for output coder 600
Angle, Δ θ are the flexibility of joint deformation quantity that motor encoder 400 and output coder 600 are measured, and K is the speed reducing ratio of decelerator.
In the robot control method based on torque sensor and encoder of the present invention, second formula is calculating
Input control input amount θ=θ of electric machine controller 200d-Δθ-θ1, wherein, θdFor given angle, θ1For motor encoder 400
The anglec of rotation of motor 300 of measurement, Δ θ are the flexibility of joint deformation that two encoders are measured.
Further, joint deformation Δ θ is measured, is fed back to the given input θ of angledEnd, it is possible to achieve joint is soft
Property deformation compensation, improve joint control and robot trajectory control precision.
In the robot control method based on torque sensor and encoder of the present invention, pass through the motor encoder
400 and the differential seat angle of output coder 600, for measurement motor 300, decelerator 700, joint torque sensor 500 whole
The dough deformation amount of transmission link, by the way that into the controlled quentity controlled variable of robot controller 100, dough deformation amount compensation is improved into machine
Device person joint and the control accuracy of track.
Compared with prior art, implement the robot control method based on torque sensor and encoder of the present invention and be
System, has the advantages that：For the flexibility of joint shape during motion planning and robot control and power control (including shield of trying hard to keep)
Become, design a kind of backoff algorithm and device based on joint torque sensor and Dual-encoder, it can measure flexibility of joint shape
Become and compensate in joint control amount, improve joint of robot control and TRAJECTORY CONTROL precision.
Embodiment described above only expresses embodiments of the present invention, and its description is more specific and detailed, but can not
Therefore it is interpreted as the limitation to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (9)
1. a kind of robot control system based on torque sensor and encoder, the system includes motor, encoder, torque biography
Sensor and decelerator, it is characterised in that wherein, the motor is the execution unit of robot, for realizing the joint of robot
Control, the encoder include being connected with motor and for the motor encoders of the robot measurement joint motor anglec of rotation
Device, be connected and be used for the output coder for measuring torque sensor output angle with torque sensor；The torque sensor
The output end of decelerator is arranged on, the torque for robot measurement joint；The decelerator is arranged on motor and output is compiled
Between code device, for controlling reducing motor to rotate；The output coder is arranged on the output end of torque sensor, the motor
Encoder is arranged on the output end of motor, and the other end of the motor is connected with decelerator.
2. the robot control system according to claim 1 based on torque sensor and encoder, it is characterised in that institute
State torque sensor and use joint torque sensor, for the joint torque of robot measurement joint, for Robot Force control
Make and try hard to keep shield.
3. the robot control system according to claim 1 or 2 based on torque sensor and encoder, its feature exist
In, the decelerator uses harmonic speed reducer, wherein, between joint torque sensor and harmonic speed reducer using tooth mouth match somebody with somebody and,
Bolt connection.
4. the robot control system according to claim 1 based on torque sensor and encoder, it is characterised in that institute
The cage connection of the substrate and motor of stating output coder is fixed, and the electric machine controller is connected with robot controller.
5. the robot control system according to claim 1 or 2 based on torque sensor and encoder, its feature exist
In the impulse generator of the output coder is connected with joint torque sensor, realizes the rotation of encoder.
6. a kind of robot control method based on torque sensor and encoder, it is characterised in that this method includes following step
Suddenly：
S1, the motor anglec of rotation θ for gathering by motor encoder and output coder measurement respectively1Passed with measurement joint torque
The output angle θ of sensor2；
S2, the motor anglec of rotation θ of motor encoder measurement1With the output of output coder measurement joint torque sensor
Angle, θ2The differential seat angle of the motor encoder and output coder, i.e. flexibility of joint deformation quantity are calculated by the first formula
Δθ；
S3, the motor anglec of rotation θ of motor encoder measurement1, flexibility of joint deformation quantity Δ θ and robot controller angle
Spend given side input quantity θdControl input amount θ is calculated by the second formula；
S4, the control input amount θ are easy to the anglec of rotation of motor controller controls motor by inputting electric machine controller.
7. the robot control method according to claim 6 based on torque sensor and encoder, it is characterised in that institute
State the first formula and obtain flexibility of joint deformation quantity Δ θ=K θ to calculate the differential seat angle of motor encoder and output coder2-θ1, its
In, K is the speed reducing ratio of decelerator.
8. the robot control method according to claim 6 based on torque sensor and encoder, it is characterised in that institute
The second formula is stated to calculate control input amount θ=θ of input electric machine controllerd-Δθ-θ1。
9. the robot control method according to claim 6 based on torque sensor and encoder, it is characterised in that logical
The differential seat angle of the motor encoder and output coder is crossed, for measurement motor, decelerator, joint torque sensor whole
The dough deformation amount of transmission link, by the way that into the controlled quentity controlled variable of robot controller, dough deformation amount compensation is improved into machine
Person joint and the control accuracy of track.
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| CN201610493680.4A CN107538494A (en) | 2016-06-29 | 2016-06-29 | A kind of robot control method and system based on torque sensor and encoder |
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| CN201610493680.4A CN107538494A (en) | 2016-06-29 | 2016-06-29 | A kind of robot control method and system based on torque sensor and encoder |
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| CN108189074A (en) * | 2018-04-08 | 2018-06-22 | 深圳市东方伺服数控技术有限公司 | Using the joint of robot and its control method of three-level synchronous belt retarder |
| CN108656115A (en) * | 2018-05-17 | 2018-10-16 | 黄云汉 | A kind of control method and device of the joint speed reducer of prosthetic robot |
| CN108748158A (en) * | 2018-06-12 | 2018-11-06 | 上海节卡机器人科技有限公司 | Cooperate robot, collision detecting system and method, storage medium, operating system |
| CN109108967A (en) * | 2018-08-16 | 2019-01-01 | 深圳市歌尔泰克科技有限公司 | Motor compensating method, driver, joint of mechanical arm mould group and mechanical arm |
| CN110871456A (en) * | 2018-08-31 | 2020-03-10 | 发那科株式会社 | Robot |
| CN111238712A (en) * | 2018-11-28 | 2020-06-05 | 财团法人工业技术研究院 | Output torque calculation device and calculation method thereof |
| WO2021006038A1 (en) * | 2019-07-08 | 2021-01-14 | アズビル株式会社 | Torque compensation device and torque compensation method |
| CN112297053A (en) * | 2020-10-26 | 2021-02-02 | 珠海一维弦机器人有限公司 | Joint driving device |
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| CN112692819A (en) * | 2019-10-22 | 2021-04-23 | 大族激光科技产业集团股份有限公司 | Encoder group position compensation method and robot module position compensation method |
| CN112976047A (en) * | 2021-02-08 | 2021-06-18 | 佛山市华道超精科技有限公司 | Double-feedback flexible rotary joint mechanism and robot |
| CN113203508A (en) * | 2021-05-12 | 2021-08-03 | 广东盈动高科自动化有限公司 | Torque measuring method for robot joint |
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| WO2019196723A1 (en) * | 2018-04-08 | 2019-10-17 | 深圳市东方伺服数控技术有限公司 | Robot joint using three-stage synchronous belt speed reducer and control method therefor |
| CN108189074A (en) * | 2018-04-08 | 2018-06-22 | 深圳市东方伺服数控技术有限公司 | Using the joint of robot and its control method of three-level synchronous belt retarder |
| CN108189074B (en) * | 2018-04-08 | 2023-08-29 | 深圳市东方伺服数控技术有限公司 | Robot joint adopting three-stage synchronous belt speed reducer and control method thereof |
| CN108656115B (en) * | 2018-05-17 | 2021-04-27 | 黄云汉 | Control method of joint speed reducer of joint type robot |
| CN108656115A (en) * | 2018-05-17 | 2018-10-16 | 黄云汉 | A kind of control method and device of the joint speed reducer of prosthetic robot |
| CN108748158A (en) * | 2018-06-12 | 2018-11-06 | 上海节卡机器人科技有限公司 | Cooperate robot, collision detecting system and method, storage medium, operating system |
| CN109108967A (en) * | 2018-08-16 | 2019-01-01 | 深圳市歌尔泰克科技有限公司 | Motor compensating method, driver, joint of mechanical arm mould group and mechanical arm |
| WO2020034977A1 (en) * | 2018-08-16 | 2020-02-20 | 歌尔股份有限公司 | Motor compensation method, driver, joint modules for mechanical arm and mechanical arm |
| CN109108967B (en) * | 2018-08-16 | 2021-03-30 | 深圳市歌尔泰克科技有限公司 | Motor compensation method, driver, mechanical arm joint module and mechanical arm |
| CN110871456A (en) * | 2018-08-31 | 2020-03-10 | 发那科株式会社 | Robot |
| CN110871456B (en) * | 2018-08-31 | 2024-02-06 | 发那科株式会社 | Robot |
| CN111238712A (en) * | 2018-11-28 | 2020-06-05 | 财团法人工业技术研究院 | Output torque calculation device and calculation method thereof |
| WO2021006038A1 (en) * | 2019-07-08 | 2021-01-14 | アズビル株式会社 | Torque compensation device and torque compensation method |
| CN112692819A (en) * | 2019-10-22 | 2021-04-23 | 大族激光科技产业集团股份有限公司 | Encoder group position compensation method and robot module position compensation method |
| CN112297053A (en) * | 2020-10-26 | 2021-02-02 | 珠海一维弦机器人有限公司 | Joint driving device |
| CN112370742A (en) * | 2020-10-29 | 2021-02-19 | 深圳华鹊景医疗科技有限公司 | Active dragging method and device of mechanical arm and upper limb rehabilitation robot |
| US11606055B2 (en) | 2020-11-19 | 2023-03-14 | Delta Electronics, Inc. | Rotary machine device and linear machine device |
| CN112976047A (en) * | 2021-02-08 | 2021-06-18 | 佛山市华道超精科技有限公司 | Double-feedback flexible rotary joint mechanism and robot |
| CN113203508A (en) * | 2021-05-12 | 2021-08-03 | 广东盈动高科自动化有限公司 | Torque measuring method for robot joint |
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Application publication date: 20180105 |