CN107831680B - The stratification of remote operating mechanical arm keeps away unusual method - Google Patents
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Abstract
The stratification of remote operating mechanical arm keeps away unusual method, belongs to teleoperation of robot field.The present invention is that unusual that its motion profile cannot be effectively ensured is normal in order to solve the problems, such as in existing machinery arm motion process to keep away using single method.The operating status of mechanical arm is kept away unusual layer according to mechanical arm unusual degree Measure Indexes local condition's sequence and is divided into good state region, transitional region and ill region by it；When mechanical arm runs on good state region, the movement of main side operator is guided by the way of Virtual force field；When mechanical arm runs on transitional region, the end orbit of mechanical arm is reconstructed using traditional trajectory reconstruction method；When mechanical arm runs on ill region, the end orbit of mechanical arm is reconstructed using improved trajectory reconstruction method.The present invention is unusual for keeping away for mechanical arm.
Description
Technical field
The present invention relates to the stratification of remote operating mechanical arm to keep away unusual method, belongs to teleoperation of robot field.
Background technique
In robot astronaut's system, mechanical arm can accurately stablize its kinematics as main control unit
Solution has great importance.But since master-slave equipment has very big conformational differences, main side operator can not pass through itself
Motion state judges the state from end mechanical arm, so, in the actual operation process, mechanical arm is easily ensnared into unusual state.
The unusual state of mechanical arm refers to the phenomenon that mechanical arm is lost towards certain direction locomitivity during the motion.When
When mechanical arm is close to singular configuration, even if the variation that cartesian space is very small, after being mapped to joint space, can also it generate very big
Joint angle change.Moreover, because velocity Jacobian matrix not full rank, during kinematics solution, obtained speed and plus
Very big mutation can occur for speed, and solution procedure is made to fall into morbid state.Therefore, it is necessary to during trying every possible means to avoid manipulator motion
Unusual appearance.
Currently, for mechanical arm keep away unusual method have track Reconstruction Method, force feedback, damped least square method, based on appoint
Business priority keeps away the methods of unusual algorithm and unusual consistency.Unusual algorithm is kept away for task based access control priority, its energy
Enough redundant degree of freedom for fully utilizing mechanical arm, guarantee mechanical arm kept away under the premise of completing planning tasks it is unusual, but this
Kind method is the process of a gradual optimization, can not be had an impact immediately to the unusual state of mechanical arm, and it can not
It carries out keeping away the types such as unusual avoidance Singular using kernel.For damped least square method, it is only necessary to use unusual robust
Property it is inverse replace pseudoinverse, but after there is addition damping term, the problems such as influencing the tracking accuracy of mechanical arm.And unusual consistency
Method can introduce kinematic error near unusual configuration；It, may if there is infinite solution exists also, when being solved using the method
Solving result is 0, is not inconsistent with actual conditions.Force feedback method is due to there is the presence of operator, when system is given by force feedback
After the prompt of operator mechanical arm Optimum Operation direction, operator can carry out in real time the weight of track according to the judgement of itself
New planning；It can theoretically avoid any unusual state of mechanical arm, but the disadvantage is that its application scenarios is strictly limited
It makes in the environment of human-computer interaction.Trajectory reconstruction method defines singular regions, it can be ensured that the unusual index of mechanical arm is maintained at
It is more than threshold value；It can also be applied well in the case where multitask, but when mechanical arm is due to the choosing of initial position
When selecting or causing mechanical arm to enter ill region due to the error that numerical value calculates, can not just it play the role of corresponding.
Summary of the invention
The invention aims to solve in existing machinery arm motion process using single method keep away it is unusual cannot be effective
Guarantee the normal problem of its motion profile, the stratification for providing a kind of remote operating mechanical arm keeps away unusual method.
The stratification of remote operating mechanical arm of the present invention keeps away unusual method, it the following steps are included:
The operating status of mechanical arm unusual layer is kept away according to mechanical arm unusual degree Measure Indexes local condition's sequence to be divided into
Good state region, transitional region and ill region；
When mechanical arm runs on good state region, the movement of main side operator is drawn by the way of Virtual force field
It leads；
When mechanical arm runs on transitional region, weight is carried out using end orbit of traditional trajectory reconstruction method to mechanical arm
Structure；
When mechanical arm runs on ill region, weight is carried out using end orbit of the improved trajectory reconstruction method to mechanical arm
Structure.
Advantages of the present invention: the present invention chooses suitable index to the singularity of mechanical arm first and evaluates, in this base
On plinth, propose stratification keeps away unusual method.Good state region, transitional region and morbid state are in for the unusual layer of keeping away of mechanical arm
Region is respectively adopted Virtual force field, traditional trajectory reconstruction method and improved trajectory reconstruction method and keeps away unusual, it can be effective
The motion profile for guaranteeing mechanical arm, makes mechanical arm kinematic calculation process will not be caused to fall into morbid state because of the problem of singularity.
Detailed description of the invention
Fig. 1 is that the stratification of remote operating mechanical arm of the present invention keeps away the flow chart of unusual method；
Fig. 2 is that the singular regions of mechanical arm divide schematic diagram；
When Fig. 3 is that mechanical arm runs on good state region, to the Virtual force field amplitude distribution figure of main side operator guidance；
Fig. 4 is when mechanical arm runs on transitional region, using the mechanical arm tail end rail of traditional trajectory reconstruction method reconstruct
Mark schematic diagram；
Fig. 5 is processing schematic of traditional trajectory reconstruction method to special circumstances；
Fig. 6 is the effect hierarchy chart of improved trajectory reconstruction method.
Specific embodiment
Present embodiment is specifically described below with reference to Fig. 1 to Fig. 6:
As shown in connection with fig. 1, the stratification of remote operating mechanical arm described in present embodiment keeps away unusual method, it includes following step
It is rapid:
The operating status of mechanical arm unusual layer is kept away according to mechanical arm unusual degree Measure Indexes local condition's sequence to be divided into
Good state region, transitional region and ill region；
When mechanical arm runs on good state region, the movement of main side operator is drawn by the way of Virtual force field
It leads；
When mechanical arm runs on transitional region, weight is carried out using end orbit of traditional trajectory reconstruction method to mechanical arm
Structure；
When mechanical arm runs on ill region, weight is carried out using end orbit of the improved trajectory reconstruction method to mechanical arm
Structure.
It is described that the operating status of mechanical arm is kept away to the specific side that unusual layer is divided into good state region, transitional region and ill region
Method are as follows:
Local condition's sequence (LCI) κlAre as follows:
Wherein κl∈[0,1]；
On this basis, unusual layer will be kept away and be divided into three regions, these three regions respectively correspond region 1, region in Fig. 2
2 and region 3.Two lines of demarcation between three regions are respectively defined as: the line of demarcation between good state region and transitional region
For threshold function line, the line of demarcation between transitional region and ill region is ill position.In Fig. 2, two lines of action according to
The unusual state of mechanical arm, corresponding LCI value is respectively 0.03 and 0.015.
That is:
As 0.03 < κlWhen≤1, mechanical arm runs on good state region；
As 0.015 < κlWhen≤0.03, mechanical arm runs on transitional region；
As 0≤κlWhen≤0.015, mechanical arm runs on ill region, and works as κlMechanical arm is in singular point when being 0；
κ is conditional number, definition in formula are as follows:
In formula, σmaxFor the maximum singular value of Jacobian matrix, σminFor the minimum singular value of Jacobian matrix；
But since the resolving for calculating κ according to definition is complex, so, simplified solution formulas need to be used are as follows:
In formula, J is the Jacobian matrix of mechanical arm current state.
Determining to indicate that mobile and rotation unit is m and rad: conditional number is more sensitive to dimension selection, when selection is different
Reference frame or when being different dimension, the calculating of conditional number can all obtain different results.In order to make actually to acquire
Conditional number numerical value be unlikely to excessive, using m and rad as dimension.
When mechanical arm runs on good state region, the movement of main side operator is drawn by the way of Virtual force field
It leads method particularly includes:
There is provided Virtual force field to operator in real time, guide the operation of operator, with reduce mechanical arm fall into it is unusual can
It can property；
Virtual force field is divided into the direction of fictitious force and the size of fictitious force:
The direction of fictitious force: making the direction LCI of force feedback in the gradient direction of Cartesian position, guides operator's direction
The direction for increasing LCI is mobile；LCI indicates local condition's sequence κ for replacingl；
The expression formula of LCI are as follows:
X, y, z respectively indicates the direction vector of cartesian coordinate system；
The expression formula of LCI is solved according to the following formula:
F indicates local condition's sequence of mechanical arm in formula；θ is the current joint angles of mechanical arm；peFor mechanical arm tail end
Cartesian position；
Wherein partial derivative of the LCI index about joint anglesIt indicates are as follows:
Partial derivative about mechanical arm tail end Cartesian positionIt indicates are as follows:
θ in formula1、θ2、θ2……θ7Successively indicate the corresponding joint angle of mechanical arm；
To partial derivative in such a way that numerical value calculatesIt is solved, about i-th of joint angles θ of mechanical armiPartial derivative
Numerical solution are as follows:
I=1,2,3 ... 7；
δ θ in formulaiFor the fractional increments of i-th of joint angles of mechanical arm, f (θ) is mechanical arm under joint angles θ configuration
LCI value, f (θ+δ θi) it is mechanical arm in joint angles θ+δ θiConfigure lower LCI value；
The size of fictitious force calculates: when mechanical arm has different Singularity Value Index, remote operating main side should be with difference
Rule apply force feedback.When the unusual index from end mechanical arm is larger, main side operator is not necessarily to force operation immediately
Person is mobile to the direction far from singular position, the lesser No.1 directed force of operator should be given at this time, as path planning
With reference to and can avoiding operating to a certain extent so that operator cooks up the path come and has better operation index
Person makes mechanical arm enter unusual position in operating process later.No.1 directed force A1Illustrate applying for directed force at this time
Add principle:
As the local condition sequence κ from end mechanical arml∈ (0.045,1] when, No.1 directed force A1Application principle are as follows:
A1=λ1,
λ1For the amplitude of the No.1 feedback force of application, it should be adjusted according to different operators；
When the unusual index from end mechanical arm is smaller, i.e. the local condition sequence κ from end mechanical arml∈ [0.03,
0.045]), in order to deteriorate the index further, kinematics solution is led to the problem of, needs to give operator biggish No. two
Directed force forces operator's operating robotic arm far from singular point.
No. two directed force A2Calculation method are as follows:
λ in formula2For the amplitude of No. two feedback forces of application；κlcrFor the line of demarcation in good state region and transitional region；κlthFor
Constant, κlthValue be 0.045；
λ1And λ2Selection it is related with the adaptedness of the maximum output power of force feedback equipment and operator, need basis
Particular condition in use analysis determines.Applying mode of the expression formula integrating representation of the A Virtual force field two stages.
As shown in connection with fig. 3, it is shown that the variation tendency of fictitious force size.When mechanical arm is in good state region, mechanical arm
Inverse kinematics be in normal condition, at this point, not needing to take the movement for keeping away unusual algorithm accordingly to constrain mechanical arm.
But since master-slave equipment configuration is different, operator from the state of end mechanical arm for not knowing, it is easy to operating robotic arm
Fall into unusual state.In order to help operator to find a track with good unusual index, this implementation in operation
Method proposes the method for Virtual force field.This method, which passes through, provides feedback force to operator in real time, guides the operation of operator,
A possibility that unusual is fallen into reduce mechanical arm, improves the operability of mechanical arm.
In conjunction with shown in Fig. 4 and Fig. 5, when mechanical arm is in transitional region, there is mistake in kinematics solution in order to prevent, distant
Using trajectory reconstruction method will keep away in operating system unusual.At this point, the LCI index of mechanical arm is lower than threshold function line 0.03,
Remote control system, which is directly reconstructed, may result in unusual cartesian trajectories, avoid the unstable step of the system of may cause
Respond phenomenon.
As selection local conditioning index κlAfter index as unusual degree evaluation, the basic task of trajectory reconstruction method is exactly to seek
Finding one makes κlThe reconstruct track that index remains unchanged.When mechanical arm tail end is moved along the reconstruct track, trajectory reconstruction
The essential characteristic of method can pass through δ κlExpression formula be indicated.
When mechanical arm runs on transitional region, weight is carried out using end orbit of traditional trajectory reconstruction method to mechanical arm
Structure method particularly includes:
The essential characteristic of trajectory reconstruction are as follows:
δ κ in formulalFor the value that is slightly variable of LCI, δ r is movement speed of the mechanical arm tail end along reconstruct track；
The formula shows, if it is desired to ensure κ during manipulator motionlIndex remains unchanged, the speed moved along track
Vector should be withIt is orthogonal.Thus, it is believed that the track of reconstruct is located on reconstruct face.
The track of reconstruct is located on the reconstruct face that following formula defines:
The normal vector n in the reconstruct facemAre as follows:
When mechanical arm is close to reconstruct face, showing mechanical arm, there are the deteriorations of unusual degree.In order to prevent unusual index into
One step deteriorates, and needing to remove makes mechanical arm close to the speed in reconstruct face, i.e. the speed along reconstruct face normal vector direction.Removing makes machine
Tool arm is described close to the reconstruct track after the movement speed in reconstruct face are as follows:
ImFor m rank unit matrix, k1For trajectory reconstruction coefficient, δ rdSpeed is moved along desired trajectory for reconstruct front mechanical arm
Degree；
The mutation for generating speed when trajectory reconstruction in order to prevent defines corresponding reconstruct transitional region:
σ is reconstruct transitional region,For the unusual threshold value of trajectory reconstruction method；
But above-mentioned algorithm has two.First is that above-mentioned algorithm cannot be guaranteed that mechanical arm tail end is detached from the rail of reconstruct
Mark；Second is that mechanical arm tail end still can enter the inside of singular regions since numerical value calculates existing error.P in Fig. 51、p2
Point can indicate location point of problems.
In order to solve both of these problems,
It willDeformation are as follows:
In formula:
k1'=k1(1-sign(δr·nm))/2,
KrFor zoom factor, for adjusting the speed for deviateing former track.
Firstly, when mechanical arm tail end is located at the p in Fig. 51Point, and desired directional velocity δ r11Improve towards unusual state
Direction when, nmWith δ r11Angle it is at an acute angle, due to k1' addition,It can abbreviation are as follows:
δ r=δ rd。
Abbreviation formula expression does not use trajectory reconstruction method that mechanical arm tail end track is reconstructed.If mechanical arm in Fig. 5
Tip speed δ r12The direction to degenerate towards unusual state, thenWithEquivalence shows the reconstruct for continuing that trajectory reconstruction method is called to carry out track.Secondly, when mechanical arm enters
When inside reconstruct face, k2、nmItem is capable of providing oscillation effect, and the reconstruct track of mechanical arm is forced to return on reconstruct face.
The disclosure is further illustrated in conjunction with Fig. 6, traditional trajectory reconstruction method is when track is close to singular regions, Neng Goutong
Cross the reconstruct to track, guarantee that its kinematics solution is not in mistake, but if due to mechanical arm initial position selection
Or since the error that numerical value calculates causes mechanical arm to enter ill region, traditional trajectory reconstruction method can not just be played accordingly
Effect, for this reason, it may be necessary to be modified as follows for traditional trajectory reconstruction method.
Firstly, it is necessary to determine the ill region of mechanical arm, when mechanical arm is in this region, current LCI value should be less than a certain
Specified value, inverse kinematics still can not be normally carried out solution.At this point, even if being carried out by reconstruct track using differential kinematics
Solution can not obtain desired result.So needing directly mechanical arm to be controlled in joint space at this time, give joint
The changing rule of speed.
When mechanical arm runs on ill region, such as p shown in fig. 52When, using improved trajectory reconstruction method to machinery
What the end orbit of arm was reconstructed method particularly includes:
Mechanical arm is controlled in joint space, the changing rule for giving joint velocity is as follows:
δ θ indicates joint velocity；
In formula: VmaxThe movement speed of mechanical arm when for Linkspace control,It is LCI value to the local derviation of joint angles；
When actual motion, under joint control, the partial derivative direction along unusual mark sense joint angle moves mechanical arm,
LCI value can be gradually increased, and gradually move away from ill region, tip speed such as δ r12It is shown.After reaching transitional region,
The kinematic calculation of mechanical arm can switch in traditional trajectory reconstruction method.
To sum up, the effect level of improved trajectory reconstruction method can be provided according to Fig. 6.Wherein, primary difference is that, track is heavy
The effect level of structure method becomes present three layers from original two layers.Respectively, close to the transition zone of singular regions, singular regions
To the interior layer in ill region and the Very Ill-conditioned layer of innermost layer.
The effect level of improved trajectory reconstruction method is three layers, is stated by following formula:
In formula: κoutFor the LCI value on traditional trajectory reconstruction method transitional region boundary, κreOn reconstruct face for trajectory reconstruction
LCI value, κseFor the LCI value in improved trajectory reconstruction method morbid state region.
Claims (1)
1. a kind of stratification of remote operating mechanical arm keeps away unusual method, which is characterized in that it the following steps are included:
The operating status of mechanical arm is kept away into unusual layer according to mechanical arm unusual degree Measure Indexes local condition's sequence and is divided into good state
Region, transitional region and ill region；
When mechanical arm runs on good state region, the movement of main side operator is guided by the way of Virtual force field；
When mechanical arm runs on transitional region, the end orbit of mechanical arm is reconstructed using traditional trajectory reconstruction method；
When mechanical arm runs on ill region, the end orbit of mechanical arm is reconstructed using improved trajectory reconstruction method；
It is described that the operating status of mechanical arm is kept away to the specific method that unusual layer is divided into good state region, transitional region and ill region
Are as follows:
Local condition's sequence κlAre as follows:
Wherein κl∈[0,1]；
As 0.03 < κlWhen≤1, mechanical arm runs on good state region；
As 0.015 < κlWhen≤0.03, mechanical arm runs on transitional region；
As 0≤κlWhen≤0.015, mechanical arm runs on ill region, and works as κlMechanical arm is in singular point when being 0；
κ is conditional number in formula:
Wherein, σmaxFor the maximum singular value of Jacobian matrix, σminFor the minimum singular value of Jacobian matrix；
To simplify the calculation, the calculating formula of κ is taken are as follows:
Wherein, J is the Jacobian matrix under robot current state；
When mechanical arm runs on good state region, the movement of main side operator is guided by the way of Virtual force field
Method particularly includes:
Virtual force field is provided to operator in real time, guides the operation of operator；
Virtual force field is divided into the direction of fictitious force and the size of fictitious force:
The direction of fictitious force: making the direction LCI of force feedback in the gradient direction of Cartesian position, and guidance operator's direction makes
The direction that LCI increases is mobile；LCI indicates local condition's sequence κ for replacingl；
The expression formula of LCI are as follows:
X, y, z respectively indicates the direction vector of cartesian coordinate system；
The expression formula of LCI is solved according to the following formula:
F indicates local condition's sequence of mechanical arm in formula；θ is the current joint angles of mechanical arm；peFor the flute card of mechanical arm tail end
That position；
Wherein partial derivative of the LCI index about joint anglesIt indicates are as follows:
Partial derivative about mechanical arm tail end Cartesian positionIt indicates are as follows:
θ in formula1、θ2、θ2……θ7Successively indicate the corresponding joint angle of mechanical arm；
To partial derivative in such a way that numerical value calculatesIt is solved, about i-th of joint angles θ of mechanical armiThe number of partial derivative
Value solves are as follows:
I=1,2,3 ... 7；
δ θ in formulaiFor the fractional increments of i-th of joint angles of mechanical arm, f (θ) is LCI of the mechanical arm under joint angles θ configuration
Value, f (θ+δ θi) it is mechanical arm in joint angles θ+δ θiConfigure lower LCI value；
The size of fictitious force calculates:
As the local condition sequence κ from end mechanical arml∈ (0.045,1] when, No.1 directed force A1Application principle are as follows:
A1=λ1,
λ1For the amplitude of the No.1 feedback force of application；
As the local condition sequence κ from end mechanical armlWhen [0.03,0.045] ∈, needs to give operator's directed force, make operator
Operating robotic arm is far from singular point；
No. two directed force A2Calculation method are as follows:
λ in formula2For the amplitude of No. two feedback forces of application；κlcrFor the line of demarcation in good state region and transitional region；κlthFor constant,
κlthValue be 0.045；
When mechanical arm runs on transitional region, the end orbit of mechanical arm is reconstructed using traditional trajectory reconstruction method
Method particularly includes:
The essential characteristic of trajectory reconstruction are as follows:
δ κ in formulalFor the value that is slightly variable of LCI, δ r is movement speed of the mechanical arm tail end along reconstruct track；
The track of reconstruct is located on the reconstruct face that following formula defines:
The normal vector n in the reconstruct facemAre as follows:
Removing describes mechanical arm close to the reconstruct track after the movement speed in reconstruct face are as follows:
ImFor m rank unit matrix, k1For trajectory reconstruction coefficient, δ rdIt is reconstruct front mechanical arm along the movement speed of desired trajectory；
The mutation for generating speed when trajectory reconstruction in order to prevent defines corresponding reconstruct transitional region:
σ is reconstruct transitional region,For the unusual threshold value of trajectory reconstruction method；
It willDeformation are as follows:
In formula:
k′1=k1(1-sign(δr·nm))/2,
KrFor zoom factor, for adjusting the speed for deviateing former track；
When mechanical arm runs on ill region, the end orbit of mechanical arm is reconstructed using improved trajectory reconstruction method
Method particularly includes:
Mechanical arm is controlled in joint space, the changing rule for giving joint velocity is as follows:
δ θ indicates joint velocity；
In formula: VmaxThe movement speed of mechanical arm when for Linkspace control,It is LCI value to the local derviation of joint angles；
Under joint control, the partial derivative direction along unusual mark sense joint angle moves mechanical arm, when mechanical arm reaches transition region
Behind domain, mechanical arm is switched to again in traditional trajectory reconstruction method；
The effect level of improved trajectory reconstruction method is three layers, is stated by following formula:
In formula: κoutFor the LCI value on traditional trajectory reconstruction method transitional region boundary, κreFor the LCI on the reconstruct face of trajectory reconstruction
Value, κseFor the LCI value in improved trajectory reconstruction method morbid state region.
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| CN112828891B (en) * | 2021-01-20 | 2022-04-08 | 深圳辰视智能科技有限公司 | Detection method and detection device for robot path planning effectiveness and computer readable storage medium |
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