CN108115690A - A kind of robot adaptive control system and method - Google Patents
A kind of robot adaptive control system and method Download PDFInfo
- Publication number
- CN108115690A CN108115690A CN201711495100.6A CN201711495100A CN108115690A CN 108115690 A CN108115690 A CN 108115690A CN 201711495100 A CN201711495100 A CN 201711495100A CN 108115690 A CN108115690 A CN 108115690A
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- robot
- point
- adaptive
- force
- control
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Classifications
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
Present invention is disclosed a kind of robot adaptive control systems, robot is equipped with the force snesor of acquisition contact workpiece dynamics, force signal is delivered to supervisory controller by the force snesor in real time, the supervisory controller will correct pose signal and be delivered to robot controller, the real-time pose signal of the robot controller output robot to supervisory controller.In robot adaptive control system and method for the present invention, adaptive impedance control algorithm is simpler, suitable for various process, can improve power control accuracy according to specific processing request and technique, the more accurate adaptive impedance control algorithm of use.
Description
Technical field
The present invention relates to industrial machine manpowers to control manufacture field, and expansible lathe power of using controls manufacture field.
Background technology
During processing of robots, the deviation of end-of-arm tooling and workpiece generates contact force, and larger contact force is easily to machine
People and workpiece cause to damage, and the size of contact force affects the precision of processing, and then influences the quality of processing, only by machine
Mission requirements is not achieved in people's position control system.
Classical power control theory impedance adjustment, active force between machine human and environment and position deviation regard as one it is dynamic
State system establishes relational model between the two, by controlling robot tip displacement indirect control end effect power so that connect
Contact force it is expected in touch tracking.
In classical impedance adjustment, impedance parameter is changeless, and during actual processing, environmental dynamics mould
Type is changed, it is necessary to impedance parameter be adjusted, using the method for force adaptive control.The self-adaptation control method of the prior art is calculated
Method is complicated, is mostly limited only to the theoretical simulation stage, it is impossible to applied to engineering practice；Or simple Floorplanning is only applicable to,
It cannot carry out the control process in space.
The content of the invention
The technical problems to be solved by the invention be realize a kind of system that can accurately, reliably control adaptive stress and
Method.
To achieve these goals, the technical solution adopted by the present invention is：A kind of robot adaptive control system, machine
People is equipped with the force snesor of acquisition contact workpiece dynamics, and force signal is delivered to supervisory controller by the force snesor in real time,
The supervisory controller will correct pose signal and be delivered to robot controller, the robot controller output robot
Real-time pose signal is to supervisory controller.
The artificial milling robot of machine, the force snesor are the acquisition work department of robot and connecing for workpiece surface
The collecting unit of contacting surface normal force.
Control method based on the robot adaptive control system：
1) supervisory controller obtains Norma l deviation power △ F by the real-time force signal of acquisition compared with established standards value；
2) impedance control is carried out according to the current pose of Norma l deviation power △ F and robot；
3) using impedance control and based on the reference position point of robot current location, current pose adjusting point is obtained；
4) control robot moves to current pose adjusting point；
5) self-adaptive estimation is carried out to current pose adjusting point and obtains adaptive impedance；
6) using adaptive impedance and based on robot the next position point preset reference position, position correction point is obtained；
7) position correction point is compensated to robot the next position point, and position correction compensation is carried out based on former reference position
Obtain new reference position.
Step 1)-step 7) Xun Huan performs, and adaptive impedance control, robot are carried out for the next position point of robot
When being displaced to new location point, the new reference position after compensation is performed.
2) the impedance control is obtained according to default impedance parameter.
The adaptive impedance control according to the position and normal force of preset reference point and position correction point, estimates environment
Stiffness K e；Further according to specified normal force Fr, estimation environment position Xe, the position correction compensation is according to calculation environment position and environment
Rigidity is calculated by expected force.
In robot adaptive control system and method for the present invention, adaptive impedance control algorithm is simpler, suitable for each
Kind process can improve power control according to specific processing request and technique, the more accurate adaptive impedance control algorithm of use
Precision.
Description of the drawings
The content of every width attached drawing expression in description of the invention is briefly described below：
Fig. 1 is adaptive control system block diagram；
Fig. 2 is self-adaptation control method flow chart；
Fig. 3 is the realization process schematic in robot space coordinates；
Fig. 4 is classical impedance control lines figure during robot polishing force adaptive control；
Fig. 5 is through adaptive impedance control lines figure during robot polishing force adaptive controls.
Specific embodiment
Adaptive impedance control method is divided into：The adaptive adjustment and two kinds of the estimation of environmental parameter of impedance parameter be all
The power and position that have generated are analyzed during control, by a series of calculating process, derive the environment of subsequent point
Model constantly adjusts, and completes control process.The self-adaptation control method of environmental parameter estimation is improved, can be applied
Control process in robot space.
As shown in Figure 1, control system uses central controlled mode, supervisory controller connection force snesor receives real
When force information, calculate correction amount through self-adaptation control method；Robot controller is sent out as slave computer to supervisory controller
Real-time pose information is sent, and receives modified posture information and changes current movement locus, it is permanent that control robot carries out normal force
Fixed processing.
As shown in Fig. 2, adaptive impedance control algorithm, it, can estimation on line ring although impedance parameter is also fixed
Border position and environment rigidity are calculated reference position by expected force, then carry out impedance control.The general thought of trajectory planning
It is that impedance control is carried out to current reference position point, obtains position correction point, which corrects to obtain based on reference position point,
Precision is higher, and control robot moves to the point, and adaptive estimation reference position at this point, to initial point once into line position
Compensation is put, obtains reference position, control robot moves to next reference position, and Xun Huan carries out current point amendment, subsequent point is mended
The process repaid.
As shown in figure 3, adaptive impedance control strategy, according to the position and normal force of reference point and position correction point, estimates
Calculate environment rigidity Ke；Further according to specified normal force Fr, estimation environment position Xe, you can complete adaptive adjustment process.In machine
Realization process in people's space coordinates, position correction point are corrected to obtain by reference point, and vector is normal vector, calculates ginseng
The space length of examination point and adjusting point, then be divided by with 2 points of normal force difference, the environment rigidity estimated；Further according to specified
Normal force can obtain the distance with reference point under the normal force, since direction vector is consistent, can obtain under the normal force
Point, the environment position as estimated；The distance of the point and initial point (pilot teaching point) is calculated, as the compensation of next initial point, is obtained
To the reference point of subsequent point, an adaptive correction process is completed.
During processing of robots, force adaptive control system adapts to the change of environment, keeps process power permanent
Fixed, workpiece surface processing quality is higher, works well, as shown in figure 4, robot polishing force adaptive control process, 7N are specified
Curve under normal force, a are classical impedance control, and b is adaptive impedance control, it is seen then that smaller is fluctuated using this method, and
Adaptive impedance control algorithm is simpler, can be according to specific processing request and technique suitable for various process, and use is more smart
True adaptive impedance control algorithm improves power control accuracy.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements and from aforesaid way
Limitation, as long as employ the inventive concept and technical scheme of the present invention progress various unsubstantialities improvement or without changing
Other occasions are directly applied to by the design of the present invention and technical solution, within protection scope of the present invention.
Claims (6)
1. a kind of robot adaptive control system, robot is equipped with the force snesor of acquisition contact workpiece dynamics, and feature exists
In：Force signal is delivered to supervisory controller by the force snesor in real time, and the supervisory controller will correct pose signal
It is delivered to robot controller, the real-time pose signal of the robot controller output robot to supervisory controller.
2. robot adaptive control system according to claim 1, it is characterised in that：The artificial sander device of machine
People, the force snesor are the collecting unit of the contact surface normal force for the work department and workpiece surface for gathering robot.
3. the control method based on robot adaptive control system described in claim 1-3, it is characterised in that：
1) supervisory controller obtains Norma l deviation power △ F by the real-time force signal of acquisition compared with established standards value；
2) impedance control is carried out according to the current pose of Norma l deviation power △ F and robot；
3) using impedance control and based on the reference position point of robot current location, current pose adjusting point is obtained；
4) control robot moves to current pose adjusting point；
5) self-adaptive estimation is carried out to current pose adjusting point and obtains adaptive impedance；
6) using adaptive impedance and based on robot the next position point preset reference position, position correction point is obtained；
7) position correction point is compensated to robot the next position point, and position correction is carried out based on former reference position and compensates to obtain
New reference position.
4. control method according to claim 3, it is characterised in that：Step 1)-step 7) Xun Huan performs, for robot
The next position point carry out adaptive impedance control, when robot displacement is to new location point, perform compensate after new reference
Position.
5. the control method according to claim 3 or 4, it is characterised in that：2) the impedance control is according to default resistance
Anti- gain of parameter.
6. control method according to claim 3, it is characterised in that：The adaptive impedance control, according to preset reference
The position and normal force of point and position correction point, estimation environment rigidity Ke；Further according to specified normal force Fr, environment position is estimated
Xe, the position correction compensation are calculated according to calculation environment position and environment rigidity by expected force.
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| CN201711495100.6A CN108115690A (en) | 2017-12-31 | 2017-12-31 | A kind of robot adaptive control system and method |
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| CN201711495100.6A CN108115690A (en) | 2017-12-31 | 2017-12-31 | A kind of robot adaptive control system and method |
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| CN108115690A true CN108115690A (en) | 2018-06-05 |
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| CN201711495100.6A Pending CN108115690A (en) | 2017-12-31 | 2017-12-31 | A kind of robot adaptive control system and method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656118A (en) * | 2018-06-07 | 2018-10-16 | 宁波东浩铸业有限公司 | A method of based on force sensor Intelligent assembly end cover of automobile generator |
| CN109062032A (en) * | 2018-10-19 | 2018-12-21 | 江苏省（扬州）数控机床研究院 | A kind of robot PID impedance control method based on Approximate dynamic inversion |
| CN110273876A (en) * | 2019-07-02 | 2019-09-24 | 燕山大学 | For the impedance-compensated method and system of outer ring of valve-controlled cylinder mechanical impedance control system |
| CN110497423A (en) * | 2019-08-22 | 2019-11-26 | 泉州装备制造研究所 | A kind of manipulator adaptive machining method |
| CN111730599A (en) * | 2020-07-08 | 2020-10-02 | 深圳市优必选科技股份有限公司 | Impedance control method and device, impedance controller and robot |
| CN112743540A (en) * | 2020-12-09 | 2021-05-04 | 华南理工大学 | Hexapod robot impedance control method based on reinforcement learning |
| CN113009819A (en) * | 2021-02-09 | 2021-06-22 | 南京航空航天大学 | Force control-based elliptical vibration cutting machining method |
| CN114770500A (en) * | 2022-04-02 | 2022-07-22 | 苏州艾利特机器人有限公司 | Method, system and application for correcting parameters of mechanical arm controller based on impedance mode |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656118A (en) * | 2018-06-07 | 2018-10-16 | 宁波东浩铸业有限公司 | A method of based on force sensor Intelligent assembly end cover of automobile generator |
| CN109062032A (en) * | 2018-10-19 | 2018-12-21 | 江苏省（扬州）数控机床研究院 | A kind of robot PID impedance control method based on Approximate dynamic inversion |
| CN109062032B (en) * | 2018-10-19 | 2021-08-31 | 江苏省（扬州）数控机床研究院 | Robot PID variable impedance control method based on approximate dynamic inverse |
| CN110273876A (en) * | 2019-07-02 | 2019-09-24 | 燕山大学 | For the impedance-compensated method and system of outer ring of valve-controlled cylinder mechanical impedance control system |
| CN110497423A (en) * | 2019-08-22 | 2019-11-26 | 泉州装备制造研究所 | A kind of manipulator adaptive machining method |
| CN110497423B (en) * | 2019-08-22 | 2022-08-16 | 泉州装备制造研究所 | Self-adaptive machining method for manipulator |
| CN111730599A (en) * | 2020-07-08 | 2020-10-02 | 深圳市优必选科技股份有限公司 | Impedance control method and device, impedance controller and robot |
| CN111730599B (en) * | 2020-07-08 | 2021-09-07 | 深圳市优必选科技股份有限公司 | Impedance control method and device, impedance controller and robot |
| CN112743540A (en) * | 2020-12-09 | 2021-05-04 | 华南理工大学 | Hexapod robot impedance control method based on reinforcement learning |
| CN112743540B (en) * | 2020-12-09 | 2022-05-24 | 华南理工大学 | Hexapod robot impedance control method based on reinforcement learning |
| CN113009819A (en) * | 2021-02-09 | 2021-06-22 | 南京航空航天大学 | Force control-based elliptical vibration cutting machining method |
| CN114770500A (en) * | 2022-04-02 | 2022-07-22 | 苏州艾利特机器人有限公司 | Method, system and application for correcting parameters of mechanical arm controller based on impedance mode |
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Application publication date: 20180605 |