CN108436913B - Force-coordinated multi-arm robot compliance control method - Google Patents

Force-coordinated multi-arm robot compliance control method Download PDF

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CN108436913B
CN108436913B CN201810352964.0A CN201810352964A CN108436913B CN 108436913 B CN108436913 B CN 108436913B CN 201810352964 A CN201810352964 A CN 201810352964A CN 108436913 B CN108436913 B CN 108436913B
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mechanical arm
arm
robot
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CN108436913A (en
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张子建
董洋洋
刘嘉宇
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1635—Programme controls characterised by the control loop flexible-arm control
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators

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Abstract

The invention discloses a force-coordinated multi-arm robot compliance control method, and belongs to the field of robot control. The invention utilizes an impedance control method to establish the coordination control relationship between force and pose among multiple arms, and adopts the concept of pose synchronous control to establish a force synchronous controller among multiple mechanical arms in order to ensure the accuracy of force coordination; according to the contact force relationship between the mechanical arm and an object and between the mechanical arm and the mechanical arm, a synchronous impedance controller taking absolute force errors, synchronous force errors and coupling force errors as input is designed, so that the coordinated compliance characteristic of the multi-arm robot system based on force is realized, the synchronous compliance of the end force of the multi-arm robot is further ensured, and the coordinated control performance of the multi-mechanical arm is improved.

Description

Force-coordinated multi-arm robot compliance control method
Technical Field
The invention relates to the field of robot control, in particular to a force-coordinated multi-arm robot compliance control method.
Background
When a multi-arm robot completes an operation task under the condition of manual coupling, the safety of the mechanical arm and the safety of an operation object need to be ensured, the single-arm flexible control can ensure the operation safety of the tail end of the mechanical arm, but when a plurality of mechanical arms operate the object simultaneously, due to the fact that errors exist between the expected contact force and the actual contact force of the mechanical arm and the operation object, the possibility that the stress of the object is too large or too small exists, and the safety of the object cannot be ensured.
In recent years, as the demand for force control is increasing, the operation task demand of the robot is gradually developing from a single position control demand to a stage of simultaneous demand for position and force. Especially, under the condition that multi-arm force coupling completes an operation task, multi-arm force coordination control becomes more important, the multi-arm force coordination control can effectively guarantee the force coordination relationship, but only the strong coordination relationship exists, the pose precision of the mechanical arm cannot be guaranteed, and therefore the coordination control performance of the multiple mechanical arms is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a force-coordinated multi-arm robot compliance control method to improve the coordinated control performance of multiple mechanical arms.
The invention adopts the following technical scheme for solving the technical problems:
a force-coordinated multi-arm robot compliance control method is disclosed, wherein the robot has N mechanical arms T ═ T1，t2，…，ti，…，tN}，1<i<N，tiThe control method represents the ith mechanical arm and specifically comprises the following steps:
step S10, obtaining the expected contact force of the tail end of the mechanical arm according to the operation task of the mechanical arm;
step S11, measuring the actual contact force of the tail end of the mechanical arm through a six-dimensional torque sensor arranged at the tail end of the mechanical arm;
step S12, obtaining the expected pose of the tail end of the mechanical arm according to the operation task of the mechanical arm;
step S13, obtaining an absolute angle of a mechanical arm joint through a mechanical arm joint angle sensor;
step S14, designing a force-based multi-robot synchronous impedance controller using the desired robot end contact force obtained in step S10, the actual robot end contact force obtained in step S11, the desired robot end pose obtained in step S12, and the absolute robot joint angle obtained in step S13 as input conditions;
and step S15, realizing closed-loop control of the mechanical arm according to the output result of the force-based multi-mechanical-arm synchronous impedance controller designed in the step S14.
Further, the specific process of step S14 is as follows:
step S140, obtaining the mechanical arm t according to the step S10i-1Mechanical arm tiMechanical arm ti+1Desired tip contact force and the robot arm t obtained in step S11i-1Mechanical arm tiMechanical arm ti+1The actual contact force of the tail end and the idea of synchronous control are obtained to obtain the mechanical arm tiA terminal force error, a synchronous force error and a synchronous force coupling error;
step S141, obtaining the mechanical arm t according to the step S140iThe tail end force error, the synchronous force error and the synchronous force coupling error are obtained to obtain the mechanical arm tiA tip force compensation amount;
step S1Designing a robot end synchronous impedance controller, the controller using the robot t obtained in step S141iThe tail end force compensation quantity is used as an input condition, and the relation between the synchronous force of the multiple mechanical arms and the kinematics is established;
step S143, obtaining the mechanical arm t according to the mechanical arm tail end synchronous impedance controller designed in the step S142iImpedance desired acceleration;
step S144, obtaining the mechanical arm t according to the mechanical arm tail end synchronous impedance controller designed in the step S142iImpedance desired speed;
step S145, obtaining the mechanical arm t according to the mechanical arm tail end synchronous impedance controller designed in the step S142iImpedance expected pose;
step S146, according to the mechanical arm tiThe motion state of the mechanical arm t is obtainediDesired acceleration of motion;
step S147, according to the mechanical arm tiThe motion state of the mechanical arm t is obtainediDesired speed of movement of;
step S148, according to the mechanical arm tiThe motion state of the mechanical arm t is obtainediThe expected pose of the motion;
step S149, obtaining the absolute angle of the mechanical arm joint according to the step S13 to obtain the actual acceleration of the tail end of the mechanical arm;
step 1410, obtaining the actual speed of the tail end of the mechanical arm according to the absolute angle of the mechanical arm joint obtained in the step 13;
step 1411, obtaining the actual pose of the tail end of the mechanical arm according to the absolute angle of the mechanical arm joint obtained in the step 13;
step S1412, obtaining the mechanical arm t according to the step S143iImpedance desired acceleration, and the robot arm t obtained in step S146iThe desired acceleration of the motion and the actual acceleration of the end of the robot arm obtained in step S149 are obtained as a robot arm tiSynchronizing the desired acceleration;
step S1413, obtaining the mechanical arm t according to the step S144iDesired speed of impedance, the machine obtained in step S147Arm tiThe desired speed of the movement and the actual speed of the end of the robot arm obtained in step S1410 are obtained as the robot arm tiSynchronizing the desired speed;
step S1414, obtaining the mechanical arm t according to the step S145iImpedance expected pose and the mechanical arm t obtained in step S148iThe expected pose of the motion and the actual pose of the end of the mechanical arm obtained in the step S1411 obtain a mechanical arm tiAnd synchronizing the expected poses.
Further, the specific process of step S15 is as follows:
step S150, calculating to obtain the angular velocity of the mechanical arm joint through the absolute angle of the mechanical arm joint obtained in the step S13 and a joint establishing speed observer;
step S151, calculating to obtain the actual speed of the tail end of the mechanical arm according to the Jacobian relation of the speed of the mechanical arm and the angular speed of the joint of the mechanical arm calculated in the step S150;
step S152, calculating and obtaining the actual pose of the tail end of the mechanical arm according to the absolute angle of the mechanical arm joint obtained in the step S13;
step S153, calculating to obtain the actual acceleration of the tail end of the mechanical arm according to the actual speed of the tail end of the mechanical arm obtained in the step S151 and the actual pose information of the tail end of the mechanical arm obtained in the step S152;
step S154, obtaining a mechanical arm speed compensation quantity according to the difference value between the actual speed of the mechanical arm tail end obtained in the step S151 and the synchronous expected speed of the mechanical arm obtained in the step S1413;
step S155, obtaining a mechanical arm joint angular velocity compensation amount at the moment according to the Jacobian relationship and the mechanical arm velocity compensation amount obtained in the step S154, wherein the compensation amount is equivalent to the joint velocity compensation amount in a certain small time period;
step S156, obtaining a robot arm acceleration compensation amount according to a difference between the actual acceleration of the robot arm end obtained in step S153 and the synchronous expected acceleration of the robot arm obtained in step S1412;
step S157, obtaining joint acceleration compensation quantity according to the mechanical arm acceleration compensation quantity obtained in the step S156;
step S158, obtaining a robot arm pose compensation quantity according to the difference value between the robot arm synchronous expected pose obtained in the step S1414 and the actual pose of the robot arm tail end obtained in the step S152;
step S159, obtaining joint angle compensation quantity according to the pose compensation quantity and the inverse kinematics relation of the mechanical arm obtained in the step S158;
and step S1510, obtaining a joint control compensation amount according to the joint speed compensation amount obtained in step S155, the joint acceleration compensation amount obtained in step S157 and the joint angle compensation amount obtained in step S159, and realizing closed-loop control of the mechanical arm joint.
Furthermore, the impedance control system of the mechanical arm adopts a Cartesian impedance control system, the inner ring of the Cartesian impedance control system adopts Cartesian position control, and the outer ring adopts an impedance controller.
Compared with the prior art, the invention has the following beneficial effects:
the mechanical arm adopts a Cartesian impedance control system, an inner ring of the system adopts Cartesian position control, an outer ring adopts an impedance controller, a synchronous control thought is introduced into the Cartesian impedance control system, and absolute force errors, synchronous force errors and coupling force errors are designed to be input into the synchronous impedance controller as input conditions according to the contact force relation between the mechanical arm and an object as well as between the mechanical arm and the mechanical arm, so that the coordinated compliance characteristic of the multi-arm robot system based on force is realized, the synchronous compliance of the tail end force of the multi-arm robot is further ensured, and the coordinated control performance of the multi-arm is realized; the synchronous impedance control method of the multi-arm robot based on force coordination, provided by the invention, can be applied to the coordination control of the relative position and the contact force between an object and the multi-arm robot, the improvement of the force control precision of a system is realized, the safety and the stability of the system are ensured, and the convenience is provided for the co-fusion technology of the multi-arm robot.
Drawings
FIG. 1 is a flow chart of the synchronous impedance control of a multi-arm robot based on force coordination;
FIG. 2 is a block diagram of a force-based synchronous impedance controller architecture;
fig. 3 is a closed-loop control block diagram of a robot arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the technical solutions of the present invention are further described in detail below with reference to the accompanying drawings and specific embodiments:
as shown in fig. 1, the robot has N robot arms T ═ T1，t2，…，ti，…，tN}，1<i<N，tiRepresenting the ith mechanical arm, the control method specifically comprises the following steps:
step S10, obtaining the expected contact force (moment) of the tail end of the mechanical arm from the operation task of the mechanical arm;
step S11, measuring the actual contact force of the mechanical arm at the time t, namely the actual contact force of the mechanical arm tail end through a six-dimensional torque sensor arranged at the mechanical arm tail end;
step S12, obtaining the expected pose of the tail end of the mechanical arm according to the operation task of the mechanical arm;
step S13, obtaining absolute angle position information of each joint of the mechanical arm, namely the absolute angle of the joint of the mechanical arm, through a joint position sensor;
step S14, designing a force-based multi-arm synchronous impedance controller using the expected robot end contact force obtained in step S10, the actual robot end contact force obtained in step S11, the expected robot end pose obtained in step S12, and the absolute robot joint angle obtained in step S13 as input conditions;
and step S15, realizing closed-loop control of the mechanical arm according to the output result of the force-based multi-mechanical-arm synchronous impedance controller designed in the step S14.
As shown in fig. 2, in step S10, the robot arms t are obtained according to the operation tasks of the robot armsi-1、tiAnd ti+1A desired tip contact force;
step S11, respectively obtaining mechanical arms t according to six-dimensional torque sensors at the tail ends of the mechanical armsi-1、tiAnd ti+1Actual contact force of the tip;
step S12, according to the expected motion state of the operation task, obtaining the mechanical arm tiThe desired motion state of;
step S13, measuring the absolute angle of each mechanical arm joint by using an absolute position sensor installed in the mechanical arm joint;
the specific process of step S14 is as follows:
step S140, robot arm t obtained according to step S10i-1Mechanical arm tiMechanical arm ti+1The tip desired contact force and the robot arm t obtained in step S11i-1Mechanical arm tiMechanical arm ti+1The actual contact force of the tail end and the idea of synchronous control are obtained to obtain the mechanical arm tiA terminal force error, a synchronous force error and a synchronous force coupling error; by a mechanical arm ti-1And a robot arm tiObtain the mechanical arm tiError of synchronous force, by mechanical arm ti-1And a robot arm ti+1The mechanical arm t can be obtained through calculationiThe synchronous force coupling force error of (2);
step S141, the robot arm t obtained in step S140iThe tail end force error, the synchronous force error and the synchronous force coupling error are obtained to obtain the mechanical arm tiA tip force compensation amount;
in step S142, a robot end synchronous impedance controller is designed, and the controller uses the robot t obtained in step S141iThe tail end force compensation quantity is used as an input condition, so that the relation between the synchronous force and the kinematics of the multi-mechanical arm is established;
step S143, obtaining the mechanical arm t according to the mechanical arm tail end synchronous impedance controller designed in the step S142iImpedance desired acceleration;
step S144, obtaining the mechanical arm t according to the mechanical arm tail end synchronous impedance controller designed in the step S142iImpedance desired speed;
step S145, obtaining the mechanical arm t according to the mechanical arm tail end synchronous impedance controller designed in the step S142iImpedance expected pose;
step (ii) ofS146, according to the mechanical arm tiThe motion state of the mechanical arm is the expected pose of the tail end of the mechanical arm, and the mechanical arm t is obtainediDesired acceleration of motion;
step S147, according to the mechanical arm tiThe motion state of the mechanical arm is the expected pose of the tail end of the mechanical arm, and the mechanical arm t is obtainediDesired speed of movement of;
step S148, according to the mechanical arm tiThe motion state of the mechanical arm is the expected pose of the tail end of the mechanical arm, and the mechanical arm t is obtainediThe expected pose of the motion;
step S149, acquiring a joint angular velocity according to the mechanical arm joint absolute angle acquired by the mechanical arm joint position sensor in the step S13, and acquiring the actual acceleration of the tail end of the mechanical arm according to mechanical arm dynamics;
step 1410, obtaining a joint angular velocity according to the mechanical arm joint absolute angle obtained by the mechanical arm joint position sensor in the step 13, and obtaining an actual velocity of the tail end of the mechanical arm according to mechanical arm dynamics;
step S1411, acquiring joint angular velocity according to the mechanical arm joint absolute angle acquired by the mechanical arm joint position sensor in the step S13, and acquiring the actual pose of the tail end of the mechanical arm according to mechanical arm dynamics;
step S1412, the mechanical arm t obtained in step S143iImpedance expected acceleration, and robot arm t obtained in step S146iThe desired acceleration of the motion and the actual acceleration of the end of the robot arm obtained in step S149 are obtained as the robot arm tiSynchronous desired acceleration of;
step S1413, the robot arm t obtained in step S144iImpedance desired speed, and robot arm t obtained in step S147iThe desired velocity of the movement and the actual velocity of the end of the robot arm obtained in step S1410 are used to obtain the robot arm tiThe desired speed of synchronization;
step S1414, obtaining the mechanical arm t according to the step S145iImpedance expected pose and mechanical arm t obtained in step S148iThe expected pose of the motion and the actual pose of the end of the mechanical arm obtained in the step S1411 are used for obtaining the mechanical arm tiSynchronizing the expected poses;
in step S15, the robot arm t obtained in step S1412 is usediSynchronizing the desired acceleration and the robot arm t obtained in step S1413iSynchronizing the desired speed and the robot arm t obtained in step S1414iAnd (4) inputting the synchronous expected pose and the absolute angle result of the mechanical arm joint obtained in the step S13 into the force-based multi-mechanical arm synchronous impedance controller designed in the step S15, so that closed-loop control of the mechanical arm is realized.
As shown in fig. 3, the specific process of step S15 is as follows:
step S150, calculating to obtain the angular velocity of the mechanical arm joint through the absolute angle of the mechanical arm joint obtained in the step S13 and a joint establishing speed observer;
step S151, calculating to obtain the actual speed of the tail end of the mechanical arm according to the Jacobian relation of the speed of the mechanical arm and the angular speed of the joint of the mechanical arm calculated in the step S150;
step S152, calculating and obtaining the actual pose of the tail end of the mechanical arm according to the absolute angle of the mechanical arm joint obtained in the step S13;
step S153, calculating the actual acceleration of the end of the mechanical arm according to the actual speed of the end of the mechanical arm obtained in step S151 and the actual pose information of the end of the mechanical arm obtained in step S152, and the following equation:
Figure BDA0001633867520000071
wherein the content of the first and second substances,
Figure BDA0001633867520000072
is a mechanical arm tiThe terminal actual acceleration of the impedance controller;
Figure BDA0001633867520000073
indicates the robot arm tiAn inertia matrix of; fi(t) denotes a robot arm tiThe generalized operating force vector of (1);
Figure BDA0001633867520000074
indicates the robot arm tiCogowski force and centrifugation ofA force vector; ki(q) denotes a robot arm tiThe gravity vector of (a);
step S154, obtaining a mechanical arm speed compensation quantity according to the difference value between the actual speed of the mechanical arm tail end obtained in the step S151 and the synchronous expected speed of the mechanical arm obtained in the step S1413;
step S155, obtaining a mechanical arm joint angular velocity compensation amount at the moment according to the Jacobian relationship and the mechanical arm velocity compensation amount obtained in the step S154, wherein the compensation amount is equivalent to the joint velocity compensation amount in a certain small time period;
step S156, obtaining an acceleration compensation amount of the robot arm according to a difference between the actual acceleration of the robot arm end obtained in step S153 and the synchronous expected acceleration of the robot arm obtained in step S1412;
step S157, obtaining joint acceleration compensation quantity according to the mechanical arm acceleration compensation quantity obtained in the step S156;
step S158, obtaining a pose compensation quantity of the mechanical arm according to the difference value between the synchronous expected pose of the mechanical arm obtained in the step S1414 and the actual pose of the tail end of the mechanical arm obtained in the step S152;
step S159, obtaining joint angle compensation quantity according to the pose compensation quantity and the inverse kinematics relation of the mechanical arm obtained in the step S158;
in step S1510, a joint control compensation amount is obtained from the joint velocity compensation amount obtained in step S155, the joint acceleration compensation amount obtained in step S157, and the joint angle compensation amount obtained in step S159, thereby realizing closed-loop control of the robot joint.
The impedance control system of the mechanical arm adopts a Cartesian impedance control system, an inner ring of the Cartesian impedance control system adopts Cartesian position control, and an outer ring of the Cartesian impedance control system adopts an impedance controller.
The embodiments described above are merely specific and detailed descriptions of the present invention, and therefore should not be construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (3)

1. A force-coordinated multi-arm robot compliance control method is characterized in that the robot has N mechanical armsT={t 1 ，t 2 ，…，t i ，…，t N }，1<i<N，tiThe control method represents the ith mechanical arm and specifically comprises the following steps:
step S10, obtaining the expected contact force of the tail end of the mechanical arm according to the operation task of the mechanical arm;
step S11, measuring the actual contact force of the tail end of the mechanical arm through a six-dimensional torque sensor arranged at the tail end of the mechanical arm;
step S12, obtaining the expected pose of the tail end of the mechanical arm according to the operation task of the mechanical arm;
step S13, obtaining an absolute angle of a mechanical arm joint through a mechanical arm joint angle sensor;
step S14, designing a force-based multi-robot synchronous impedance controller using the desired robot end contact force obtained in step S10, the actual robot end contact force obtained in step S11, the desired robot end pose obtained in step S12, and the absolute robot joint angle obtained in step S13 as input conditions;
the specific process of step S14 is as follows:
step S140, obtaining the mechanical arm t according to the step S10i-1Mechanical arm tiMechanical arm ti+1Desired tip contact force and the robot arm t obtained in step S11i-1Mechanical arm tiMechanical arm ti+1The actual contact force of the tail end and the idea of synchronous control are obtained to obtain the mechanical arm tiA terminal force error, a synchronous force error and a synchronous force coupling error;
step S141, obtaining the mechanical arm t according to the step S140iThe tail end force error, the synchronous force error and the synchronous force coupling error are obtained to obtain the mechanical arm tiA tip force compensation amount;
step (ii) ofS142, designing a synchronous impedance controller of the tail end of the mechanical arm, wherein the controller obtains the mechanical arm t in the step S141iThe tail end force compensation quantity is used as an input condition, and the relation between the synchronous force of the multiple mechanical arms and the kinematics is established;
step S143, obtaining the mechanical arm t according to the mechanical arm tail end synchronous impedance controller designed in the step S142iImpedance desired acceleration;
step S144, obtaining the mechanical arm t according to the mechanical arm tail end synchronous impedance controller designed in the step S142iImpedance desired speed;
step S145, obtaining the mechanical arm t according to the mechanical arm tail end synchronous impedance controller designed in the step S142iImpedance expected pose;
step S146, according to the mechanical arm tiTo obtain the desired motion state of the robot arm tiDesired acceleration of motion;
step S147, according to the mechanical arm tiTo obtain the desired motion state of the robot arm tiDesired speed of movement of;
step S148, according to the mechanical arm tiTo obtain the desired motion state of the robot arm tiThe expected pose of the motion;
step S149, obtaining the absolute angle of the mechanical arm joint according to the step S13 to obtain the actual acceleration of the tail end of the mechanical arm;
step 1410, obtaining the actual speed of the tail end of the mechanical arm according to the absolute angle of the mechanical arm joint obtained in the step 13;
step 1411, obtaining the actual pose of the tail end of the mechanical arm according to the absolute angle of the mechanical arm joint obtained in the step 13;
step S1412, obtaining the mechanical arm t according to the step S143iImpedance desired acceleration, and the robot arm t obtained in step S146iThe desired acceleration of the motion and the actual acceleration of the end of the robot arm obtained in step S149 are obtained as a robot arm tiSynchronizing the desired acceleration;
step S1413, obtaining the mechanical arm t according to the step S144iDesired speed of impedance, the machine obtained in step S147Arm tiThe desired speed of the movement and the actual speed of the end of the robot arm obtained in step S1410 are obtained as the robot arm tiSynchronizing the desired speed;
step S1414, obtaining the mechanical arm t according to the step S145iImpedance expected pose and the mechanical arm t obtained in step S148iThe expected pose of the motion and the actual pose of the end of the mechanical arm obtained in the step S1411 obtain a mechanical arm tiSynchronizing the expected poses;
and step S15, realizing closed-loop control of the mechanical arm according to the output result of the force-based multi-mechanical-arm synchronous impedance controller designed in the step S14.
2. The method for controlling compliance of a force coordinated multi-arm robot as claimed in claim 1, wherein the detailed process of step S15 is as follows:
step S150, calculating to obtain the angular velocity of the mechanical arm joint through the absolute angle of the mechanical arm joint obtained in the step S13 and a joint establishing speed observer;
step S151, calculating to obtain the actual speed of the tail end of the mechanical arm according to the Jacobian relation of the speed of the mechanical arm and the angular speed of the joint of the mechanical arm calculated in the step S150;
step S152, calculating and obtaining the actual pose of the tail end of the mechanical arm according to the absolute angle of the mechanical arm joint obtained in the step S13;
step S153, calculating to obtain the actual acceleration of the tail end of the mechanical arm according to the actual speed of the tail end of the mechanical arm obtained in the step S151 and the actual pose information of the tail end of the mechanical arm obtained in the step S152;
step S154, obtaining a mechanical arm speed compensation quantity according to the difference value between the actual speed of the mechanical arm tail end obtained in the step S151 and the synchronous expected speed of the mechanical arm obtained in the step S1413;
step S155, obtaining the angular velocity compensation quantity of the mechanical arm joint at the moment according to the Jacobian relationship and the mechanical arm velocity compensation quantity obtained in the step S154, wherein the compensation quantity is equivalent to the joint velocity compensation quantity due to short time in each control closed loop period;
step S156, obtaining a robot arm acceleration compensation amount according to a difference between the actual acceleration of the robot arm end obtained in step S153 and the synchronous expected acceleration of the robot arm obtained in step S1412;
step S157, obtaining joint acceleration compensation quantity according to the mechanical arm acceleration compensation quantity obtained in the step S156;
step S158, obtaining a robot arm pose compensation quantity according to the difference value between the robot arm synchronous expected pose obtained in the step S1414 and the actual pose of the robot arm tail end obtained in the step S152;
step S159, obtaining joint angle compensation quantity according to the pose compensation quantity and the inverse kinematics relation of the mechanical arm obtained in the step S158;
and step S1510, obtaining a joint control compensation amount according to the joint speed compensation amount obtained in step S155, the joint acceleration compensation amount obtained in step S157 and the joint angle compensation amount obtained in step S159, and realizing closed-loop control of the mechanical arm joint.
3. The compliance control method of force coordinated multi-arm robot of claim 2, wherein the impedance control system of the mechanical arm is cartesian impedance control system, the inner loop of the cartesian impedance control system is cartesian position control, and the outer loop is impedance controller.
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CN110026986B (en) * 2019-05-24 2022-01-11 深圳航天科技创新研究院 Multi-arm cooperative operation compliance control method
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