CN108638063A - A kind of 3P3R mechanical arm tail end power methods of estimation measured based on current of electric - Google Patents
A kind of 3P3R mechanical arm tail end power methods of estimation measured based on current of electric Download PDFInfo
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- CN108638063A CN108638063A CN201810446004.0A CN201810446004A CN108638063A CN 108638063 A CN108638063 A CN 108638063A CN 201810446004 A CN201810446004 A CN 201810446004A CN 108638063 A CN108638063 A CN 108638063A
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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
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The present invention proposes a kind of 3P3R mechanical arm tail end power methods of estimation measured based on current of electric, belongs to robot automation's mounting technology field.This method installs a current acquisition module first on the driving motor in each joint of 3P3R mechanical arms, and each current acquisition module acquires the current value of corresponding joint driving motor in real time.At any one time, the motor torque of the moment corresponding joint is calculated according to each driving motor current value collected, and then thrust and each cradle head output torque suffered by each linear joint of moment mechanical arm are obtained, to obtain the moment mechanical arm nature end power.Using the process distracter of time delay estimation algorithm and the nature end power of input state algorithm for estimating removal simultaneously, the estimated value of moment 3P3R mechanical arm tail ends power is finally obtained.The present invention is simple and easy to operate, can obtain the higher estimated result of precision, has very high practical value.
Description
Technical field
The present invention relates to a kind of 3P3R mechanical arm tail end power methods of estimation measured based on current of electric, belong to robot certainly
Dynamicization mounting technology field.
Background technology
Under the development of current manufacturing field, the efficiency of production and required precision are gradually increased, but in face of working as
In the case that the production technology of preceding manufacturing field falls behind relatively, the degree of automation is not high, robot manipulating task is to solve the development to ask
One effective measure of topic.Compared to manual work, robot obviously has high efficiency, and high applicability can be in danger
The advantages of region job.The development of robot technology is the important measures for solving present productivity and falling behind, and restricts robot
When the one of which key factor of technology development is exactly that robot is used for true operation, precision does not often reach requirement sometimes.
Robot manipulating task process is tool completion various instruction actions of the robot drive mounted on end, therefore to robot end's power
Estimation be ensure robot high-precision complete task an important indicator.This just needs more accurate robot end's power
Method of estimation.
In the research of power estimation control algolithm in recent years, Choi et al. is in its paper " A novel method for
estimating external force:In Simulation study with a 4-DOFrobot manipulator. "
It is proposed one kind by robot end's mounting torque sensor measurement joint moment, using desired robot model and combining
The method of time delay estimation (TDE) and the robot end's power of input state estimation (SISE) estimation simultaneously, in the emulation of paper
Author introduces Gaussian noise in experiment, and the fully simulation reality such as static friction, the result verification algorithm is feasible, but is limited to power
The precision of square sensor, the precision of the mechanical arm tail end power measured is often not achieved in actual robot operation process to be wanted
It asks.Therefore for probing into more effective robot end's power method of estimation, ensure its required precision in true operation process
The problem of being urgent need to resolve.
3P3R mechanical arms, the mechanical arm being made of 3 linear joints and 3 cradle heads are made in big workpiece product
Commonly used a kind of robot product during industry.Its model schematic diagram is as shown in attached drawing Fig. 1, and rectangle joint represents mobile close in figure
Section, from bottom to top by space z-axis, joint 1,2,3 is linear joint, and wherein linear joint 1 moves along the x-axis, and linear joint 2 is along y
Axis moves, and linear joint 3 is moved along the z-axis, ziRepresent the z-axis in i-th of joint, diRepresent the transportable of i-th linear joint
Distance.Cylindrarthrosis represents cradle head, from space x-axis direction, respectively joint 4,5,6, and wherein joint 4 is rotated around x-axis, is closed
Section 5 is rotated around y-axis, and joint 6 is rotated around z-axis., lix,liy,lizI-th of joint to i+1 joint when representing dead-center position
The length of connecting rod in the direction x, y, z.The linear joint of mechanical arm, structure are combined using feed screw nut, joint drive motor and leading screw
Consolidation, remaining articular portion are consolidated with nut, become leading screw rotation as the movement of nut.Cradle head structure is to be installed on joint
Driving motor drives articulation.At work, the torque for the driving motor output installed on each joint passes through 3P3R mechanical arms
Each corresponding transmission mechanism output corresponding joint action is crossed, the 3P3R mechanical arms to be formed by connecting by each joint can be completed
Various operation actions.
Invention content
The purpose of the present invention is to overcome the shortcoming of prior art, propose a kind of 3P3R measured based on current of electric
Mechanical arm tail end power method of estimation.The method of the present invention on the driving motor in each joint of mechanical arm by placing current acquisition module
The current value of driving motor is acquired, each joint moment value of mechanical arm can be calculated by not needing torque sensor, to calculate
To the end power of mechanical arm, method is simple and easy to operate, and can obtain the higher estimated result of precision, has very high practicality
Value.
The present invention proposes a kind of 3P3R mechanical arm tail end power methods of estimation measured based on current of electric, which is characterized in that
This approach includes the following steps：
1) current acquisition module is installed on the driving motor in each joint of 3P3R mechanical arms, places 6 electric currents altogether
Acquisition module enables each current acquisition module acquire the current value of corresponding joint driving motor in real time；
2) remember that the driving motor current value that the current acquisition module of i-th of joint drive motor is acquired in t moment is Iit, i
=1,2,3..6, corresponding joint number is represented, wherein joint 1,2,3 is linear joint, and joint 4,5,6 is cradle head；Profit
The corresponding motor torque T in 6 joints of t moment is calculated separately with formula (1)1t, T2t, T3t, T4t, T5t, T6t；
The calculation expression of motor torque T and driving motor electric current I are as follows：
Wherein, U is the voltage of driving motor, and I is driving motor electric current, and K is constant value coefficient；R and X
The respectively resistance of driving motor and reactance,For phase；
3) thrust and each cradle head output torque suffered by each linear joint of t moment mechanical arm are calculated separately；Specifically
Steps are as follows：
3-1) the thrust F suffered by the directions x of t moment linear joint 11xt：
Wherein, T1tIt is joint 1 in the motor torque of t moment, η is energy utilization efficiency, s1For the guide screw lead in joint 1,
k1For the retarder reduction ratio in joint 1：k1=nmotor1/nScrew1, nmotor1For the motor speed in joint 1, nScrew1For joint 1
Screw rotation velocity；
3-2) repeat step 3-1), calculate separately the thrust F suffered by the directions y of t moment linear joint 22ytIt is moved with t moment
The thrust F suffered by the directions z of joint 33zt, expression formula is distinguished as follows：
Wherein, s2For the guide screw lead in joint 2, k2For the reduction ratio of the retarder in joint 2：k2=nmotor2/nScrew2,
nmotor2For the motor speed in joint 2, nScrew2For the screw rotation velocity in joint 2；
Wherein, s3For the guide screw lead in joint 3, k3For the reduction ratio of the retarder in joint 3：k3=nmotor3/nScrew3,
nmotor3For the motor speed in joint 3, nScrew3For the screw rotation velocity in joint 3；
3-3) output torque of each cradle head motor of t moment is equal to the motor torque of the moment cradle head, remembers respectively
For T4t, T5t, T6t；
4) t moment mechanical arm nature end power is calculated；
T moment mechanical arm nature end power includes：Stress F on the directions mechanical arm tail end t moment xextxt, mechanical arm tail end
Stress F on the directions t moment yextyt, the stress F on the directions mechanical arm tail end t moment zextzt, mechanical arm tail end t moment is around x-axis
The torque T in directionextxt, torque T of the mechanical arm tail end t moment around y-axis directionextyt, mechanical arm tail end t moment is around z-axis direction
Torque Textzt；Steps are as follows for specific calculating：
4-1) stress F on three directions of t moment mechanical arm tail endextxt, Fextyt, Fextzt, respectively equal to step 3-1) and it obtains
Corresponding direction move up diarthrodial suffered thrust, expression formula is as follows：
4-2) torque T of the t moment mechanical arm tail end around three change in coordinate axis directionextxt, Textyt, Textzt, calculation expression point
It is not as follows：
Wherein, l4ytIt is that joint 5 is arrived in the length in the directions t moment y, l in joint 45ztIt is that joint 6 is arrived in the t moment side z in joint 5
To length, l6ztLength for joint 6 to end in the directions t moment z；l5xtLength for joint 5 to joint 6 in the directions t moment x
Degree, l6xtLength for joint 6 to end in the directions t moment z；
By Textxt, Textyt, TextztClose the original moment values T for being denoted as t moment mechanical armmea(t)；
5) the nature end power removal process distracter obtained to step 4), obtains t moment 3P3R mechanical arm tail end power
Estimated value；It is as follows：
Time delay estimation algorithm 5-1) is utilized to indicate mechanical arm in t moment end torque and the relationship of each joint moment
For：
G(q(t))+Tf(q(t))+Test(t)=Tmea(t) (7)
Wherein, G (q (t)) is torque caused by each joint gravity of t moment mechanical arm, τf(q (t)) is that t moment mechanical arm is each
Torque caused by joint-friction power, Test(t) it is the estimated value of t moment mechanical arm tail end torque；
Remember tsFor amount of delay, by t-tsMoment mechanical arm tail end stress is expressed as with joint moment relationship：
G(q(t-ts)))+Tf(q(t-ts)))+Test(t-ts))=Tmea(t-ts)) (8)
Convolution (7) and formula (8) obtain：
Gravity is interfered into moment variations Δ G (q (t-ts)) and frictional force caused by disturbance torque change Delta Tf(q(t-
ts)) it is used as Gaussian noise, by the measurement noise v of above-mentioned two noises and t momentk(t) t moment process distracter is charged to
ωk(t) in, then the estimated value T of t moment mechanical arm tail end powerest(t) and the original moment values T of step 4) t moment mechanical armmea
(t) relationship is：
Test(t)=Tmea(t)-ωk(t) (10)
5-2) by Test(t) output quantity, T are used asmea(t) quantity of state, ω are used ask(t) it is used as input quantity, using inputting simultaneously
State estimation algorithm is filtered, and obtains the estimated value T of t moment mechanical arm tail end torqueest(t)；Then t moment 3P3R mechanical arms
The estimated value of end power includes：Stress F on the directions mechanical arm tail end t moment xextxt, on the directions mechanical arm tail end t moment y
Stress Fextyt, the stress F on the directions mechanical arm tail end t moment zextztWith the estimated value T of t moment mechanical arm tail end torqueest
(t)。
The features of the present invention and advantageous effect are：
1, the method for the present invention calculates corresponding motor turn by measuring the current of electric of the driving motor on each joint of mechanical arm
Square, to which the end power of mechanical arm be calculated, method is simple and easy to operate, and can obtain the higher estimated result of precision.
2, the method for the present invention makes mechanical arm will be with joint rotation angles in initial measurement using time delay estimation algorithm
Related measurement error reduces, and improves mechanical arm stability, enhances robustness.
3, the method for the present invention estimates mechanical arm tail end power by motor current measurement, is estimated using input state simultaneously
(SISE) algorithm filter process noise, ensure that solving precision to a certain extent.
Description of the drawings
Fig. 1 is 3P3R mechanical arm structural schematic diagrams.
Fig. 2 is the overall flow block diagram for the method for the present invention.
Specific implementation mode
The present invention proposes a kind of 3P3R mechanical arm tail end power methods of estimation measured based on current of electric, below in conjunction with the accompanying drawings
It is further described as follows.
A kind of 3P3R mechanical arm tail end power methods of estimation measured based on current of electric proposed by the present invention, overall flow is such as
Shown in Fig. 2, include the following steps：
1) one is installed on the driving motor in each joint of 3P3R mechanical arms (generally closed-loop control AC servo motor)
A current acquisition module (disposable type, range 1A can be used in the current acquisition module) places 6 current acquisition modules altogether,
Each current acquisition module is enabled to acquire the current value of corresponding joint driving motor in real time.
2) remember that the driving motor current value that the current acquisition module of i-th of joint drive motor is acquired in t moment is Iit, i
=1,2,3..6, corresponding joint number is represented, wherein joint 1,2,3 is linear joint, and joint 4,5,6 is cradle head；Profit
The corresponding motor torque in 6 joints that t moment mechanical arm is calculated separately with formula (1) is respectively T1t, T2t, T3t, T4t, T5t, T6t。
The calculation expression of motor torque T and driving motor electric current I are as follows：
Wherein, U is the voltage of driving motor, and I is driving motor electric current, and K is that a constant value coefficient (is joined according to motor model
Number selection).R and X is respectively resistance and the reactance of driving motor,For phase.
Because the resistance of driving motor and reactance are constant, voltage is directly proportional to electric current, resistance, then the pass of motor torque and electric current
System can be denoted as T=KTI, wherein KTFor motor torque-current ratio parameter, obtained by experiment.
3) thrust and each cradle head output torque suffered by each linear joint of t moment mechanical arm are calculated separately；Specifically
Steps are as follows：
T moment linear joint 1 3-1) can be obtained in the directions x by law of conservation of energy and the motor torque for driving leading screw to rotate
Suffered thrust F1xt：
Wherein, T1tIt is motor torque of the joint 1 in t moment, η is energy utilization efficiency (taking 0.9), F1xtIt is moved for t moment
Joint 1 thrust, s suffered by the directions x1For the guide screw lead in joint 1, k1For the retarder reduction ratio in joint 1：k1=nmotor1/
nScrew1, nmotor1For the motor speed in joint 1, nScrew1For the screw rotation velocity in joint 1.
3-2) repeat step 3-1), calculate separately the thrust F suffered by the directions y of t moment linear joint 22ytIt is moved with t moment
The thrust F suffered by the directions z of joint 33zt, expression formula is distinguished as follows：
Wherein, s2For the guide screw lead in joint 2, k2For the reduction ratio of the retarder in joint 2：k2=nmotor2/nScrew2,
nmotor2For the motor speed in joint 2, nScrew2For the screw rotation velocity in joint 2.
Wherein, s3For the guide screw lead in joint 3, k3For the reduction ratio of the retarder in joint 3：k3=nmotor3/nScrew3,
nmotor3For the motor speed in joint 3, nScrew3For the screw rotation velocity in joint 3.
3-3) the cradle head (joint 4,5,6) of mechanical arm, each motor drive corresponding cradle head to complete rotational action,
Ignore the torque of transmission mechanism, then the output torque of each cradle head motor of t moment is equal to the motor turn of the moment cradle head
Square is denoted as T respectively4t, T5t, T6t。
4) t moment mechanical arm nature end power is calculated；
T moment mechanical arm nature end power includes：Stress F on the directions mechanical arm tail end t moment xextxt, mechanical arm tail end
Stress F on the directions t moment yextyt, the stress F on the directions mechanical arm tail end t moment zextzt, mechanical arm tail end t moment is around x-axis
The torque T in directionextxt, torque T of the mechanical arm tail end t moment around y-axis directionextyt, mechanical arm tail end t moment is around z-axis direction
Torque Textzt。
It is as follows for the calculating step difference of power and torque suffered by t moment 3P3R mechanical arm tail ends：
4-1) for 3P3R mechanical arms, stress F on three directions of t moment mechanical arm tail endextxt, Fextyt, Fextzt, respectively
Equal to step 3-1) corresponding direction that is calculated moves up diarthrodial suffered thrust, and expression formula is as follows：
4-2) for 3P3R mechanical arms, torque T of the t moment mechanical arm tail end around three change in coordinate axis directionextxt, Textyt,
Textzt, calculation expression is distinguished as follows：
Wherein, l4ytIt is that joint 5 is arrived in the length in the directions t moment y, l in joint 45ztIt is that joint 6 is arrived in the t moment side z in joint 5
To length, l6ztIt is that end is arrived in the length in the directions t moment z, l in joint 65xtLength for joint 5 to joint 6 in the directions t moment x
Degree, l6xtLength for joint 6 to end in the directions t moment z, specific value are determined by the joint length and pose of mechanical arm.
By Textxt, Textyt, TextztClose the original moment values T for being denoted as t moment mechanical armmea(t)；
The stress and torque of mechanical arm tail end are obtained by step 1)-step 4), wherein including that gravity and frictional force cause
Torque, the filtering to these distracters will be carried out in step 5).
5) the nature end power removal process distracter obtained to step 4), obtains t moment 3P3R mechanical arm tail end power
Estimated value；
Process distracter includes mainly torque caused by joint of mechanical arm gravity in motion process, caused by structural friction force
Torque.In addition, can also have measurement noise when acquiring electric current.Therefore, to improve the precision of estimation end power, these should be done
It disturbs item and noise error filters out.It is as follows：
5-1) utilize time delay estimation algorithm (TIDE) by mechanical arm in the pass of t moment end torque and each joint moment
System is expressed as：
G(q(t))+Tf(q(t))+Test(t)=Tmea(t) (7)
Wherein, G (q (t)) is torque caused by each joint gravity of t moment mechanical arm, τf(q (t)) is that t moment mechanical arm is each
Torque caused by joint-friction power, Test(t) it is the estimated value of t moment mechanical arm tail end torque, Tmea(t) it is what step 4) obtained
The original moment values of t moment mechanical arm；
Remember tsFor amount of delay, by t-tsMoment mechanical arm tail end stress is expressed as with joint moment relationship：
G(q(t-ts)))+Tf(q(t-ts)))+Test(t-ts))=Tmea(t-ts)) (8)
Convolution (7) and formula (8) obtain：
Gravity is interfered into moment variations Δ G (q (t-ts)) it is considered as Gaussian noise, disturbance torque caused by frictional force becomes
Change Δ Tf(q(t-ts)) equally it is considered as Gaussian noise, by the measurement noise v of above-mentioned two noises and t momentk(t) when charging to t
Quarter process distracter ωk(t) the inside, then the t moment mechanical arm that the estimated value of t moment mechanical arm tail end power and step 4) obtain
Original moment values Tmea(t) relationship is：
Test(t)=Tmea(t)-ωk(t) (10)
5-2) by Test(t) output quantity, T are used asmea(t) quantity of state, ω are used ask(t) it is used as input quantity, using inputting simultaneously
State estimation algorithm (SISE) is to t moment process distracter ωk(t) it is filtered, obtains estimating for t moment mechanical arm tail end torque
Evaluation Test(t)；Then the estimated value of t moment 3P3R mechanical arm tail ends power includes：Stress on the directions mechanical arm tail end t moment x
Fextxt, the stress F on the directions mechanical arm tail end t moment yextyt, the stress F on the directions mechanical arm tail end t moment zextztWhen with t
Carve the estimated value T of mechanical arm tail end torqueest(t)。
Claims (1)
1. it is a kind of based on current of electric measure 3P3R mechanical arm tail end power methods of estimation, which is characterized in that this method include with
Lower step：
1) current acquisition module is installed on the driving motor in each joint of 3P3R mechanical arms, places 6 current acquisitions altogether
Module enables each current acquisition module acquire the current value of corresponding joint driving motor in real time；
2) remember that the driving motor current value that the current acquisition module of i-th of joint drive motor is acquired in t moment is Iit, i=1,
2,3..6, corresponding joint number is represented, wherein joint 1,2,3 is linear joint, and joint 4,5,6 is cradle head；Utilize formula
(1) the corresponding motor torque T in 6 joints of t moment is calculated separately1t, T2t, T3t, T4t, T5t, T6t；
The calculation expression of motor torque T and driving motor electric current I are as follows：
Wherein, U is the voltage of driving motor, and I is driving motor electric current, and K is constant value coefficient；R and X distinguishes
Resistance for driving motor and reactance,For phase；
3) thrust and each cradle head output torque suffered by each linear joint of t moment mechanical arm are calculated separately；Specific steps
It is as follows：
3-1) the thrust F suffered by the directions x of t moment linear joint 11xt：
Wherein, T1tIt is joint 1 in the motor torque of t moment, η is energy utilization efficiency, s1For the guide screw lead in joint 1, k1To close
The retarder reduction ratio of section 1：k1=nmotor1/nScrew1, nmotor1For the motor speed in joint 1, nScrew1Turn for the leading screw in joint 1
Speed；
3-2) repeat step 3-1), calculate separately the thrust F suffered by the directions y of t moment linear joint 22ytWith t moment linear joint 3
The thrust F suffered by the directions z3zt, expression formula is distinguished as follows：
Wherein, s2For the guide screw lead in joint 2, k2For the reduction ratio of the retarder in joint 2：k2=nmotor2/nScrew2, nmotor2For
The motor speed in joint 2, nScrew2For the screw rotation velocity in joint 2；
Wherein, s3For the guide screw lead in joint 3, k3For the reduction ratio of the retarder in joint 3：k3=nmotor3/nScrew3, nmotor3For
The motor speed in joint 3, nScrew3For the screw rotation velocity in joint 3；
3-3) output torque of each cradle head motor of t moment is equal to the motor torque of the moment cradle head, is denoted as T respectively4t,
T5t, T6t；
4) t moment mechanical arm nature end power is calculated；
T moment mechanical arm nature end power includes：Stress F on the directions mechanical arm tail end t moment xextxt, when mechanical arm tail end t
Carve the stress F on the directions yextyt, the stress F on the directions mechanical arm tail end t moment zextzt, mechanical arm tail end t moment is around x-axis side
To torque Textxt, torque T of the mechanical arm tail end t moment around y-axis directionextyt, power of the mechanical arm tail end t moment around z-axis direction
Square Textzt；Steps are as follows for specific calculating：
4-1) stress F on three directions of t moment mechanical arm tail endextxt, Fextyt, Fextzt, respectively equal to step 3-1) and obtained pair
Direction is answered to move up diarthrodial suffered thrust, expression formula is as follows：
4-2) torque T of the t moment mechanical arm tail end around three change in coordinate axis directionextxt, Textyt, Textzt, calculation expression is respectively such as
Under：
Wherein, l4ytIt is that joint 5 is arrived in the length in the directions t moment y, l in joint 45ztIt is that joint 6 is arrived in the directions t moment z in joint 5
Length, l6ztLength for joint 6 to end in the directions t moment z；l5xtLength for joint 5 to joint 6 in the directions t moment x,
l6xtLength for joint 6 to end in the directions t moment z；
By Textxt, Textyt, TextztClose the original moment values T for being denoted as t moment mechanical armmea(t)；
5) the nature end power removal process distracter obtained to step 4), obtains the estimation of t moment 3P3R mechanical arm tail end power
Value；It is as follows：
5-1) mechanical arm is expressed as in t moment end torque and the relationship of each joint moment using time delay estimation algorithm：
G(q(t))+Tf(q(t))+Test(t)=Tmea(t) (7)
Wherein, G (q (t)) is torque caused by each joint gravity of t moment mechanical arm, τf(q (t)) is each joint of t moment mechanical arm
Torque caused by frictional force, Test(t) it is the estimated value of t moment mechanical arm tail end torque；
Remember tsFor amount of delay, by t-tsMoment mechanical arm tail end stress is expressed as with joint moment relationship：
G(q(t-ts)))+Tf(q(t-ts)))+Test(t-ts))=Tmea(t-ts)) (8)
Convolution (7) and formula (8) obtain：
Gravity is interfered into moment variations Δ G (q (t-ts)) and frictional force caused by disturbance torque change Delta Tf(q(t-ts))
It is used as Gaussian noise, by the measurement noise v of above-mentioned two noises and t momentk(t) t moment process distracter ω is charged tok(t)
In, then the estimated value T of t moment mechanical arm tail end powerest(t) and the original moment values T of step 4) t moment mechanical armmea(t) relationship
For：
Test(t)=Tmea(t)-ωk(t) (10)
5-2) by Test(t) output quantity, T are used asmea(t) quantity of state, ω are used ask(t) it is used as input quantity, utilizes input state simultaneously
Algorithm for estimating is filtered, and obtains the estimated value T of t moment mechanical arm tail end torqueest(t)；Then t moment 3P3R mechanical arm tail ends
The estimated value of power includes：Stress F on the directions mechanical arm tail end t moment xextxt, the stress on the directions mechanical arm tail end t moment y
Fextyt, the stress F on the directions mechanical arm tail end t moment zextztWith the estimated value T of t moment mechanical arm tail end torqueest(t)。
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| CN106041924A (en) * | 2016-05-23 | 2016-10-26 | 李思奇 | Method for measuring joint torque through optical-electricity encoder and joint control method |
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