CN108748147A - A kind of control system and method for ectoskeleton mechanical arm - Google Patents
A kind of control system and method for ectoskeleton mechanical arm Download PDFInfo
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- CN108748147A CN108748147A CN201810558585.7A CN201810558585A CN108748147A CN 108748147 A CN108748147 A CN 108748147A CN 201810558585 A CN201810558585 A CN 201810558585A CN 108748147 A CN108748147 A CN 108748147A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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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
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Abstract
The invention discloses a kind of control systems and method of ectoskeleton mechanical arm, wherein the set-up of control system is in Space teleoperation system, control module is decomposed including motor condition feedback module, moment information module, Track Pick-up module and virtually, motor condition feedback module acquires the position and speed information of the motor in each joint of current time ectoskeleton mechanical arm；Moment information module acquires and handles the sextuple moment information of the end of ectoskeleton mechanical arm to obtain the motion intention of operator；Track Pick-up module calculates the desired locations and desired speed information of the motor in each joint of subsequent time according to the motion intention of operator；The virtual control moment for decomposing control module and calculating each joint of ectoskeleton mechanical arm according to the desired locations and desired speed information of the motor in each joint of subsequent time, follows operator to move to control ectoskeleton mechanical arm.Multiple degrees of freedom ectoskeleton mechanical arm is present invention can be suitably applied to, applicability is good, greatly improves man-machine interaction experience.
Description
Technical field
The present invention relates to robot for space teleoperation field more particularly to a kind of ectoskeletons of space-oriented remote operating
Mechanical arm control system and method.
Background technology
With the continuous development of mankind's space operation, it is anticipated that future will have a large amount of Space-time idea, space adds
Work, Space configuration, space maintenance and repair need of work carry out.Due to the danger and astronaut's life support of space environment
The limitation of high cost, robot plays an increasingly important role in aerospace field.However, by mechanism, control
The limitation of the support technologies such as system, sensing and artificial intelligence, developing can work from master mode entirely under unknown or complex environment
Intelligent robot, be the target being difficult to realize in a short time.Therefore, the prior art, the existing locally autonomous energy of development are made full use of
Teleoperation robot (Telerobotics) system that the intelligence of people includes is again a kind of selection that comparison is real by power.
Remote operating (Teleoperation) can be understood as remote-controlled operation on literal.In Teleoperation Systems
In, operator is intermittently communicated with the robot at distant end as supervisor, and needs are obtained from the robot system at distant end
Primary data information (pdi), while the instructions such as goal task are sent to the robot at distant end, the robot at distant end is according to the finger received
It enables, in addition the human perception of itself and intelligence execute task.It can be found that teleoperation robot is the machine that a someone participates in
People's locally autonomous control system is related to the interaction of the interaction and machine human and environment of people and robot, it has given full play to people
With the respective advantage of robot and perception and the capacity of people have been expanded, therefore has been suffered from aerospace field extensive
Application prospect.In solar-system operation, it is only necessary to which ground handling operator and/or the astronaut in cabin carry out robot for space
Remote operating, so that it may with tasks such as maintenance or the spacecraft fuel addings of completing space station, even the moon or areographic survey
It surveys.The danger that astronaut is brought in cabin is avoided out, the cost of space mission is significantly reduced, and has expanded the detection of the mankind
Ability.
Patent document 201510501051.7 discloses a kind of control method of wearable assistance exoskeleton limb mechanism of upper,
This approach includes the following steps：(1) this method acquires the signal of the multi-dimension force sensor on forearm first；(2) real-time controller
The power of multi-dimension force sensor contact point is converted into the desired speed of point, shoulder joint and elbow joint are obtained by operation
Expected angle；(3) real-time controller is according to pid algorithm, operation and the voltage signal for exporting control motor；Motor driver should
Voltage signal converts the current signal of motor in order to control；Large arm motor and forearm motor are according to the size of current signal, realization pair
The control of shoulder joint and elbow joint motion angle, and then realize the control of the big forearm position of upper limb.But the control method can not
It is poor for applicability applied to multiple degrees of freedom ectoskeleton mechanical arm.Patent document 201710799139.0 discloses upper limb power-assisted dermoskeleton
Control method, device and the upper limb assistance exoskeleton system of bone obtain the force signal that user sends out by force snesor；According to
Exert a force signal, generates the drive signal of motor；According to drive signal, driving motor control machinery structure motion, so that machinery is tied
Load movement outside structure drive；In mechanical structure motion process, the feedback signal of mechanical structure is received, according to feedback signal
Adjustment drive signal in real time, until feedback signal matches with force signal and/or drive signal.But the control model list
One, man-machine interaction experience is poor.
With the fast development of space technology and space technology, the mankind are more deep to the exploration of the outer space, spatial operation
Task is also more and more complicated therewith, such as satellite maintenence, in-orbit service, cleaning space trash and construction space station.Due to sky
Between task complexity and precision be all continuously improved, to the main hand of remote operating execute complex task control propose higher want
It asks.
The disclosure of background above technology contents is only used for design and the technical solution that auxiliary understands the present invention, not necessarily
The prior art for belonging to present patent application, no tangible proof show the above present patent application the applying date
In the case of disclosed, above-mentioned background technology should not be taken to the novelty and creativeness of evaluation the application.
Invention content
In view of the main hand of exoskeleton-type remote operating in aerospace field huge potentiality and to exoskeleton-type mechanical arm
Control requires, and the present invention proposes a kind of ectoskeleton mechanical arm control system and method applied to Space teleoperation.
In order to achieve the above object, the present invention uses following technical scheme：
The invention discloses a kind of control systems of ectoskeleton mechanical arm, and the set-up of control system is in Space teleoperation system
In system, the Space teleoperation system further includes ectoskeleton mechanical arm, space multi-freedom robot and data processing module, institute
State the control system of ectoskeleton mechanical arm respectively with the ectoskeleton mechanical arm, the space multi-freedom robot and the number
It being connected according to processing module, the space multi-freedom robot and the data processing module are connected with each other, wherein：The dermoskeleton
The control system of bone mechanical arm includes that motor condition feedback module, moment information module, Track Pick-up module and virtual decompose are controlled
Molding block, wherein the motor condition feedback module respectively with the moment information module, the Track Pick-up module and described
Virtual to decompose control module connection, the motor condition feedback module is for acquiring each of ectoskeleton mechanical arm described in current time
The location information and velocity information of the motor in a joint；The moment information module is for acquiring and handling the ectoskeleton machinery
The sextuple moment information of the end of arm is to obtain the motion intention of operator；The Track Pick-up module is used for according to the operation
The motion intention of person be calculated the motor in each joint of ectoskeleton mechanical arm described in subsequent time desired locations information and
Desired speed information；The virtual control module of decomposing is used for according to each joint of ectoskeleton mechanical arm described in subsequent time
The control moment in each joint of the ectoskeleton mechanical arm is calculated in the desired locations information and desired speed information of motor,
The operator is followed to move for controlling the ectoskeleton mechanical arm.
Preferably, the ectoskeleton mechanical arm is total to 7 degree of freedom including first to seven freedom, corresponds respectively
In seven joints, wherein the first degree of freedom, the second degree of freedom and third degree of freedom correspond to shoulder abduction/interior receipts, shoulder joint respectively
Save it is anteflexion/after stretch, shoulder external rotator/inward turning, four-degree-of-freedom and five degree of freedom correspond to respectively elbow joint it is anteflexion/after stretch, it is preceding
Double inside arms/inward turning, six degree of freedom and seven freedom correspond to respectively wrist joint it is anteflexion/after stretch, wrist joint ruler partially/oar is inclined.
The invention also discloses a kind of methods controlled ectoskeleton mechanical arm using above-mentioned control system, special
Sign is, includes the following steps：
S1：The motor in each joint of ectoskeleton mechanical arm described in the motor condition feedback module acquisition current time
Location information and velocity information；
S2：The moment information module acquires and handles the sextuple moment information of the end of the ectoskeleton mechanical arm to obtain
To the motion intention of operator；
S3：Ectoskeleton described in subsequent time is calculated according to the motion intention of the operator in the Track Pick-up module
The desired locations information and desired speed information of the motor in each joint of mechanical arm；
S4：The virtual control module of decomposing is according to the motor in each joint of ectoskeleton mechanical arm described in subsequent time
The control moment in each joint of the ectoskeleton mechanical arm is calculated in desired locations information and desired speed information, with control
The ectoskeleton mechanical arm follows the operator to move.
Preferably, step S2 is specially：The moment information module acquires the end of the space multi-freedom robot
The force information F contacted with environmentslaveAnd operator is applied to the force information F of the ectoskeleton mechanical arm tail endhuman, will
FslaveWith FhumanSuperposition obtains final force information FcompenTo characterize the motion intention of the operator.
Preferably, wherein acquisition operations person is applied to the force information F of the ectoskeleton mechanical arm tail endhumanIncluding following step
Suddenly：The location information q of the motor in each joint of the ectoskeleton mechanical arm from the motor condition feedback module is received,
The current pose that the ectoskeleton mechanical arm tail end is calculated in conjunction with forward kinematics solution is X, further according to current pose X in institute
State the collected practical sextuple moment information F in end of ectoskeleton mechanical armrealIt carries out gravity compensation and F is calculatedhuman。
Preferably, step S3 is specifically included：
S31：Each joint of the ectoskeleton mechanical arm under current time t is obtained according to the motor condition feedback module
Motor location information q, calculate Jacobian matrix J be：
S32：The force information F that the moment information module is obtainedcompenIt is transformed into each pass of the ectoskeleton mechanical arm
The suffered force information vector τ of section：
τ=JTFcompen；
S33：Force information vector τ suffered by each joint of the ectoskeleton mechanical arm is converted into position deviation Δ q：
Wherein, K, C respectively represent stiffness parameters and damping parameter, and s is indicated in frequency domain；
S34：Subsequent time desired locations information q is calculatedd=q+ Δ q, then to desired locations information qdDerivation must expire
Hope velocity information
Preferably, step S4 is specifically included：
S41：Virtual cropping is distinguished into joint subsystem and connecting rod subsystem in each joint of the ectoskeleton mechanical arm；
S42：Kinematics and dynamic analysis is carried out to each connecting rod subsystem, obtains the control force of each connecting rod subsystem
Square；
S43：Kinematics and dynamic analysis is carried out to each joint subsystem, obtains the control force of each joint subsystem
Square；
S44：The control moment of the control moment of each connecting rod subsystem and each joint subsystem is overlapped, is obtained
The control moment in each joint of the ectoskeleton mechanical arm；
S45：According to the ectoskeleton mechanical arm being calculated each joint control moment to the ectoskeleton machine
The motor in each joint of tool arm is controlled follows the operator to move to control the ectoskeleton mechanical arm.
Preferably, it is wherein specifically included in step S42：
S421：Kinematics and dynamic analysis is carried out to each connecting rod subsystem, calculates the torque of each connecting rod subsystem
Vector：
Wherein, ksiIt is a symmetric positive definite gain matrix,It is a regression matrix,It is an estimation
Parameter vector, { BiIndicate Virtual cropping after each connecting rod subsystem coordinate system, WithIt is to connect respectively
Pipe subsystem is in coordinate system { BiUnder linear velocity vector sum angular velocity vector,It is in coordinate system { BiUnder required line/
Angular velocity vector,It is the torque vector of connecting rod subsystem, n is the quantity in the joint of the ectoskeleton mechanical arm；
S422：According to the torque of each connecting rod subsystem vector, each connecting rod subsystem is obtained in coordinate system { B1}、
{B2}…{B7Under needed for power/torque vector：
Wherein,For power/torque transfer matrix；
S423：The force information of each connecting rod subsystem is extracted, the control moment of each connecting rod subsystem is obtained：
Wherein, [0 0000 1] z=T。
Preferably, the control moment of each joint subsystem wherein in step S43 is：
Wherein,θai=[Jmi kci kυi ci]T, kaiIndicate feedback oscillator,For θai's
Estimation,Velocity vector needed for indicating；Vector acceleration needed for indicating,Indicate the velocity vector at the current time of motor condition feedback module acquisition；JmiIt indicates equivalent mass or turns
Dynamic inertia, kci> 0 indicates coulomb friction coefficient, kvi> 0 indicates viscosity friction coefficient, ciIndicate the offset of asymmetric static friction
Amount.
Preferably, the control moment in each joint of the ectoskeleton mechanical arm wherein obtained in step S44 is：
Compared with prior art, the beneficial effects of the present invention are：The control system of ectoskeleton mechanical arm disclosed by the invention
System includes motor condition feedback module, moment information module, Track Pick-up module and virtually decomposes control module, wherein passing through power
Square information module acquires and handles the sextuple torque sensor of ectoskeleton mechanical arm tail end to obtain the motion intention of operator, and
Desired locations information and the expectation of the motor in each joint of subsequent time ectoskeleton mechanical arm are obtained according to Track Pick-up module
Velocity information obtains the control moment in each joint of ectoskeleton mechanical arm to control finally by control module is virtually decomposed
Ectoskeleton mechanical arm so that when executing Space teleoperation task, ectoskeleton mechanical arm is enable to respond quickly and follows operator
The arm of operator moves, and realizes that nature intuitively controls robot, and can be adapted for multiple degrees of freedom ectoskeleton machine
Tool arm, applicability is good, greatly improves man-machine interaction experience.
Description of the drawings
Fig. 1 is the composition schematic diagram of the Space teleoperation system of the preferred embodiment of the present invention；
Fig. 2 is the structure composition figure of the ectoskeleton mechanical arm of the preferred embodiment of the present invention；
Fig. 3 is the fundamental diagram of the moment information module of the preferred embodiment of the present invention；
Fig. 4 is the fundamental diagram of the Track Pick-up module of the preferred embodiment of the present invention；
Fig. 5 is that the ectoskeleton mechanical arm of the preferred embodiment of the present invention virtually resolves into the schematic diagram of subsystem；
Specific implementation mode
Below against attached drawing and in conjunction with preferred embodiment, the invention will be further described.
As shown in Figure 1, the preferred embodiment of the present invention discloses a kind of Space teleoperation system 100, including ectoskeleton machinery
Arm 10, ectoskeleton mechanical arm control system 20, space multi-freedom robot 30 and data processing module 40.Wherein ectoskeleton machine
Tool arm 10 is the main hand of Space teleoperation system 100, after operator 200 dresses ectoskeleton mechanical arm 10, control ectoskeleton machinery
Arm 10 follows the upper extremity exercise of operator 200；Data processing module 40 receives the motor in each joint of ectoskeleton mechanical arm 10
Location information is converted into the joint angle of space multi-freedom robot 30 after data processing, and is sent to Space teleoperation
System 100 from end (space multi-freedom robot 30), realize the function of remote operating.
Wherein ectoskeleton mechanical arm control system 20 includes motor condition feedback module 21, moment information module 22, track
Generation module 23 and virtual decomposition control module 24, motor condition feedback module 21 are given birth to moment information module 22, track respectively
It connects at module 23 and virtual control module 24 of decomposing, and decomposes to moment information module 22, Track Pick-up module 23 and virtually
Control module 24 transmits data, and the arrow direction in Fig. 1 is the direction of transfer of data；Wherein motor condition feedback module 21
Acquire the location information and velocity information of the motor in seven joints of ectoskeleton mechanical arm 10；Moment information module 22 acquires and locates
The sextuple moment information for managing 10 end of ectoskeleton mechanical arm, obtains the motion intention of 200 arm of operator；Track Pick-up module 23
The expectation position of the motor in seven joints of subsequent time ectoskeleton mechanical arm 10 is obtained according to the motion intention of 200 arm of operator
Confidence ceases and desired speed information；Each pass is calculated according to the information of Track Pick-up module 23 in virtual control module 24 of decomposing
The control moment of section, the final ectoskeleton mechanical arm 10 that controls quickly follow 200 arm motion of operator.
The kinematic system of human upper limb connects the labyrinth formed by bone, skeletal muscle and bone.From the angle of mechanical modeling
From the point of view of degree, human upper limb can be regarded as a series connection mechanical arm with multiple degree of freedom, including large arm, forearm and hand, lead to
Shoulder joint, elbow joint and carpal interconnection and cooperation are crossed, complicated spatial movement is completed.According to human dissection biology
Research and human motion characteristic analysis, shoulder joint be reduced to the movable joint with three degree of freedom, be respectively completed flexion and extension,
It takes down the exhibits movement and rotary motion；Elbow joint completes the movement of two spaces degree of freedom, respectively flexion and extension and rotary motion；It will
Wrist joint is considered as the joint with degree of freedom, respectively flexion and extension and rotary motion.As shown in Fig. 2, in the present embodiment, outside
Bone mechanical arm 10 is formed according to human arm structure design, has 7 degree of freedom (corresponding to seven joints), difference first
Degree of freedom 1, the second degree of freedom 2, third degree of freedom 3, four-degree-of-freedom 4, five degree of freedom 5, six degree of freedom 6 and the 7th are freely
Degree 7, wherein before the first degree of freedom 1, the second degree of freedom 2 and third degree of freedom 3 correspond to shoulder abduction/interior receipts, shoulder joint respectively
Bend/after stretch, shoulder external rotator/inward turning, four-degree-of-freedom 4 and five degree of freedom 5 correspond to respectively elbow joint it is anteflexion/after stretch, forearm
Outward turning/inward turning, six degree of freedom 6 and seven freedom 7 correspond to respectively wrist joint it is anteflexion/after stretch, wrist joint ruler partially/oar is inclined；Six
Dimension torque sensor 8 is arranged in the end of ectoskeleton mechanical arm 10.
The control method of ectoskeleton mechanical arm control system 20 includes the following steps：
S1：Motor condition feedback module 21 acquires ectoskeleton mechanical arm 10 at current time t by photoelectric encoder
The location information q and velocity information of the motor in seven joints
S2：Moment information module 22 receives the force information contacted with environment from the end of space multi-freedom robot 30
FslaveAnd the force information F of 10 end of ectoskeleton mechanical arm is applied to from 200 hand of operatorhuman, by FslaveWith FhumanIt is folded
Add to obtain final force information FcompenTo characterize the motion intention of the operator；
Wherein, due to the characteristic of torque sensor itself, there is different initial values under different poses；When current
It carves under t, the practical sextuple moment information of the sextuple torque sensor 8 in Fig. 2 is Freal；At this time according to motor condition feedback module
The location information q of the motor in 21 seven joints at current time t, ectoskeleton mechanical arm is calculated in conjunction with forward kinematics solution
The current pose of torque sensor of 10 ends is X, further according to current pose X to practical sextuple moment information FrealCarry out gravity benefit
It repays and F is calculatedhuman, pass through force information FhumanIt can reflect that 200 hand of operator is applied to the true of ectoskeleton mechanical arm 10
Power size and Orientation.In conjunction with Fig. 3, finally by FslaveWith FhumanSuperposition obtains Fcompen(Fcompen=Fhuman-Fslave) to characterize
State the motion intention of operator.
S3：The force information F that Track Pick-up module 23 is obtained according to moment information module 22compen, calculate subsequent time when outside
The desired locations information q of the motor in each joint of bone mechanical arm 10dWith desired speed information
As shown in figure 4, step S3 includes the following steps：
S31：The location information q of the motor in seven joints under current time t is obtained according to motor condition feedback module 21,
Calculating Jacobian matrix J is：
Wherein, X is the current pose of torque sensor of 10 end of ectoskeleton mechanical arm；
S32：The force information F that moment information module 22 is obtainedcompenIt is transformed into the force information vector τ suffered by each joint：
τ=JTFcompen
Also i.e. by the transposed matrix of Jacobian matrix and force information FcompenMultiplication obtains force information vector τ；
S33：According to the impedance model of system, the force information vector τ suffered by each joint is converted into position deviation Δ q：
Wherein, K, C respectively represent the stiffness parameters and damping parameter of system, and s is indicated in frequency domain；
S34：According to the location information q of the motor in seven joints under current time t, in addition position deviation Δ q, calculates
To subsequent time desired locations information qd, then to desired locations information qdDerivation obtains desired speed information
qd=q+ Δs q.
S4：The desired locations of the motor in each joint that virtual decomposition control module 24 is obtained according to Track Pick-up module 23
Information qdWith desired speed informationThe control moment in each joint is calculated, the final ectoskeleton mechanical arm 10 that controls quickly follows
200 arm motion of operator.
Step S4 specifically includes following steps：
S41：As shown in figure 5, each joint of seven freedom ectoskeleton mechanical arm is cut from Virtual cropping point 300
It cuts, joint subsystem and connecting rod subsystem is respectively cut into, wherein the first joint subsystem~the 7th joint subsystem 101,
102,103 ..., 107 and first connecting rod subsystem~seven-link assembly subsystem 201,202,203 ..., 207 alternately connect successively
It connects；
S42：Kinematics and dynamic analysis is carried out to each connecting rod subsystem, obtains the control force of each connecting rod subsystem
Square specifically includes following steps：
S421：Kinematics and dynamic analysis is carried out to each connecting rod subsystem, calculates the torque of each connecting rod subsystem
Vector：
Wherein, ksiIt is a symmetric positive definite gain matrix,It is a regression matrix,It is an estimation
Parameter vector, { BiIndicate Virtual cropping after each connecting rod subsystem coordinate system, WithIt is to connect respectively
Pipe subsystem is in coordinate system { BiUnder linear velocity vector sum angular velocity vector,It is in coordinate system { BiUnder required line/
Angular velocity vector,It is the torque vector of connecting rod subsystem；
S422：According to the torque of each connecting rod subsystem vector, each connecting rod subsystem is obtained in coordinate system { B1}、
{B2}…{B7Under required power/torque vector：
Wherein,For power/torque transfer matrix；
S423：The force information of each connecting rod subsystem is extracted, the control moment of each connecting rod subsystem is obtained：
Wherein, [0 0000 1] z=T。
S43：Kinematics and dynamic analysis is carried out to each joint subsystem, obtains the control force of each joint subsystem
Square：
Wherein,θai=[Jmi kci kυi ci]T, kaiIndicate feedback oscillator,For θai's
Estimation,Velocity vector needed for indicating；Vector acceleration needed for indicating,Indicate the velocity vector under the current time t of motor condition feedback module acquisition；JmiIndicate equivalent mass
Or rotary inertia, kci> 0 indicates coulomb friction coefficient, kvi> 0 indicates viscosity friction coefficient, ciIndicate asymmetric static friction
Offset.
S45：The control moment of the control moment of each connecting rod subsystem and each joint subsystem is overlapped, is obtained
The control moment in each joint of the ectoskeleton mechanical arm；
S45：It is outer to control according to the motor in each joint for the control moment control ectoskeleton mechanical arm 10 being calculated
Bone mechanical arm follows operator's arm motion.
The control system and method for the ectoskeleton mechanical arm of the preferred embodiment of the present invention pass through ectoskeleton mechanical arm tail end
Torque sensor obtains the motion intention of operator, and how free from end spaces according to the end Pose Control of the main hand of remote operating
The movement for spending robot intuitively controls robot to more natural；Wherein in moment information module, calculated by gravity compensation
Method obtains operator and really exerts a force size and Orientation；It, will using the transposed matrix of Jacobian matrix in track generation module
End force information decomposes each joint；It decomposes control using virtual and executes space tasks to adapt to different operators, it can be with
Suitable for multiple degrees of freedom ectoskeleton mechanical arm, applicability is good, greatly improves man-machine interaction experience.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
The specific implementation of the present invention is confined to these explanations.For those skilled in the art to which the present invention belongs, it is not taking off
Under the premise of from present inventive concept, several equivalent substitute or obvious modifications can also be made, and performance or use is identical, all answered
When being considered as belonging to protection scope of the present invention.
Claims (10)
1. a kind of control system of ectoskeleton mechanical arm, which is characterized in that the set-up of control system is in Space teleoperation system
In, the Space teleoperation system further includes ectoskeleton mechanical arm, space multi-freedom robot and data processing module, described
The control system of ectoskeleton mechanical arm respectively with the ectoskeleton mechanical arm, the space multi-freedom robot and the data
Processing module connects, and the space multi-freedom robot and the data processing module are connected with each other, wherein：
The control system of the ectoskeleton mechanical arm includes motor condition feedback module, moment information module, Track Pick-up module
Control module is decomposed with virtual, wherein the motor condition feedback module is given birth to the moment information module, the track respectively
It is connected with the virtual decomposition control module at module, the motor condition feedback module is for acquiring dermoskeleton described in current time
The location information and velocity information of the motor in each joint of bone mechanical arm；The moment information module is for acquiring and handling institute
The sextuple moment information of the end of ectoskeleton mechanical arm is stated to obtain the motion intention of operator；The Track Pick-up module is used for
The phase of the motor in each joint of ectoskeleton mechanical arm described in subsequent time is calculated according to the motion intention of the operator
Hope location information and desired speed information；The virtual decomposition control module is used for according to ectoskeleton mechanical arm described in subsequent time
Each joint motor desired locations information and desired speed information each pass of the ectoskeleton mechanical arm is calculated
The control moment of section follows the operator to move for controlling the ectoskeleton mechanical arm.
2. control system according to claim 1, which is characterized in that the ectoskeleton mechanical arm include first to the 7th from
By spending 7 degree of freedom altogether, corresponded respectively in seven joints, wherein the first degree of freedom, the second degree of freedom and third degree of freedom
Correspond to that shoulder abduction/interior is received, shoulder joint is anteflexion respectively/after stretch, shoulder external rotator/inward turning, four-degree-of-freedom and the 5th is freely
Degree correspond to respectively elbow joint it is anteflexion/after stretch, preceding double inside arms/inward turning, six degree of freedom and seven freedom correspond to wrist joint respectively
It is anteflexion/after stretch, wrist joint ruler partially/oar is inclined.
3. a kind of method that ectoskeleton mechanical arm is controlled using claim 1 to 2 any one of them control system,
It is characterized in that, includes the following steps：
S1：The position of the motor in each joint of ectoskeleton mechanical arm described in the motor condition feedback module acquisition current time
Information and velocity information；
S2：The moment information module acquires and handles the sextuple moment information of the end of the ectoskeleton mechanical arm to be grasped
The motion intention of author；
S3：Ectoskeleton machinery described in subsequent time is calculated according to the motion intention of the operator in the Track Pick-up module
The desired locations information and desired speed information of the motor in each joint of arm；
S4：The virtual expectation for decomposing control module according to the motor in each joint of ectoskeleton mechanical arm described in subsequent time
The control moment in each joint of the ectoskeleton mechanical arm is calculated in location information and desired speed information, described in control
Ectoskeleton mechanical arm follows the operator to move.
4. according to the method described in claim 3, it is characterized in that, step S2 is specially：The moment information module acquires institute
State the end of space multi-freedom robot and force information F that environment contactsslaveAnd operator is applied to the ectoskeleton machine
The force information F of tool arm endhuman, by FslaveWith FhumanSuperposition obtains final force information FcompenTo characterize the operator's
Motion intention.
5. according to the method described in claim 4, it is characterized in that, wherein acquisition operations person is applied to the ectoskeleton mechanical arm
The force information F of endhumanInclude the following steps：Receive the ectoskeleton mechanical arm from the motor condition feedback module
The present bit of the ectoskeleton mechanical arm tail end is calculated in conjunction with forward kinematics solution by the location information q of the motor in each joint
Appearance is X, further according to current pose X in the collected practical sextuple moment information F in the end of the ectoskeleton mechanical armrealInto
F is calculated in row gravity compensationhuman。
6. according to the method described in claim 5, it is characterized in that, step S3 is specifically included：
S31：The electricity in each joint of the ectoskeleton mechanical arm under current time t is obtained according to the motor condition feedback module
The location information q of machine, calculating Jacobian matrix J is：
S32：The force information F that the moment information module is obtainedcompenIt is transformed into each joint institute of the ectoskeleton mechanical arm
The force information vector τ received：
τ=JTFcompen；
S33：Force information vector τ suffered by each joint of the ectoskeleton mechanical arm is converted into position deviation Δ q：
Wherein, K, C respectively represent stiffness parameters and damping parameter, and s is indicated in frequency domain；
S34：Subsequent time desired locations information q is calculatedd=q+ Δ q, then to desired locations information qdDerivation obtains it is expected speed
Spend information
7. according to the method described in claim 3, it is characterized in that, step S4 is specifically included：
S41：Virtual cropping is distinguished into joint subsystem and connecting rod subsystem in each joint of the ectoskeleton mechanical arm；
S42：Kinematics and dynamic analysis is carried out to each connecting rod subsystem, obtains the control moment of each connecting rod subsystem；
S43：Kinematics and dynamic analysis is carried out to each joint subsystem, obtains the control moment of each joint subsystem；
S44：The control moment of the control moment of each connecting rod subsystem and each joint subsystem is overlapped, is obtained described
The control moment in each joint of ectoskeleton mechanical arm；
S45：According to the ectoskeleton mechanical arm being calculated each joint control moment to the ectoskeleton mechanical arm
The motor in each joint controlled and follow the operator to move to control the ectoskeleton mechanical arm.
8. the method according to the description of claim 7 is characterized in that being specifically included in wherein step S42：
S421：Kinematics and dynamic analysis is carried out to each connecting rod subsystem, calculates the torque vector of each connecting rod subsystem：
Wherein, ksiIt is a symmetric positive definite gain matrix,It is a regression matrix,It is the parameter of an estimation
Vector, { BiIndicate Virtual cropping after each connecting rod subsystem coordinate system, WithIt is connecting rod respectively
System is in coordinate system { BiUnder linear velocity vector sum angular velocity vector,It is in coordinate system { BiUnder required line/angle speed
Degree vector,It is the torque vector of connecting rod subsystem, n is the quantity in the joint of the ectoskeleton mechanical arm；
S422：According to the torque of each connecting rod subsystem vector, each connecting rod subsystem is obtained in coordinate system { B1}、{B2}…
{B7Under needed for power/torque vector：
Wherein,For power/torque transfer matrix；
S423：The force information of each connecting rod subsystem is extracted, the control moment of each connecting rod subsystem is obtained：
Wherein, [0 0000 1] z=T。
9. according to the method described in claim 8, it is characterized in that, the control of each joint subsystem in wherein step S43
Torque is：
Wherein,θai=[Jmi kci kυi ci]T, kaiIndicate feedback oscillator,For θaiEstimate
Meter,Velocity vector needed for indicating；Vector acceleration needed for indicating,Indicate the velocity vector at the current time of motor condition feedback module acquisition；JmiIt indicates equivalent mass or turns
Dynamic inertia, kci> 0 indicates coulomb friction coefficient, kvi> 0 indicates viscosity friction coefficient, ciIndicate the offset of asymmetric static friction
Amount.
10. according to the method described in claim 9, it is characterized in that, the ectoskeleton mechanical arm obtained in wherein step S44
The control moment in each joint be：
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