CN108994837A - A kind of mechanical arm zero-g balance control method of Dynamics Compensation - Google Patents
A kind of mechanical arm zero-g balance control method of Dynamics Compensation Download PDFInfo
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- CN108994837A CN108994837A CN201810948189.5A CN201810948189A CN108994837A CN 108994837 A CN108994837 A CN 108994837A CN 201810948189 A CN201810948189 A CN 201810948189A CN 108994837 A CN108994837 A CN 108994837A
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- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 230000003068 static effect Effects 0.000 claims description 11
- 241000905957 Channa melasoma Species 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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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 relates to a kind of mechanical arm zero-g balance control method of Dynamics Compensation, the mechanical arm includes joint, connecting rod, rotor, retarder, rotary transformer, motor；The joint further includes the additional inner force sense device of the virtual force snesor in joint and joint；Obtain the connecting-rod head frictional force of the additional inner force sense device of joint link lever end frictional force and joint of the virtual force snesor in joint；According to above-mentioned joint link lever end frictional force connecting-rod head frictional force, the passive Modes Decoupling kinetic model of Shared control feed forward models is defined, to obtain the control moment that joint motions need to meet；The practical control moment under passive mode is calculated according to zero-g balance criterion；According to practical control moment driving motor and rotor.The desired motion feedforward term in traditional active Model control has been abandoned in the invention, so that the control instruction of control mode and planned trajectory is mutually indepedent, very good solution mechanical arm flexible joint Dynamic Modeling problem.
Description
Technical field
The invention belongs to mechanical arm flexible joint Dynamic Modeling field more particularly to a kind of mechanical arms of Dynamics Compensation
Zero-g balance control method.
Background technique
It realizes that feed forward models used in the Accurate Position Control of joint are defined as active Modes Decoupling kinetic model, realizes
Joints' compliance controls used feed forward models and is defined as passive Modes Decoupling kinetic model.Joint carries out joint exact position
Control and Shared control have different feed forward models.The different of the dynamics feed forward models of active mode and passive mode are embodied
Desired motion feedforward term is not included in passive mode, i.e., passive mode feedforward is unrelated with the control instruction of planned trajectory.Passively
Mode dynamics feed forward models actually only provide the trimming moment for overcoming additional internal force, frictional force and fictitious force, thus are claimed
Make passive mode.The desired motion feedforward term in traditional active Model control has been abandoned in the invention, so that control mode and planning
The control instruction of track is mutually indepedent, the very good solution Dynamic Modeling problem of mechanical arm flexible joint Shared control.
Summary of the invention
In order to solve the problems, such as that the Dynamic Modeling of flexible joint Shared control in the prior art proposes a kind of Dynamics Compensation
Mechanical arm zero-g balance control method.This method does not consider the desired motion feedforward term in traditional active Model control, so that
The control instruction of control mode and planned trajectory is mutually indepedent, the very good solution power of mechanical arm flexible joint Shared control
Learn modeling problem.
To achieve the above object, the present invention provides following schemes:
A kind of mechanical arm zero-g balance control method of Dynamics Compensation, the mechanical arm, including joint, connecting rod, rotor,
Retarder, rotary transformer, motor；The joint further includes the additional inner force sense device of the virtual force snesor in joint and joint；
Specific steps are as follows:
Step 1. obtains joint fictitious force and the additional internal force in joint；
Step 2. defines Shared control feed forward models quilt according to the additional internal force of the joint fictitious force of above-mentioned acquisition and joint
Dynamic Modes Decoupling kinetic model, to obtain the control moment that joint motions need to meet；
Step 3. calculates the practical control moment under passive mode according to zero-g balance criterion；
Step 4. is according to practical control moment and angle driving motor and rotor.
Further, the step 1 obtains joint fictitious force and the additional internal force in joint is obtained using sensor.
Further, the passive Modes Decoupling kinetic model of definition Shared control feed forward models, the passive mode
Be articulations digitorum manus motor frictional force, fictitious force and it is additional in force compensating under the action of, keep the control of joint balance torque movement
System.
Further, the passive Modes Decoupling kinetic model is defined as:
τ in formulai,mThe control moment met is needed for the i-th joint motions,Indicate that the i-th joint link lever end rubs
Power,Indicate the i-th joint motor end frictional force, τi,rIndicate the i-th joint fictitious force, τi,fIn indicating the i-th joint additionally
Power, l indicate reduction ratio.
Further, joint link lever end frictional force, specific modeling method are as follows:
Consider the influence of Coulomb friction, static friction and Stribeck friction, the Frictional force gauge at the i-th joint link lever end is shown as the
The function of i connecting rod position and speed:
ξ in formulaciFor the Coulomb friction coefficient of connecting-rod head；-ξmiThe friction coefficient met is needed for connecting-rod head；ξsiFor even
The confficient of static friction of rod end；ξτiFor the Stribeck coefficient of friction of connecting-rod head；biFor the viscous friction coefficient of connecting-rod head；For the frictional error penalty coefficient of connecting-rod head.
Further, joint motor end frictional force, specific modeling method are as follows:
Using LuGre model, the frictional force at the i-th joint motor end can be expressed as the function of the i-th motor position and speed:
κ in formulai,For the angle and angular speed of motor；κsi,For Stribeck angle and speed；ξsiFor stiction；
ξciFor Coulomb friction power；For the frictional force of motor side；σi2For viscous friction coefficient；For friction model
Internal state variable and bristle deflection；σi0For the stiffness coefficient of bristle；σi1For the damped coefficient of bristle；For
Stribeck frictional force.
Further, the zero-g balance criterion are as follows: τI, d-τI, m=0 (6), wherein τI, dFor practical control moment.
Further, the practical control moment computation model are as follows:
In formula WithIt is θbiAnd θmiEstimated value, θbiFor connecting rod
Rotate angle, θmiConnecting rod under the control moment for needing to meet for connecting rod rotates angle,φ is empirical angle
Value；Indicate the i-th joint confficient of static friction constant；Indicate fictitious force feed forward models；Indicate additional internal force；sat(ri,
εi,r) indicate the related saturation function of error, riIndicate the i-th articular system fictitious force,Indicate system virtualization power error precision,
AndMeet:
WhereinIndicate the additional Force coefficient constant in the i-th joint,Indicate the i-th joint link lever end frictional force system
Number constant,Indicate the i-th joint kinetic force of friction coefficient, ρkiIndicate the i-th joint motor end friction coefficient constant,Indicate the coefficient constant for the control moment that the i-th joint motions need to meet.
The present invention also provides a kind of mechanical arm zero-g balance control system of Dynamics Compensation for executing the above method, packets
It includes: the mechanical arm, including joint, connecting rod, rotor, retarder, rotary transformer, motor；The joint further includes joint void
Quasi- force snesor and the additional inner force sense device in joint；
Sensor unit obtains joint fictitious force and the additional internal force in joint；
Definition unit defines Shared control feedforward mould according to the additional internal force of the joint fictitious force of above-mentioned acquisition and joint
The passive Modes Decoupling kinetic model of type, to obtain the control moment that joint motions need to meet；
Computing unit calculates the practical control moment under passive mode according to zero-g balance criterion；
Control unit, according to practical control moment driving motor and rotor.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow chart of the mechanical arm zero-g balance control method of Dynamics Compensation provided by the invention；
Fig. 2 is the schematic diagram of the flexible joint provided by the invention with passive mode.
Specific embodiment
The object of the present invention is to provide a kind of mechanical arm zero-g balance control methods of Dynamics Compensation, to solve existing skill
The Dynamic Modeling problem of flexible joint Shared control proposes a kind of mechanical arm zero-g balance controlling party of Dynamics Compensation in art
Method.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in more detail.
As illustrated in fig. 1 and 2, the mechanical arm zero-g balance control method of a kind of Dynamics Compensation, the mechanical arm, including close
Section, connecting rod, rotor, retarder, rotary transformer, motor；The joint further includes the virtual force snesor in joint and joint volume
Outer inner force sense device；Specific steps are as follows:
Step 1. obtains joint fictitious force and the additional internal force in joint；
Step 2. defines Shared control feed forward models quilt according to the additional internal force of the joint fictitious force of above-mentioned acquisition and joint
Dynamic Modes Decoupling kinetic model, to obtain the control moment that joint motions need to meet；
Step 3. calculates the practical control moment under passive mode according to zero-g balance criterion；
Step 4. is according to practical control moment driving motor and rotor.
Specifically, the step 1 obtains joint fictitious force and the additional internal force in joint is obtained using sensor.
Specifically, the passive Modes Decoupling kinetic model of definition Shared control feed forward models, the passive mode are
The motor of articulations digitorum manus keeps the control of joint balance torque movement under the action of frictional force, fictitious force and additional interior force compensating.
Specifically, the passive Modes Decoupling kinetic model is defined as:
τ in formulai,mThe control moment met is needed for the i-th joint motions,Indicate that the i-th joint link lever end rubs
Power,Indicate the i-th joint motor end frictional force, τi,rIndicate the i-th joint fictitious force, τi,fIn indicating the i-th joint additionally
Power, l indicate reduction ratio.
Specifically, joint link lever end frictional force, specific modeling method are as follows:
Consider the influence of Coulomb friction, static friction and Stribeck friction, the Frictional force gauge at the i-th joint link lever end is shown as the
The function of i connecting rod position and speed:
ξ in formulaciFor the Coulomb friction coefficient of connecting-rod head；-ξmiThe friction coefficient met is needed for connecting-rod head；ξsiFor even
The confficient of static friction of rod end；ξτiFor the Stribeck coefficient of friction of connecting-rod head；biFor the viscous friction coefficient of connecting-rod head；For the frictional error penalty coefficient of connecting-rod head.
Specifically, joint motor end frictional force, specific modeling method are as follows:
Using LuGre model, the frictional force at the i-th joint motor end can be expressed as the function of the i-th motor position and speed:
κ in formulai,For the angle and angular speed of motor；κsi,For Stribeck angle and speed；ξsiFor stiction；
ξciFor Coulomb friction power；For the frictional force of motor side；σi2For viscous friction coefficient；For in friction model
Portion's state variable and bristle deflection；σi0For the stiffness coefficient of bristle；σi1For the damped coefficient of bristle；For Stribeck
Frictional force.
Specifically, the zero-g balance criterion are as follows: τI, d-τI, m=0 (6), wherein τI, dFor practical control moment.
Specifically, the practical control moment computation model are as follows:
In formula WithIt is θbiAnd θmiEstimated value, θbiFor connecting rod
Rotate angle, θmiConnecting rod under the control moment for needing to meet for connecting rod rotates angle,φ is empirical angle
Value；Indicate the i-th joint confficient of static friction constant；Indicate fictitious force feed forward models；Indicate additional internal force；sat(ri,
εi,r) indicate the related saturation function of error, riIndicate the i-th articular system fictitious force,Indicate system virtualization power error precision,
AndMeet:
WhereinIndicate the additional Force coefficient constant in the i-th joint,Indicate the i-th joint link lever end frictional force system
Number constant,Indicate the i-th joint kinetic force of friction coefficient, ρkiIndicate the i-th joint motor end friction coefficient constant,Indicate the coefficient constant for the control moment that the i-th joint motions need to meet.
The circular of balance control method proposed by the invention are as follows:
Step 1: the passive Modes Decoupling kinetic model of Shared control is defined, as illustrated in fig. 1 and 2.
It is passive Modes Decoupling kinetic model that definition, which realizes that joints' compliance controls used feed forward models,.Passive mode
Control is the motor of articulations digitorum manus under the action of frictional force, fictitious force and additional interior force compensating, keeps the movement of joint balance torque
Control.The passive Modes Decoupling kinetic model that uses of joints' compliance control can be with is defined as:
τ in formulai,mThe control moment met is needed for the i-th joint motions,Indicate that the i-th joint link lever end rubs
Power,Indicate the i-th joint motor end frictional force, τi,rIndicate the i-th joint fictitious force, τi,fIn indicating the i-th joint additionally
Power, l indicate reduction ratio.Wherein important is the friction force modelings to joint link lever end and motor side the most.
(1) joint link lever end Frictional model
Consider the influence of Coulomb friction, static friction and Stribeck friction, the Frictional force gauge at the i-th joint link lever end is shown as the
The function of i connecting rod position and speed:
ξ in formulaciFor the Coulomb friction coefficient of connecting-rod head；-ξmiThe friction coefficient met is needed for connecting-rod head；ξsiFor even
The confficient of static friction of rod end；ξτiFor the Stribeck coefficient of friction of connecting-rod head；biFor the viscous friction coefficient of connecting-rod head；For the frictional error penalty coefficient of connecting-rod head.
(2) joint motor end Frictional model
Using LuGre model, the frictional force at the i-th joint motor end can be expressed as the function of the i-th motor position and speed:
κ in formulai,For the angle and angular speed of motor；κsi,For Stribeck angle and speed；ξsiFor stiction；
ξciFor Coulomb friction power；For the frictional force of motor side；σi2For viscous friction coefficient；For friction model
Internal state variable and bristle deflection；σi0For the stiffness coefficient of bristle；σi1For the damped coefficient of bristle；For
Stribeck frictional force.
Step 2 designs the robust adaptive beamforming algorithm under passive mode
In order to realize joints' compliance, the robust adaptive beamforming algorithm designed under passive mode is as follows:
In formula WithIt is θbiAnd θmiEstimated value, θbiFor connecting rod
Rotate angle, θmiConnecting rod under the control moment for needing to meet for connecting rod rotates angle,φ is empirical angle
Value；Indicate some constant；Indicate fictitious force feed forward models；Indicate additional internal force；sat(ri,εi,r) indicate error
Related saturation function.AndMeet:
It brings formula (6) into (1), ignores the influence of uncertain part, then have:
τid-τi,m=0 (8)
Formula (8) illustrates that the torque that passive Model control rule calculates is used to balance frictional force in joint, fictitious force and volume
Outer internal force.
The mechanical arm zero-g balance control method that Dynamics Compensation of the invention is run using the above method is able to solve now
There is the Dynamic Modeling problem of flexible joint Shared control in technology.This method does not consider the expectation in traditional active Model control
Feedforward term is moved, so that the control instruction of control mode and planned trajectory is mutually indepedent, very good solution mechanical arm flexibility is closed
Save the Dynamic Modeling problem of Shared control.
The present invention also provides a kind of mechanical arm zero-g balance control system of Dynamics Compensation for executing the above method, packets
It includes: the mechanical arm, including joint, connecting rod, rotor, retarder, rotary transformer, motor；The joint further includes joint void
Quasi- force snesor and the additional inner force sense device in joint；
Sensor unit obtains joint fictitious force and the additional internal force in joint；
Definition unit defines Shared control feedforward mould according to the additional internal force of the joint fictitious force of above-mentioned acquisition and joint
The passive Modes Decoupling kinetic model of type, to obtain the control moment that joint motions need to meet；
Computing unit calculates the practical control moment under passive mode according to zero-g balance criterion；
Control unit, according to practical control moment and angle driving motor and rotor.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Specific examples are used herein to describe the principles and implementation manners of the present invention, the explanation of above embodiments
Method and its core concept of the invention are merely used to help understand, described embodiment is only that a part of the invention is real
Example is applied, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art are not making creation
Property labour under the premise of every other embodiment obtained, shall fall within the protection scope of the present invention.
Claims (9)
1. a kind of mechanical arm zero-g balance control method of Dynamics Compensation, which is characterized in that the mechanical arm, including joint,
Connecting rod, rotor, retarder, rotary transformer, motor；The joint further includes that the virtual force snesor in joint and joint are additionally interior
Force snesor；Specific steps are as follows:
Step 1. obtains joint fictitious force and the additional internal force in joint；
Step 2. defines Shared control feed forward models by dynamic model according to the additional internal force of the joint fictitious force of above-mentioned acquisition and joint
State decouples kinetic model, to obtain the control moment that joint motions need to meet；
Step 3. calculates the practical control moment under passive mode according to zero-g balance criterion；
Step 4. is according to practical control moment and angle driving motor and rotor.
2. a kind of mechanical arm zero-g balance control method of Dynamics Compensation as described in claim 1, which is characterized in that described
Step 1 obtains joint fictitious force and the additional internal force in joint is obtained using sensor.
3. a kind of mechanical arm zero-g balance control method of Dynamics Compensation as described in claim 1, which is characterized in that described
The passive Modes Decoupling kinetic model of Shared control feed forward models is defined, the passive mode is that the motor of articulations digitorum manus is rubbing
Under the action of power, fictitious force and additional interior force compensating, the control of joint balance torque movement is kept.
4. a kind of mechanical arm zero-g balance control method of Dynamics Compensation as described in claim 1, which is characterized in that described
Passive Modes Decoupling kinetic model is defined as:
τ in formulai,mThe control moment met, q are needed for the i-th joint motionsiFor the i-th joint link lever,Indicate the i-th joint
Connecting-rod head frictional force,Indicate the i-th joint motor end frictional force, τi,rIndicate the i-th joint fictitious force, τi,fIndicate that i-th closes
Additional internal force is saved, l indicates reduction ratio.
5. a kind of mechanical arm zero-g balance control method of Dynamics Compensation as described in claim 1, which is characterized in that described
Joint link lever end frictional force, specific modeling method are as follows:
Consider the influence of Coulomb friction, static friction and Stribeck friction, the Frictional force gauge at the i-th joint link lever end is shown as the i-th company
The function of bar position and speed:
ξ in formulaciFor the Coulomb friction coefficient of connecting-rod head；-ξmiThe friction coefficient met is needed for connecting-rod head；ξsiFor connecting-rod head
Confficient of static friction；ξτiFor the Stribeck coefficient of friction of connecting-rod head；biFor the viscous friction coefficient of connecting-rod head；For
The frictional error penalty coefficient of connecting-rod head.
6. a kind of mechanical arm zero-g balance control method of Dynamics Compensation as described in claim 1, which is characterized in that described
Joint motor end frictional force, specific modeling method are as follows:
Using LuGre model, the frictional force at the i-th joint motor end can be expressed as the function of the i-th motor position and speed:
In formulaFor the angle and angular speed of motor；For Stribeck angle and speed；ξsiFor stiction；ξciFor
Coulomb friction power；For the frictional force of motor side；σi2For viscous friction coefficient；For the inside shape of friction model
State variable and bristle deflection；σi0For the stiffness coefficient of bristle；σi1For the damped coefficient of bristle；For Stribeck friction
Power.
7. a kind of mechanical arm zero-g balance control method of Dynamics Compensation as described in claim 1, which is characterized in that described
Zero-g balance criterion are as follows: τI, d-τI, m=0 (6), wherein τI, dFor practical control moment.
8. a kind of mechanical arm zero-g balance control method of Dynamics Compensation as described in claim 1, which is characterized in that described
Practical control moment computation model are as follows:
In formula WithIt is θbiAnd θmiEstimated value, θbiFor connecting rod rotation
Gyration, θmiConnecting rod under the control moment for needing to meet for connecting rod rotates angle,φ is empirical angle value；Indicate the i-th joint confficient of static friction constant；Indicate fictitious force feed forward models；Indicate additional internal force；sat(ri,εi,r)
Indicate the related saturation function of error, riIndicate the i-th articular system fictitious force,Indicate system virtualization power error precision, andMeet:
WhereinIndicate the additional Force coefficient constant in the i-th joint,Indicate that the i-th joint link lever end friction coefficient is normal
Amount,Indicate the i-th joint kinetic force of friction coefficient, ρkiIndicate the i-th joint motor end friction coefficient constant,Table
Show the coefficient constant for the control moment that the i-th joint motions need to meet.
9. a kind of mechanical arm zero-g balance control system for executing the Dynamics Compensation such as claim 1-8 the method, special
Sign is, comprising: the mechanical arm, including joint, connecting rod, rotor, retarder, rotary transformer, motor；It also wraps in the joint
Include the additional inner force sense device of the virtual force snesor in joint and joint；
Sensor unit obtains joint fictitious force and the additional internal force in joint；
Definition unit defines Shared control feed forward models quilt according to the additional internal force of the joint fictitious force of above-mentioned acquisition and joint
Dynamic Modes Decoupling kinetic model, to obtain the control moment that joint motions need to meet；
Computing unit calculates the practical control moment under passive mode according to zero-g balance criterion；
Control unit, according to practical control moment driving motor and rotor.
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| CN110271002B (en) * | 2019-06-27 | 2020-09-01 | 清华大学深圳研究生院 | Dynamics modeling of rope-driven linkage type mechanical arm and rope tension optimization method thereof |
| CN112077839A (en) * | 2020-08-06 | 2020-12-15 | 中科云谷科技有限公司 | Motion control method and device for mechanical arm |
| CN112077839B (en) * | 2020-08-06 | 2022-03-22 | 中科云谷科技有限公司 | Motion control method and device for mechanical arm |
| CN114619440A (en) * | 2020-12-10 | 2022-06-14 | 北京配天技术有限公司 | Method for correcting friction model, robot and computer readable storage medium |
| CN114619440B (en) * | 2020-12-10 | 2024-02-09 | 北京配天技术有限公司 | Method for correcting friction model, robot and computer readable storage medium |
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| CN113977585B (en) * | 2021-11-25 | 2024-03-15 | 中国北方车辆研究所 | Virtual force servo compliant control method |
| CN114800498A (en) * | 2022-04-20 | 2022-07-29 | 上海捷勃特机器人有限公司 | SCARA robot moment feedforward compensation method |
| CN116442240B (en) * | 2023-05-26 | 2023-11-14 | 中山大学 | Robot zero-force control method and device based on high-pass filtering decoupling |
| CN116442240A (en) * | 2023-05-26 | 2023-07-18 | 中山大学 | Robot zero-force control method and device based on high-pass filtering decoupling |
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