CN109240343A - A kind of Sheng Xi robot approaches object pose integrated control method - Google Patents
A kind of Sheng Xi robot approaches object pose integrated control method Download PDFInfo
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- CN109240343A CN109240343A CN201811051832.0A CN201811051832A CN109240343A CN 109240343 A CN109240343 A CN 109240343A CN 201811051832 A CN201811051832 A CN 201811051832A CN 109240343 A CN109240343 A CN 109240343A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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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
Abstract
The invention discloses a kind of Sheng Xi robots to approach object pose integrated control method, comprising the following steps: 1) Sheng Xi robot pose kinetic model is established；2) interference observer designs；3) controller design；4) control force/Torque distribution.The present invention devises a kind of interference observer and estimates unmodeled deviation and environmental disturbances by establishing Sheng Xi robot pose kinetic model, and devises object pose Tracking Integrative control method.In addition, the present invention fully considers the appearance rail coupled characteristic of Liao Shengxi robot, and then realize that present Sheng Xi robot makes full use of tether to carry out overall-in-one control schema to its pose target approaches in the process.
Description
Technical field
The invention belongs to Robot Control Technology research fields, and in particular to a kind of Sheng Xi robot approximate procedure utilizes
Tether tracking and controlling method integrated with itself actuator realization pose.
Background technique
Sheng Xi robot is made of operating platform, tether and manipulator, has flexible, safety, the far equal spies of operating distance
Point belongs to and compares the service robot with application prospect, can be performed and target approaches are arrested, stablize and pulled etc. with tasks,
It can be widely applied to the fields such as space flight and aviation navigation.
It is a series of its premise for implementing tasks that Sheng Xi robot, which approach to target,.In view of aviation, space flight and boat
The rope of marine use is the similitude of robot architecture, includes operating platform, tether and manipulator, can establish one and lead to
It is described with model.During task, operating platform can by tether can to manipulator apply control force and
Control moment.It is to be noted that tether can not only apply control force or control moment under general condition.This is because being
Rope tension vector is not always by manipulator's mass center.It is kinetically being presented as pose Dynamics Coupling.To rope system machine
When people's posture and position carry out separately designing controller, more general way is to generate position control link tether tension
Torque is handled as disturbance torque.Way is simple but does not fully consider its influence, i.e., designed attitude controller energy
Attitude disturbance produced by no timely inhibition tether.Whether attitude disturbance caused by tether will lead to position control unstability, these
All shortcoming considers, though it is foreseeable that when the convergence rate of attitude controller is slower than the convergence rate of positioner, pose
It is easy to happen concussion.Thus design Sheng Xi robot pose integrated controller is necessary.
Summary of the invention
It can be widely applied to Sheng Xi robot the purpose of the present invention is to provide one kind and approach object pose integration control
Method processed, it is integrated to making full use of tether to carry out its pose during target approaches that this method may be implemented in Sheng Xi robot
Control.
The present invention adopts the following technical scheme that realize:
A kind of Sheng Xi robot approaches object pose integrated control method, comprising the following steps:
1) Sheng Xi robot pose kinetic model is established；
2) interference observer designs；
3) controller design；
4) control force/Torque distribution.
A further improvement of the present invention lies in that the concrete methods of realizing of step 1) is as follows:
The coordinate system of use is defined as follows:To operate gripper body coordinate system, OIXIYIZIFor inertial coordinate
System；The absolute pose angle of gripper is expressed as with 321 rotation Eulerian anglesOt1xt1yt1zt1For the tether coordinate system of tether,
Inertial coodinate system is around z-axis rotation alpha1Degree is further around y-axis rotation-β1It is overlapped with the coordinate system；
Then, spin matrix of the tether coordinate system to inertial coodinate system are as follows:
Assuming that operating platform quality much larger than operation gripper, is ignored and operates gripper in approximate procedure to the shadow of operating platform
It rings, and operating platform itself keeps pose stabilization therefore can be considered particle；
Tether tie point is in the position of operation gripper this system are as follows: dgb=[dx；dy；dz]；Operating platform to operation gripper matter
The position vector of the heart isFor tether vectorWith tether tie point to operation gripper centroid position vectorThe sum of；That is:Wherein,It is expressed as under tether coordinate system
Operating platform is by tether tensionIt is by itself actuator control forceIt is by perturbed force in environment
Gripper mass center is operated by tether tension vectorBy itself actuator control forceIt is by perturbed force in environment
The then partial power equation are as follows:
Wherein Δ gpgFor platform and gripper acceleration of gravity bias term；
Projection under the tether coordinate system of tether are as follows:
FormulaProjection under tether coordinate system are as follows:
ThenProjection under tether coordinate system are as follows:
Wherein:vFcg、vT1、vΓg、vFcpWithvΓpRespectivelyWithUnder tether coordinate system
Expression；And:
Attitude dynamics model manipulation gripper angular momentum are as follows:
H=I ω
Derivation is carried out to both sides:
That is:
In formula: I is the inertial tensor for operating gripper；ω is operation gripper angular speed, τcFor control moment, TdFor tether
The torque that power generates, τhFor environmental disturbances torque；
Being projected into operation gripper inertial coodinate system can obtain:
Wherein ωbITo operate gripper absolute pose angular speed,To operate gripper absolute pose angular acceleration, CbvTo be
Spin matrix of the rope coordinate system to gripper this system；
Formula (1) and formula (2) together constitute rope system Dynamic Models of Robot Manipulators, it will be seen that: due to ωbvAnd τdPresence, make
Must restrict be robot system kinetics equation is an appearance rail coupled system；
It enablesThen rope is that robot dynamics' equation arranges as matrix form are as follows:
Wherein, M is Sheng Xi robot inertia matrix；G is related with orbit angular velocity ω, acts on item for terrestrial gravitation；Q is control
Force vector processed, wherein l1、α1And β1Corresponding control force is realized by itself thruster of Sheng Xi robot；τ is external interference input
Vector；
In view of the presence of environmental disturbances power and torque in the restrict unmodel parts and place that are robot system will
Rope system robot dynamics' equation is written as following form:
Wherein, M0, N0And G0It is nominal system parameter, Δ M, Δ N and Δ G are the uncertain parameters of system, and ξ is that rope is machine
The state variable of device people, Q are standardization control inputs, and τ is external interference input vector, nominal system parameter and real system ginseng
Number has following relationship:
Wherein, M, N and GsBe rope be robot system actual parameter；
Then:
Wherein,It is system unmodel parts；
Assuming thatAnd τ bounded；
System dynamics equation is arranged as following form:
Wherein:
G=M-1。
A further improvement of the present invention lies in that the concrete methods of realizing of step 2) is as follows:
Definition rope is that robotic tracking's error is as follows:
E=ξd-ξ
Wherein, ξdFor system expectation state；
It is defined as follows auxiliary variable:
Wherein, Λ is positive definite matrix；
Design following observer auxiliary system:
Wherein,K=diag (k1,k2,k3,k4,k5,k6), n=diag (n1,n2,n3,n4,n5,n6), d is
Unknown BOUNDED DISTURBANCES, andC=[c1,c2,c3,c4,c5,c6]TFor its upper bound；
And then design following interference observer:
Observer parameter selection is as follows:
Wherein, i=1,2,3,4,5,6.
A further improvement of the present invention lies in that the concrete methods of realizing of step 3) is as follows:
It is as follows using observer result design controller in step 2):
Wherein, Q=[Q1,Q2,Q3,Q4,Q5,Q6]TFor controller output；
Selection of control parameter:
Bounded is exported for guarantee controller, meets following relationship in parameter lambda and ρ selection:
λ+ρ≤χ-C-Fm
Wherein χ is the actuator ability upper bound, FmFor the upper bound F and satisfaction | F |≤Fm。
A further improvement of the present invention lies in that the concrete methods of realizing of step 4) is as follows:
Control force part:
Work as Q1When≤0；
Tether tension is T1=-mgQ1；
It operates the actuators such as gripper thruster and thrust is provided are as follows: Fgc=Abv[0,mgQ2,mgQ3]T
Wherein, mgFor the quality of gripper, AbvFor tether coordinate system to the spin matrix of operation gripper this system；
Work as Q1When > 0；
Tether tension is T1=0；
The actuators such as robot manipulation's gripper thruster provide thrust are as follows: Fgc=Abv[mgQ1,mgQ2,mgQ3]T
Wherein, mgFor the quality for operating gripper, AbvFor tether coordinate system to the spin matrix of operation gripper this system；
Control moment part:
The actuator for operating gripper provides control moment are as follows:
τgc=[Q4,Q5,Q6]T。
The present invention has following beneficial technical effect:
The present invention by establishing Sheng Xi robot pose kinetic model, devise a kind of interference observer to it is unmodeled partially
Difference and environmental disturbances are estimated, and devise object pose Tracking Integrative control method.In addition, the present invention fully considers
The appearance rail coupled characteristic of Liao Shengxi robot, and then realize that present Sheng Xi robot makes full use of tether to target approaches in the process
Overall-in-one control schema is carried out to its pose.
Detailed description of the invention
Fig. 1 is that Sheng Xi robot of the present invention approaches object delineation.
In figure: 1- operating platform；2- tether；3- operates gripper；4- target.
Fig. 2 is control block diagram of the present invention.
Specific embodiment
The invention will be described in further detail with reference to the accompanying drawing:
Referring to Fig. 1 and Fig. 2, Fig. 1 is that Sheng Xi robot of the present invention approaches object delineation, wherein 1 is operating platform, and 2 are
Tether, 3 be operation gripper, and 4 be target, and a kind of Sheng Xi robot provided by the invention approaches object pose overall-in-one control schema side
Method, comprising the following steps:
1. Sheng Xi robot appearance rail Integrated Model is established:
The coordinate system of use is defined as follows:To operate gripper body coordinate system, OIXIYIZIFor inertial coordinate
System；The absolute pose angle of gripper is expressed as with 321 rotation Eulerian anglesOt1xt1yt1zt1For the tether coordinate system of tether,
Tether is reduced to one section of massless in the present invention, and inertial coodinate system is around z-axis rotation alpha1Degree is further around y-axis rotation-β1With the coordinate system
It is overlapped.
Spin matrix of the tether coordinate system to inertial coodinate system are as follows:
Assuming that operating platform quality much larger than operation gripper, is ignored and operates gripper in approximate procedure to the shadow of operating platform
It rings, and operating platform itself keeps pose stabilization therefore can be considered particle.
The position of tether tie point operation gripper this system are as follows: dgb=[dx,dy,dz]T.Operating platform to operation gripper matter
The position vector of the heart are as follows:For tether vectorWith tether tie point to operation gripper centroid position vectorThe sum of.That is:Wherein,L is expressed as under tether coordinate system1=[l1,0,0]T。
Operating platform is by tether tensionIt is by itself actuator control force It is by perturbed force in environmentGripper mass center is operated by tether tension vectorBy itself actuator control forceIt is by perturbed force in environment
The then partial power equation are as follows:
Wherein, Δ gpgFor platform and gripper acceleration of gravity bias term.
Projection under the tether coordinate system of tether are as follows:
Projection under tether coordinate system are as follows:
ThenProjection under tether coordinate system are as follows:
Wherein:vFcg、vT1、vΓg、vFcpWithvΓpRespectivelyWithUnder tether coordinate system
Expression.And:
Attitude dynamics model manipulation gripper angular momentum are as follows:
H=I ω
Derivation is carried out to both sides:
That is:
In formula: I is the inertial tensor for operating gripper；ω is operation gripper angular speed, τcFor control moment, TdFor tether
The torque that power generates, τhFor environmental disturbances torque.
Being projected into operation gripper inertial coodinate system can obtain:
Wherein, ωbITo operate gripper absolute pose angular speed,To operate gripper absolute pose angular acceleration, CbvFor
Spin matrix of the tether coordinate system to gripper this system.
Formula (1) and formula (2) together constitute rope system Dynamic Models of Robot Manipulators, it will thus be seen that due to ωbvAnd τdDeposit
So that it is an appearance rail coupled system that rope, which is robot system kinetics equation,.
It enablesThen rope is that robot dynamics' equation arranges as matrix form are as follows:
Wherein, M is Sheng Xi robot inertia matrix；G is related with orbit angular velocity ω, acts on item for terrestrial gravitation；Q is control
Force vector processed, wherein l1、α1And β1Corresponding control force is realized by itself thruster of Sheng Xi robot；τ is external interference input
Vector.
In view of the presence of environmental disturbances power and torque in the restrict unmodel parts and place that are robot system can
By will restrict be robot dynamics' equation be written as it is following in the form of:
Wherein, M0, N0And G0It is nominal system parameter, Δ M, Δ N and Δ G are the uncertain parameters of system, and ξ is that rope is machine
The state variable of device people, Q are standardization control inputs, and τ is external interference input vector, nominal system parameter and real system ginseng
Number has following relationship:
Wherein, M, N and GsBe rope be robot system actual parameter.
Then:
Wherein,It is system unmodel parts.
Assuming thatAnd τ bounded.
System dynamics equation is arranged as following form:
Wherein:
G=M-1
2. Design of Observer
Definition rope is that robotic tracking's error is as follows:
E=ξd-ξ
Wherein, ξdFor system expectation state.
It is defined as follows auxiliary variable:
Wherein, Λ is positive definite matrix.
Design following observer auxiliary system:
Wherein,K=diag (k1,k2,k3,k4,k5,k6), n=diag (n1,n2,n3,n4,n5,n6), d is
Unknown BOUNDED DISTURBANCES, andC=[c1,c2,c3,c4,c5,c6]TFor its upper bound.
And then design following interference observer:
Observer parameter selection is as follows:
Wherein, i=1,2,3,4,5,6.
3. controller design
It is as follows using observer result design controller in back:
Wherein, Q=[Q1,Q2,Q3,Q4,Q5,Q6]TFor controller output, it should be pointed out that by reasonably selecting parameter lambda
And ρ, controller output may be implemented to meet rope to be robotic actuator physical constraint condition.
Selection of control parameter:
Bounded is exported for guarantee controller, following relationship should be met in parameter lambda and ρ selection:
λ+ρ≤χ-C-Fm
Wherein, χ is the actuator ability upper bound, FmFor the upper bound F and satisfaction | F |≤Fm。
4. control force/Torque distribution
Since Sheng Xi robot is using tether tension and itself thrust etc. as driving force, thus need to consider by control force point
Dispensing tether and thruster etc..Using following scheme as control force allocation plan:
Control force part:
Work as Q1When≤0；
Tether tension is T1=-mgQ1；
It operates the actuators such as gripper thruster and thrust is provided are as follows: Fgc=Abv[0,mgQ2,mgQ3]T
Wherein, mgFor the quality of gripper, AbvFor tether coordinate system to the spin matrix of operation gripper this system.
Work as Q1When > 0；
Tether tension is T1=0；
The actuators such as robot manipulation's gripper thruster provide thrust are as follows: Fgc=Abv[mgQ1,mgQ2,mgQ3]T
Wherein, mgFor the quality for operating gripper, AbvFor tether coordinate system to the spin matrix of operation gripper this system.
Control moment part:
The actuator for operating gripper provides control moment are as follows:
τgc=[Q4,Q5,Q6]T。
Claims (5)
1. a kind of Sheng Xi robot approaches object pose integrated control method, which comprises the following steps:
1) Sheng Xi robot pose kinetic model is established；
2) interference observer designs；
3) controller design；
4) control force/Torque distribution.
2. a kind of Sheng Xi robot according to claim 1 approaches object pose integrated control method, which is characterized in that
The concrete methods of realizing of step 1) is as follows:
The coordinate system of use is defined as follows:To operate gripper body coordinate system, OIXIYIZIFor inertial coodinate system；Gripper
Absolute pose angle with 321 rotation Eulerian angles be expressed asOt1xt1yt1zt1For the tether coordinate system of tether, inertia is sat
Mark system is around z-axis rotation alpha1Degree is further around y-axis rotation-β1It is overlapped with the coordinate system；
Then, spin matrix of the tether coordinate system to inertial coodinate system are as follows:
Assuming that operating platform quality, which much larger than operation gripper, is ignored, operates influence of the gripper to operating platform in approximate procedure, and
Operating platform itself keeps pose stabilization therefore can be considered particle；
Tether tie point is in the position of operation gripper this system are as follows: dgb=[dx；dy；dz]；Operating platform is to operation gripper mass center
Position vector are as follows:For tether vectorWith tether tie point to operation gripper centroid position vectorThe sum of；That is:Wherein,It is expressed as under tether coordinate system
Operating platform is by tether tensionIt is by itself actuator control forceIt is by perturbed force in environmentOperation
Gripper mass center is by tether tension vectorBy itself actuator control forceIt is by perturbed force in environment
The then partial power equation are as follows:
Wherein Δ gpgFor platform and gripper acceleration of gravity bias term；
Projection under the tether coordinate system of tether are as follows:
FormulaProjection under tether coordinate system are as follows:
ThenProjection under tether coordinate system are as follows:
Wherein:vFcg、vT1、vΓg、vFcpWithvΓpRespectivelyWithTable under tether coordinate system
Show；And:
Attitude dynamics model manipulation gripper angular momentum are as follows:
H=I ω
Derivation is carried out to both sides:
That is:
In formula: I is the inertial tensor for operating gripper；ω is operation gripper angular speed, τcFor control moment, TdFor the production of tether tension
Raw torque, τhFor environmental disturbances torque；
Being projected into operation gripper inertial coodinate system can obtain:
Wherein ωbITo operate gripper absolute pose angular speed,To operate gripper absolute pose angular acceleration, CbvFor tether seat
Mark system arrives the spin matrix of gripper this system；
Formula (1) and formula (2) together constitute rope system Dynamic Models of Robot Manipulators, it will be seen that: due to ωbvAnd τdPresence so that rope
It is robot system kinetics equation is an appearance rail coupled system；
It enablesThen rope is that robot dynamics' equation arranges as matrix form are as follows:
Wherein, M is Sheng Xi robot inertia matrix；G is related with orbit angular velocity ω, acts on item for terrestrial gravitation；Q is control force
Vector, wherein l1、α1And β1Corresponding control force is realized by itself thruster of Sheng Xi robot；τ be external interference input to
Amount；
In view of rope is by the presence of environmental disturbances power and torque in the restrict unmodel parts and place that are robot system
Robot dynamics' equation is written as following form:
Wherein, M0, N0And G0It is nominal system parameter, Δ M, Δ N and Δ G are the uncertain parameters of system, and ξ is Sheng Xi robot
State variable, Q be standardization control input, τ be external interference input vector, nominal system parameter and real system parameter have
Following relationship:
Wherein, M, N and GsBe rope be robot system actual parameter；
Then:
Wherein,It is system unmodel parts；
Assuming thatAnd τ bounded；
System dynamics equation is arranged as following form:
Wherein:
G=M-1。
3. a kind of Sheng Xi robot according to claim 2 approaches object pose integrated control method, which is characterized in that
The concrete methods of realizing of step 2) is as follows:
Definition rope is that robotic tracking's error is as follows:
E=ξd-ξ
Wherein, ξdFor system expectation state；
It is defined as follows auxiliary variable:
Wherein, Λ is positive definite matrix；
Design following observer auxiliary system:
Wherein,K=diag (k1,k2,k3,k4,k5,k6), n=diag (n1,n2,n3,n4,n5,n6), d is unknown
BOUNDED DISTURBANCES, andC=[c1,c2,c3,c4,c5,c6]TFor its upper bound；
And then design following interference observer:
Observer parameter selection is as follows:
Wherein, i=1,2,3,4,5,6.
4. a kind of Sheng Xi robot according to claim 3 approaches object pose integrated control method, which is characterized in that
The concrete methods of realizing of step 3) is as follows:
It is as follows using observer result design controller in step 2):
Wherein, Q=[Q1,Q2,Q3,Q4,Q5,Q6]TFor controller output；
Selection of control parameter:
Bounded is exported for guarantee controller, meets following relationship in parameter lambda and ρ selection:
λ+ρ≤χ-C-Fm
Wherein χ is the actuator ability upper bound, FmFor the upper bound F and satisfaction | F |≤Fm。
5. a kind of Sheng Xi robot according to claim 4 approaches object pose integrated control method, which is characterized in that
The concrete methods of realizing of step 4) is as follows:
Control force part:
Work as Q1When≤0；
Tether tension is T1=-mgQ1；
It operates the actuators such as gripper thruster and thrust is provided are as follows: Fgc=Abv[0,mgQ2,mgQ3]T
Wherein, mgFor the quality of gripper, AbvFor tether coordinate system to the spin matrix of operation gripper this system；
Work as Q1When > 0；
Tether tension is T1=0；
The actuators such as robot manipulation's gripper thruster provide thrust are as follows: Fgc=Abv[mgQ1,mgQ2,mgQ3]T
Wherein, mgFor the quality for operating gripper, AbvFor tether coordinate system to the spin matrix of operation gripper this system；
Control moment part:
The actuator for operating gripper provides control moment are as follows:
τgc=[Q4,Q5,Q6]T。
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| CN113624400A (en) * | 2021-08-20 | 2021-11-09 | 哈尔滨工业大学 | Method for measuring mass center of object in large-space rope drive assembly process |
| CN113624400B (en) * | 2021-08-20 | 2022-07-05 | 哈尔滨工业大学 | Method for measuring mass center of object in large-space rope drive assembly process |
| CN113800007A (en) * | 2021-08-29 | 2021-12-17 | 西北工业大学 | Rapid directional deployment method of space tether system under condition of unknown partial state |
| CN113800007B (en) * | 2021-08-29 | 2022-07-26 | 西北工业大学 | Rapid directional deployment method for space tether system under condition of unknown partial state |
| CN114237054A (en) * | 2021-12-18 | 2022-03-25 | 福州大学 | 6D interaction control method of aerial robot |
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