CN109397244A - A kind of 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration pair and control method - Google Patents

A kind of 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration pair and control method Download PDF

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Publication number
CN109397244A
CN109397244A CN201811415101.XA CN201811415101A CN109397244A CN 109397244 A CN109397244 A CN 109397244A CN 201811415101 A CN201811415101 A CN 201811415101A CN 109397244 A CN109397244 A CN 109397244A
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motor
degree
omni
joint
joint motor
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CN109397244B (en
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彭刚
任振宇
廖金虎
陆泽早
王志濠
郑岳智
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a kind of double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration and control methods；System includes: Omni-mobile moves chassis, lifting column, double 7 degree-of-freedom manipulators, control module, power module.Integrated double 7 degree-of-freedom manipulator omni-directional mobile robots control methods use layered structure, control module includes the second control unit and first control unit, second control unit carries out the real-time control on Omni-mobile movement chassis, lifting column, double 7 degree-of-freedom manipulators, and first control unit carries out the real-time calculating of Omni-mobile movement chassis path planning, double 7 degree-of-freedom manipulator path plannings.The double 7 degree-of-freedom manipulator omni-directional mobile robots systems of a kind of integration of the invention and control method have more redundant degree of freedom, motion flexibility is good, chassis is moved in combination with Omni-mobile, it can carry out the movement of any direction, it ensure that the flexibility of robot autonomous operation and the adaptability of man-machine coordination operating environment.

Description

A kind of 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration pair and control Method
Technical field
The invention belongs to robotic technology fields, and more particularly, to a kind of integration, double 7 degree-of-freedom manipulator omnidirectionals are moved Mobile robot system and control method.
Background technique
With people to industry, medical treatment, service level requirements continuous improvement, highly desirable robot can more as People has both arms, and can be with people's work compound.Single mechanical arm is vulnerable to being formed on environmental constraints, some tasks, such as flexible The operation of object, single mechanical arm are difficult to complete, and use the robot system of 2 independent mechanical arm compositions, due to not existing Under the same physical coordinates system and control system space, coordination difficulty is larger, and installation calibrating work is also very time-consuming.Meanwhile it is right In the work that some single mechanical arms can be completed, such as carry rigid objects in irregular shape, then it is higher to carry difficulty, or Person is more demanding to the gripper structure or load capacity of mechanical arm tail end, if completed by tow-armed robot, can reduce and remove Difficulty is transported, and more efficient.
The left and right arms of integrated tow-armed robot can not only work independently, and operated and controlled to multiple target；It can also To work in coordination, such as the assembly of nut and screw, left arm grab screw, and right arm operates nut, left arm and right arm compounding practice It completes.Therefore, integrated tow-armed robot is dexterousr, stronger to the adaptability of environment, is also applied for man-machine coordination operation, With better application value.
Meanwhile common mechanical arm has 6 freedom degrees, and under more and more man-machine work compound occasions, Wu Faman The higher flexible and requirement on flexibility of foot；Specifically: 6 freedom degrees are that have to complete space orientation (3 position quantities, 3 postures Angle) ability minimum degree of freedom number, and the relevant comprehensive kinematic and dynamic modeling of robot can be improved by increasing freedom degree.For fortune In terms of phoronomics characteristic, 6 degree-of-freedom manipulators there may be singular configuration, joint displacements transfinite and working environment in there is barrier Hinder three major issues, so that the movement of mechanical arm is by biggish limitation；For kinetic characteristics aspect, 6 degree-of-freedom manipulators There is a situation where that the distribution of joint moment may be very unreasonable；In terms of fault-tolerance, if having a joint in 6 degree-of-freedom manipulators Failure, then mechanical arm just can not continue to complete work.
On the other hand, mechanical arm is also required to combining omnidirectional moving movement chassis, carries out the movement of any direction, sufficiently to protect Mobile flexibility when mechanical arm autonomous operation is demonstrate,proved, the adaptability of man-machine coordination operating environment is improved.
Summary of the invention
In view of the drawbacks of the prior art, the purpose of the present invention is to provide a kind of double 7 degree-of-freedom manipulator omnidirectionals of integration Mobile-robot system and control method, it is intended to solve in the prior art single 6DOF mechanical arm be unable to satisfy it is higher soft The requirement of property and flexibility, the technical issues of not can guarantee with good environment adaptability.
The present invention provides a kind of double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration, comprising: Omni-mobile Move chassis, lifting column, double 7 degree-of-freedom manipulators and control module；Omni-mobile movement chassis is for realizing integration The movement of any direction of double 7 degree-of-freedom manipulator omni-directional mobile robots and original place Arbitrary Rotation；The lifting column For increasing the space of mechanical arm by adjusting robot；Double 7 degree-of-freedom manipulators include: 7 freedom degrees Mechanical left arm and 7 freedom degree machinery right arms meet higher flexible and spirit for improving robot kinematics and kinetic characteristics Active pharmaceutical；The control module includes: first control unit and the second control unit, second control unit for realizing The Omni-mobile moves the real-time control on chassis, the lifting column and double 7 degree-of-freedom manipulators；First control is single Member moves the reality of the path planning on chassis and the path planning of double 7 degree-of-freedom manipulators for realizing the Omni-mobile When calculate.
Further, double 7 degree-of-freedom manipulator omni-directional mobile robots systems further include: for being moved for Omni-mobile Chassis, lifting column, double 7 degree-of-freedom manipulators and control module provide the power module of power supply.
Further, Omni-mobile movement chassis includes: 4 brushless direct current motor drivers, 4 brushless direct-currents Motor, 4 sets of brshless DC motor transmission mechanisms, 4 Mecanum wheels and 1 chassis；The brushless direct current motor driver with Brshless DC motor is attached by U phase, V phase, three line of W phase, and brshless DC motor and brshless DC motor transmission mechanism are logical It crosses plum coupling to be attached, be connected between brshless DC motor transmission mechanism and Mecanum wheel using ring flange, direct current Motor transmission mechanism uses electric machine support, is fixed on chassis by fastening screw.
Further, it includes: plum coupling, bearing, connecting shaft, motor that every set brshless DC motor, which passes transmission mechanism, Bracket and ring flange component；Electric machine support is connect with chassis, and Mecanum wheel is mounted on ring flange, ring flange and connecting shaft It is connected, connecting shaft is fixed by bearing and electric machine support, and is connected with one end of plum coupling, the other end of plum coupling It is connected with the axis of brshless DC motor, brshless DC motor is connected on electric machine support by fastening screw.
Further, the Omni-mobile movement chassis length is 500mm~700mm, and width is 350mm~450mm； What Omni-mobile movement chassis wheel was selected is the Mecanum wheel that wheel footpath is 130mm~170mm.Wherein, Mecanum wheel has Have it is compact-sized, bear the features such as load capacity is strong and movement is flexible, it is ensured that the Omni-mobile move chassis have compared with Big load capacity, and can satisfy the requirement of integrated double 7 degree-of-freedom manipulator omni-directional mobile robots system flexible motions. Mechanism with alterable height adjusts robot using lifting column.Further, lifting column is driven by stepper motor Device, stepper motor and ball screw framework composition.The high 450mm of lifting column fixed part, liftable part ball-screw most When low spot, lifting column height is 600mm, and liftable stroke is 400mm, and liftable part rises at the highest point of ball-screw Drop pillar height degree is 1000mm.
Further, 7 freedom degree machinery left arms are identical with the 7 freedom degree mechanical right arm configuration, include: clamping jaw, Big arm link, small arm link, the first joint motor that robot shoulder is set, second joint motor and third joint motor, The 4th joint motor and the 5th joint motor of robot ancon are set, and the 6th joint electricity of robot wrist is set Machine and the 7th joint motor；The axis of first joint motor is perpendicular to ground, and the second joint motor is perpendicular to described The installation of first joint motor, and it is mounted on the end of first joint motor；The third joint motor is connected to described The end of two joint motors, and installed perpendicular to the second joint motor,；The third joint motor is connected with large arm company Bar, large arm pitman shaft are conllinear with the third joint motor axis；Large arm connecting rod end connects the 4th joint motor, and guarantees The axis of 4th joint motor is vertical with the axis of the third joint motor；5th joint motor is connected to described The end of 4th joint motor, axis perpendicular to the 4th joint motor axis, small arm link be connected to it is described 5th close Motor end is saved, and guarantees the two axis collinear；Forearm connecting rod end connects the 6th joint motor, and guarantees the described 6th The axis of joint motor is vertical with the axis of the 5th joint motor；7th joint motor is connected to the 6th joint The end of motor, axis of the axis perpendicular to the 6th joint motor.
Further, the axis of the first joint motor and the distance between the axis of the third joint motor are described The retarder length of second joint motor and the sum of with the third joint motor connecting flange thickness；5th joint motor Axis and the third joint motor the distance between axis be the 4th joint motor retarder length and with institute State the sum of the 5th joint motor connecting flange thickness；Between the 7th joint motor axis and the 5th joint motor axis Distance be the retarder length of the 6th joint motor and the sum of with the 7th joint motor connecting flange thickness.
Further, the continuous torque of the first joint motor, the second joint motor and the third joint motor Be all larger than and be equal to 20Nm, the continuous torque range of the 4th joint motor and the 5th joint motor be 5Nm~ The continuous torque of 25Nm, the 6th joint motor and the 7th joint motor, which is respectively less than, is equal to 5Nm.
The present invention also provides a kind of based on the above-mentioned double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration Control method includes the following steps:
(1) pass through 7 degree-of-freedom manipulator inverse kinematics device paired running KDL-RR algorithms and SQP-SS algorithm, it will Result of the result most obtained fastly in KDL-RR algorithm and SQP-SS algorithm as solver；
(2) robotic arm path is planned according to the result of solver:
Using the RRT algorithm based on sampling under joint states space, using the redundant degree of freedom of 7 degree-of-freedom manipulators, Generate from mechanical arm originate pose to object pose can flexibly avoidance a series of pilot process path points；
Multiple interpolations are calculated using the smooth multiple path points of least square method, then the interpolation carried out between path point Point；
Track generation is carried out in conjunction with the maximum speed constraint and peak acceleration constraint of joint motor, is obtained and each interpolation The corresponding tracing point of point, each tracing point include angle, speed and the acceleration of trajectory time and 7 joints；
(3) real-time control is carried out according to the path of planning:
Receiving locus action command is simultaneously synchronized to each joint motor progress track following, carries out double 7 degree-of-freedom manipulators Real time kinematics control so that the motion process of mechanical arm is smoother and continuous；
The track action command includes track initial time, a series of tracing points and tolerance；Tolerance is divided into road Path position tolerance, final position tolerance and terminal time tolerance.
Wherein, in step (1), it is the largest loop time that the circulation of the KDL-RR algorithm, which stops condition, works as KDL-RR When the circulation time of algorithm is less than the largest loop time, continued to run after the random seed of joint vector is generated using rand function KDL-RR algorithm；
It is maximum cycle that the circulation of the SQP-SS algorithm, which stops condition, SQP-SS algorithm with the pose of starting point and The minimum objective function of quadratic sum of Descartes's error vector between the pose of target point.
In the present invention, 7 degree-of-freedom manipulators compare 6DOF mechanical arm, and more 1 redundant degree of freedom can improve machine The comprehensive kinematic and dynamic modeling of people.Meanwhile 7 degree-of-freedom manipulator available infinite multiple solutions are put to some of space, because This, can flexible avoidance with better motion flexibility, it might even be possible to the staff's limbs such as moved to dynamic barrier It is avoided, to achieve the purpose that man-machine coordination operation, improves environmental suitability.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show Beneficial effect:
(1) present invention is designed for uniformity from system mechanics structure, hardware composition, control method, has the same physics The arm structure that can be moved and go up and down under coordinate system and control system space, each mechanical arm have redundant degree of freedom, fortune Move it is flexible, control method use muti-layer control tactics, to Omni-mobile movement chassis, lifting column, double 7 degree-of-freedom manipulators into Row control, by the way that upper layer (first control unit) path planning and bottom (the second control unit) motion control are distributed in two It is carried out on platform, realizes the real-time and accuracy of double 7 degree-of-freedom manipulator omni-directional mobile robots motion controls.It ties simultaneously It closes Omni-mobile and moves chassis, the movement of any direction can be carried out, ensure that the flexibility of robot autonomous operation, Yi Jiren The adaptability of machine work compound environment.
(2) the double 7 degree-of-freedom manipulator omni-directional mobile robots system mechanics structures of integration of the invention according to load with Flexible motion requirement, by the fixed lifting column two sides of both arms, lifting column is mounted on Omni-mobile movement chassis, the height of lifting column It is adjustable, the operating space of double 7 degree-of-freedom manipulators is expanded, system is with compact-sized, receiving load capacity is strong, can omnidirectional's shifting Move and move the features such as flexible, it is ensured that the requirement with biggish load capacity and flexible motion.
(3) left and right arms of integrated tow-armed robot of the invention can not only work independently, and operate to multiple target It with control, can also work in coordination, keep system dexterousr, it is stronger to the adaptability of environment, there is better application value.
(4) 7 degree-of-freedom manipulators of the invention have redundant degree of freedom, have more solutions compared to 6DOF mechanical arm It is reachable and have infinite solution that any position in Work Space Range may be implemented in space, therefore can guarantee that man-machine coordination is made When industry, realizes the functions such as avoidance and human-body safety protection, there is better motion flexibility, flexibility and adaptability.
(5) the joint motor distribution form of 7 degree-of-freedom manipulators of the invention is optimized with respect to mankind's arm structure, 1 degree-of-freedom joint motor for forming mankind's wrist is adjusted to ancon, i.e., by 3 degree-of-freedom joint motor tune of mankind's wrist Whole is 2 degree-of-freedom joint motors, so that solving mechanical arm tail end load capacity caused by the self weight of wrist joint motor reduces The problem of, it ensure that the distributing equilibrium of load and the self weight of mechanical arm, both can satisfy the flexible motion of 7 degree-of-freedom manipulators It is required that and can guarantee that its end has biggish load capacity.
(6) 7 degree-of-freedom manipulators of the invention use the inverse kinematics method based on numerical solution.Inverse kinematics Including two resolving threads, a thread operation enhances KDL algorithm, that is, KDL-RR algorithm, another thread running optimizatin SQP is SQP-SS inversion algorithm algorithm, once one of thread that resolves calculates completion, two threads are simultaneously stopped immediately, and are returned Calculated result of the result of that completed resolving thread as inverse kinematics, ensure that the real-time of inverse kinematics Property.
(7) 7 degree-of-freedom manipulators of the invention carry out path planning using the RRT algorithm based on sampling, obtain from machinery Then the starting point of arm uses least square method smoothly multiple path points to a series of pilot process path points of target point, into Tracing point is calculated in row interpolation.Each tracing point includes the movement such as angle, speed and the acceleration in trajectory time and each joint Parameter information, so that the motion process of mechanical arm is smoother and continuous.
Detailed description of the invention
Fig. 1 is the double 7 degree-of-freedom manipulator omni-directional mobile robots system knots of a kind of integration provided in an embodiment of the present invention Composition；
Fig. 2 is the closed-loop control figure that Omni-mobile provided in an embodiment of the present invention moves chassis；
Fig. 3 is the motion model figure that Omni-mobile provided in an embodiment of the present invention moves chassis；
Fig. 4 is outside the double 7 degree-of-freedom manipulator omni-directional mobile robots systems of a kind of integration provided in an embodiment of the present invention Shape schematic diagram；
Fig. 5 is 7 degree-of-freedom manipulator structural schematic diagram provided in an embodiment of the present invention；
Fig. 6 is 7 degree-of-freedom manipulator control method flow chart provided in an embodiment of the present invention；
Fig. 7 is 7 degree-of-freedom manipulator inverse kinematics algorithm flow chart provided in an embodiment of the present invention；
Fig. 8 is 7 degree-of-freedom manipulator path planning algorithm flow chart provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.
It is main the present invention provides a kind of double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration and control method To be applied to double 7 degree-of-freedom manipulator omni-directional mobile robots application necks such as sorting machine people, service robot, cooperation robot Domain.
The double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration and control method have the same object in the present invention The arm structure under coordinate system and control system space is managed, and each mechanical arm has redundant degree of freedom, motion flexibility is good, simultaneously Combining omnidirectional moving movement chassis can carry out the movement of any direction, ensure that the flexibility of robot autonomous operation, and The adaptability of man-machine coordination operating environment.The present invention carries out Comprehensive Designing from system mechanics structure, hardware composition, control method, Thus it solves to achieve the above object, according to one aspect of the present invention, it is complete to provide a kind of double 7 degree-of-freedom manipulators of integration To mobile-robot system and control method, which is characterized in that system includes: Omni-mobile moves chassis, lifting column, double 7 certainly By degree mechanical arm, control module, power module.Omni-mobile move chassis by 4 brushless direct current motor drivers, 4 it is brushless Direct current generator, 4 sets of brshless DC motor transmission mechanisms, 4 Mecanum wheels and 1 chassis composition, wherein every set brushless direct-current Motor passes transmission mechanism and specifically includes 1 plum coupling, 1 bearing, 1 connecting shaft, 1 electric machine support and 1 flange Disk component；Lifting column is made of stepper motor driver, stepper motor and ball screw framework；Double 7 freedom degree (DOF) mechanical arms It is made of two mechanical arms in left and right, each mechanical arm is made of 7 joints, clamping jaw and big arm link and forearm connecting rod, specifically The wrist of the ancon of shoulder, 2 joints composition including 3 joints composition, 2 joint compositions.
Integrated double 7 degree-of-freedom manipulator omni-directional mobile robots control methods use layered structure, and control module includes Second control unit and first control unit.Second control unit can be using the STM32 control based on STM32F407 microcontroller Making sheet carries out the real-time control on Omni-mobile movement chassis, lifting column, double 7 degree-of-freedom manipulators.STM32 control panel and omnidirectional 4 brushless direct current motor drivers on moving movement chassis connect, and communication interface mode is CAN.STM32 control panel and lifting column Stepper motor driver connection, control interface mode be I/O port.STM32 control panel with it is each inside double 7 degree-of-freedom manipulators A joint drive control panel connection, communication interface mode are EtherCAT or CAN or RS485.The fortune on Omni-mobile movement chassis Dynamic control is moved Omni-mobile according to inverse kinematics transformation equation using the inverse kinematics method based on matrixing Revolving speed needed for the given speed on chassis solves 4 Mecanum wheels, and then solve required 4 brshless DC motors output Control amount carries out kinematic transform, it is real to obtain Omni-mobile movement chassis then by reading 4 brshless DC motor revolving speeds Border speed, is compared with given speed, carries out velocity close-loop control.Lifting column control method uses the control based on step-by-step counting Method processed, the turnning circle needed for solving stepper motor according to the target position of lifting column, and then solve required stepping electricity Machine exports pulse number.Double 7 degree-of-freedom manipulators receive the track movement from first control unit by STM32 control panel Instruction, track action command include track initial time, a series of tracing points and tolerance.Wherein, each tracing point includes The time of the point, the position in each joint, speed and acceleration are moved to, tolerance is divided into path position tolerance, terminal position Set tolerance and terminal time tolerance.
First control unit carries out the reality of Omni-mobile movement chassis path planning, double 7 degree-of-freedom manipulator path plannings When calculate.The communication interface mode of the STM32 control panel of first control unit and the second control unit be Ethernet or RS485 or RS232, using the Rosserial communication protocol of robot operating system (ROS).First control unit and STM32 control first Plate is negotiated, and determines the Topic message for needing to send and receive, and completes initialization；In communication process, first control unit with STM32 control panel progress Topic message is bi-directionally sent and receives.
Specifically, Omni-mobile is moved chassis control instruction, liter by Rosserial communication protocol by first control unit Drop column control instruction and double 7 degree-of-freedom manipulator trace messages are sent to STM32 control panel；STM32 control panel acquires omnidirectional The state parameters such as moving movement chassis, lifting column, the position of double 7 degree-of-freedom manipulators and movement, pass through Rosserial communication protocols View feeds back to first control unit.
Double 7 degree-of-freedom manipulator control methods include the inverse kinematics method based on numerical solution and the road based on RRT Diameter planning algorithm.Inverse kinematics method uses TRAC-IK solver, Optimized Iterative of a combination thereof based on Jacobian matrix Inversion algorithms and two kinds of solvers of optimization SQP inversion algorithms based on Newton iteration method, pass through what is preferentially completed on access time Solution of the solution of solver as inverse kinematics；Then the path planning based on RRT algorithm is carried out, the starting point from mechanical arm is generated To a series of pilot process path points of target point, then the interpolation carried out between path point calculates, and track generation is carried out, to each Joint motor carries out track following, the double 7 degree-of-freedom manipulators movements of real-time control.
In embodiments of the present invention, the mechanical structure on Omni-mobile movement chassis is come according to load and flexible motion requirement The type selecting of Omni-mobile movement chassis size and 4 wheels is designed, it is 500mm~700mm that Omni-mobile, which moves chassis length, wide Degree is 350mm~450mm.What Omni-mobile movement chassis wheel was selected is the Mecanum wheel that wheel footpath is 130mm~170mm. Mecanum wheel has the characteristics that compact-sized, receiving load capacity is strong and movement is flexible, it is ensured that Omni-mobile fortune Dynamic chassis has biggish load capacity, and can satisfy integrated double 7 degree-of-freedom manipulator omni-directional mobile robots system spirits The requirement of movement living.
In embodiments of the present invention, Omni-mobile moves chassis by 4 brushless direct current motor drivers, 4 brushless direct-currents Motor, 4 sets of brshless DC motor transmission mechanisms, 4 Mecanum wheels and 1 chassis composition, wherein every set brshless DC motor It passes transmission mechanism and specifically includes 1 plum coupling, 1 bearing, 1 connecting shaft, 1 electric machine support and 1 flange part Part.Specifically, electric machine support is connect with chassis, and Mecanum wheel is mounted on ring flange, and ring flange is connected with connecting shaft, connection Axis is fixed by bearing and electric machine support, and is connected with one end of plum coupling, the other end of plum coupling and brushless straight The axis of galvanic electricity machine is connected, and brshless DC motor is connected on electric machine support by fastening screw.
In embodiments of the present invention, the double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration have alterable height Mechanism, adjust robot using lifting column.Further, lifting column by stepper motor driver, stepper motor and Ball screw framework composition.The high 450mm of lifting column fixed part, liftable part is in the minimum point of ball-screw, lifting column Height is 600mm, and liftable stroke is 400mm, and at the highest point of ball-screw, lifting column height is for liftable part 1000mm。
In embodiments of the present invention, double 7 degree-of-freedom manipulators are made of two mechanical arms in left and right, and mechanical structure passes through ginseng It include folder to design large arm and forearm lengths size and each joint type selecting, each mechanical arm of mechanical arm according to normal adult's arm Pawl, big arm link, small arm link and 7 joints, total length of each mechanical arm when not including clamping jaw are 600mm~700mm, Total weight when not including clamping jaw is 6kg~7kg.The layout and type selecting of each joint motor of mechanical arm personalize, and group is adult 1 degree-of-freedom joint motor of class wrist is adjusted to ancon, and 3 degree-of-freedom joint motors of mankind's wrist are adjusted to 2 certainly By degree joint motor, the motor of smaller torque is selected；Ancon includes 2 degree-of-freedom joint motors, selects torque larger or medium Motor, improve the load capacity of mechanical arm tail end；Shoulder is made of 3 joint motors, selects the biggish motor of torque.
In embodiments of the present invention, the continuous torque of the shoulder joints motor is more than or equal to 20Nm, and the ancon closes The continuous torque range for saving motor is 5Nm~25Nm, and the continuous torque of the wrist joint motor is less than or equal to 5Nm.
In embodiments of the present invention, the adjacent two joint motor shaft of single 7DOF mechanical arm is orthogonal, 7 joint packets The first joint motor of shoulder 1, shoulder second joint motor 2, shoulder third joint motor 3, the 4th joint motor the 4, the 5th is included to close Section motor 5, the 6th joint motor 6 and the seven or six joint motor 7, adjacent two joint electrical axis intersect vertically, wherein shoulder the The axis of one joint motor 1 is installed perpendicular to ground, shoulder second joint motor 2 perpendicular to the first joint motor of shoulder 1, and is pacified Mounted in the end of the first joint motor of shoulder 1；Shoulder third joint motor 3 is connected to the end of shoulder second joint motor 2, hangs down It is directly installed in shoulder second joint motor 2, and guarantees the axis and shoulder third joint motor 3 of the first joint motor of shoulder 1 The distance between axis is the retarder length of shoulder second joint motor 2 and thick with shoulder third joint motor 3 connecting flange The sum of degree；Shoulder third joint motor 3 is connected with big arm link, and large arm pitman shaft is conllinear with shoulder third 3 axis of joint motor；Greatly Arm link end connects the 4th joint motor 4, and guarantees the axis of the 4th joint motor 4 and the axis of shoulder third joint motor 3 Line is vertical；5th joint motor 5 is connected to the end of the 4th joint motor 4, axis perpendicular to the 4th joint motor 4 axis, And guarantee that the axis of the 5th joint motor 5 and the distance between the axis of shoulder third joint motor 3 are the 4th joint motors 4 Retarder length and the sum of with 5 connecting flange thickness of the 5th joint motor；Small arm link is connected to 5 end of the 5th joint motor, And guarantee the two axis collinear；Forearm connecting rod end connect the 6th joint motor 6, and guarantee the 6th joint motor 6 axis with The axis of 5th joint motor 5 is vertical；Seven or six joint motor 7 is connected to the end of the 6th joint motor 6, and axis is perpendicular to The axis of six joint motors 6, and guarantee that the distance between 7 axis of the seven or six joint motor and 5 axis of the 5th joint motor are the The retarder length of six joint motors 6 and the sum of with 7 connecting flange thickness of the seven or six joint motor.
In embodiments of the present invention, the double 7 degree-of-freedom manipulator omni-directional mobile robots control methods of integration are using layering Structure, control module include the second control unit and first control unit.Second control unit, which uses, is based on STM32F407 micro-control The STM32 control panel of device processed carries out the real-time control on Omni-mobile movement chassis, lifting column, double 7 degree-of-freedom manipulators.STM32 Control panel is connect with 4 brushless direct current motor drivers on Omni-mobile movement chassis, and communication interface mode is CAN.STM32 control The connection of the stepper motor driver of making sheet and lifting column, control interface mode are I/O port.STM32 control panel and double 7 freedom degree machines Each joint drive control panel connection inside tool arm, communication interface mode are EtherCAT, CAN or RS485.
Wherein, first control unit carries out Omni-mobile and moves chassis path planning, double 7 degree-of-freedom manipulator path plannings Real-time calculating.The communication interface mode of the STM32 control panel of first control unit and the second control unit be Ethernet, RS485 or RS232, using the Rosserial communication protocol of robot operating system (ROS).First first control unit with STM32 control panel is negotiated, and determines the Topic message for needing to send and receive, and completes initialization；In communication process, the first control It is bi-directionally sent and receive that unit processed and STM32 control panel carry out Topic message.Specifically, first control unit passes through Omni-mobile is moved chassis control instruction, lifting column control instruction and double 7 freedom degrees machinery by Rosserial communication protocol Arm trace message is sent to STM32 control panel；STM32 control panel acquires Omni-mobile and moves chassis, lifting column, double 7 freedom degrees The state parameters such as the position of mechanical arm and movement, feed back to first control unit by Rosserial communication protocol.
As an embodiment of the present invention, the motion control on Omni-mobile movement chassis is used based on the inverse of matrixing Kinematics solution method.Specifically, the kinematics model that chassis is moved by Omni-mobile transports bobbin movement and each wheel Relationship between dynamic is analyzed, and the kinematical equation on Omni-mobile movement chassis is solved.It will be transported using matrix transformation method Dynamic learn equations turned is inverse kinematics equation.According to inverse kinematics transformation equation, by the given speed on Omni-mobile movement chassis Revolving speed needed for solving 4 Mecanum wheels, and then solve 4 required brshless DC motors and export control amount, then lead to It crosses and reads 4 brshless DC motor revolving speeds, carry out kinematic transform, obtain Omni-mobile and move chassis actual speed, and it is given Speed is compared, and carries out velocity close-loop control.
Lifting column control method uses the control method based on step-by-step counting as an embodiment of the present invention.Specifically The target position of lifting column is scaled needed for stepper motor by ground using step motor position and turnning circle reduction formula Turnning circle, and then solve required stepper motor and export pulse number.
7 degree-of-freedom manipulator structures personalize in the present invention as an embodiment of the present invention, do not meet PIEPER standard Then, it is unable to get closing solution, therefore uses the inverse kinematics method based on numerical solution.Specifically, first control unit root It is used according to mechanical arm left arm or the starting point and target point of right arm end using the inverse kinematics method based on numerical solution TRAC-IK solver, a combination thereof the Optimized Iterative inversion algorithms based on Jacobian matrix and the optimization based on Newton iteration method Two kinds of solvers of SQP inversion algorithms, the solution by the solution for the solver preferentially completed on access time as inverse kinematics, obtain 7 joint angles of corresponding starting pose and the mechanical arm under object pose.
TRAC-IK solver includes that the KDL-RR algorithm of paired running and SQP-SS are calculated as an embodiment of the present invention Method, using the result most obtained fastly in KDL-RR algorithm and SQP-SS algorithm as the result of TRAC-IK solver.
Wherein, KDL-RR algorithm and SQP-SS algorithm are all based on the inverse kinematics algorithm of numerical solution.
Wherein, it is the largest loop time that the circulation of KDL-RR algorithm, which stops condition, small when the circulation time of KDL-RR algorithm When the largest loop time, KDL-RR algorithm is continued to run after the random seed of joint vector is generated using rand function.
Wherein, it is maximum cycle that the circulation of SQP-SS algorithm, which stops condition, and SQP-SS algorithm is with the pose of starting point The minimum objective function of quadratic sum of Descartes's error vector between the pose of target point.
Wherein, robotic arm path planning algorithm uses the RRT algorithm based on sampling, under joint states space, certainly using 7 By the redundant degree of freedom of degree mechanical arm, generate from mechanical arm originate pose to object pose can flexible avoidance it is a series of Pilot process path point, each path point include 7 joint angles；The interpolation carried out between path point again calculates, and obtains multiple Interpolated point, and the constraint such as maximum speed, peak acceleration for combining joint motor, carry out track generation, obtain and each interpolation The corresponding tracing point of point, each tracing point include angle, speed and the acceleration of trajectory time and 7 joints.
In embodiments of the present invention, the second control unit receives the track action command from first control unit, synchronous Track following is carried out to each joint motor, the real time kinematics control of double 7 degree-of-freedom manipulators is carried out, so that the movement of mechanical arm Process is smoother and continuous.Wherein, track action command includes track initial time, a series of tracing points and tolerance；Often A tracing point includes to move to the time of the point, the position in each joint, speed and acceleration, and tolerance is divided into path position appearance Difference, final position tolerance and terminal time tolerance.
As shown in Figure 1, a kind of double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration, include: Omni-mobile fortune Dynamic chassis, lifting column, double 7 degree-of-freedom manipulators, control module, power module.Wherein, Omni-mobile movement chassis can be appointed The movement in meaning direction, original place Arbitrary Rotation, no turning radius is, it can be achieved that the double 7 degree-of-freedom manipulator Omni-mobiles of integration The locomotive function of robot；
Lifting column is the mechanism with alterable height, can be used to adjust robot, it is possible to increase the movement of mechanical arm is empty Between；Double 7 degree-of-freedom manipulators include left and right 27 degree-of-freedom manipulators, and each 7 degree-of-freedom manipulator has redundant degree of freedom, Robot kinematics and kinetic characteristics can be improved, meet higher flexible and requirement on flexibility；Control module, by the first control Unit and the second control unit composition, the second control unit carry out Omni-mobile movement chassis, lifting column, double 7 freedom degrees machinery The real-time control of arm；First control unit carries out Omni-mobile and moves chassis path planning, double 7 degree-of-freedom manipulator path plannings Real-time calculating.Power module provides electricity for Omni-mobile movement chassis, lifting column, double 7 degree-of-freedom manipulators, control module Source.
Omni-mobile moves chassis by 4 brushless direct current motor drivers, 4 brshless DC motors, 4 sets of brushless dcs Machine transmission mechanism, 4 Mecanum wheels and 1 chassis composition, brushless direct current motor driver and brshless DC motor pass through U Phase, V phase, three line of W phase are attached, and brshless DC motor is connected with brshless DC motor transmission mechanism by plum coupling It connects, is connected between brshless DC motor transmission mechanism and Mecanum wheel using ring flange, DC Motor Drives mechanism uses electricity Machine support is fixed on chassis by fastening screw.
Wherein, every set brshless DC motor passes transmission mechanism and specifically includes 1 plum coupling, 1 bearing, 1 connection Axis, 1 electric machine support and 1 ring flange component；Electric machine support is connect with chassis, and Mecanum wheel is mounted on ring flange, Ring flange is connected with connecting shaft, and connecting shaft is fixed by bearing and electric machine support, and is connected with one end of plum coupling, plum blossom The other end of shaft coupling is connected with the axis of brshless DC motor, and brshless DC motor is connected to electric machine support by fastening screw On.
Lifting column is made of stepper motor driver, stepper motor and ball screw framework；Stepper motor driver and step It is attached into motor using 2 phase, 4 line mode, stepper motor and ball wire rod mechanism are attached by plum coupling.
Double 7 freedom degree (DOF) mechanical arms are made of two mechanical arms in left and right, the adjacent two joint motor shaft of 7DOF mechanical arm Orthogonal, clamping jaw is connect with the 2nd joint of wrist, is connected between the 2nd joint in the 1st joint of wrist and ancon by forearm Bar connection, the 3rd joint in the 1st joint of ancon and shoulder is attached by big arm link.
Each mechanical arm is made of 7 joints, clamping jaw and big arm link and forearm connecting rod, specifically includes 3 joint groups At shoulder, the ancon of 2 joints composition, 2 joint compositions wrist.
Integrated double 7 degree-of-freedom manipulator omni-directional mobile robots control methods use layered structure, and control module includes Second control unit and first control unit.Second control unit is using the STM32 control based on STM32F407 microcontroller Plate carries out the real-time control on Omni-mobile movement chassis, lifting column, double 7 degree-of-freedom manipulators.STM32 control panel and omnidirectional move 4 brushless direct current motor drivers connection on dynamic movement chassis, communication interface mode are CAN.STM32 control panel and lifting column Stepper motor driver connection, control interface mode are I/O port.STM32 control panel with it is each inside double 7 degree-of-freedom manipulators The connection of joint drive control panel, communication interface mode are EtherCAT, CAN or RS485.
Control module is made of first control unit and the second control unit, and the second control unit carries out Omni-mobile movement Chassis, lifting column, double 7 degree-of-freedom manipulators real-time control；First control unit carries out Omni-mobile movement chassis path rule It draws, the real-time calculating of double 7 degree-of-freedom manipulator path plannings.
Second control unit include: Omni-mobile movement chassis real-time control submodule, lifting column real-time control submodule, 7 degree-of-freedom manipulator real-time control submodules；First control unit includes: Omni-mobile movement chassis path planning and leads in real time Believe submodule, lifting column real time communication submodule, 7 degree-of-freedom manipulator path plannings and real time communication submodule.
Specifically, the motion control on Omni-mobile movement chassis uses the inverse kinematics method based on matrixing, According to inverse kinematics transformation equation, the given speed on Omni-mobile movement chassis is solved and is turned needed for 4 Mecanum wheels Speed, and then solve 4 required brshless DC motors and export control amount, then by reading 4 brshless DC motor revolving speeds, into Row kinematic transform obtains Omni-mobile and moves chassis actual speed, be compared with given speed, carries out speed closed loop control System.
Further, Fig. 2 is the closed-loop control figure that Omni-mobile moves chassis, and given speed includes Omni-mobile movement bottom Three speed variables of disk: VRx, VRy, WR(wherein, VRxIndicate the transverse shifting velocity component on Omni-mobile movement chassis, VRyTable Show the lengthwise travel rate component on Omni-mobile movement chassis, WRIndicate the rotational angular velocity on Omni-mobile movement chassis), by the One control unit is sent to STM32 control panel and, according to inverse kinematics transformation equation, obtains 4 nothings after STM32 control panel receives Then brushless motor revolving speed passes through speed regulator, the given value of 4 brshless DC motor electric current loops is obtained, using electricity Throttle regulator, closed-loop control brshless DC motor.
Further, by CAN bus communication interface, STM32 control panel reads 4 brshless DC motor revolving speeds, carries out Kinematic transform obtains Omni-mobile and moves actual three speed variables in chassis: VRx, VRy, WR, compared with given speed Compared with progress velocity close-loop control.
Further, Fig. 3 is the motion model figure that Omni-mobile moves chassis, BiRepresent Mecanum wheel, i=1,2, 3,4 }.Diagonally distribute several rollers on the wheel rim of each Mecanum wheel, therefore Mecanum wheel can be a kind of with horizontal sliding Omnidirectional moving wheel, realization Omni-mobile that can be flexible and convenient.Movement velocity (the V on Omni-mobile movement chassisRx, VRy, WR) It indicates, wbiIndicate the angular speed of Mecanum wheel, wriIndicate the angular speed that the roller of Mecanum wheel rotates about the axis thereof, wzi Indicate Mecanum wheel around the angular velocity of rotation with the axis perpendicular to ground.αiIndicate the axis of roller axis and Mecanum wheel Angle between line, βiIndicate the line of wheel subcenter and Omni-mobile movement center chassis and the angle of x-axis, la、lbTable respectively Show the lateral distance and fore-and-aft distance of wheel subcenter and Omni-mobile movement center chassis, R and r respectively represent Mecanum wheel half Diameter and roller radius.
Further, the α of Mecanum wheeliIt is 45 °, it is available by the kinematics analysis to Mecanum wheel, Omni-mobile moves shown in the equation of motion such as formula (1) on chassis:
Further, according to formula (1), motion vector [VRx, VRy, WR] only with wbiIt is related, by controlling wbiIt is i.e. controllable Omni-mobile moves bobbin movement.
Further, Omni-mobile movement bobbin movement state is divided into following several:
(1) it vertically moves state: working as wb1=wb2=wb3=wb4When ≠ 0, VRx=WR=0, VRy=wbiR, Omni-mobile Move chassis longitudinal movement.
(2) transverse shifting state: work as wb1=-wb2=-wb3=wb4When ≠ 0, VRx=wbiR, VRy=WR=0, omnidirectional moves Dynamic movement chassis transverse shifting.
(3) rotary motion state: as-wb1=wb2=-wb3=wb4When ≠ 0,VRx=VRy= 0, Omni-mobile movement chassis is rotated around central point.
(4) oblique moving condition: work as wb1+wb3=wb2+wb4=w ≠ 0, and wb1-wb2=wb4-wb3When=δ ≠ 0, VRx≠ 0, VRy≠ 0, WR=0, Omni-mobile movement chassis will diagonally move in a straight line, and direction is with positive direction of the y-axis angle
Further, by matrixing, the inverse kinematics transformation equation on available Omni-mobile movement chassis is such as public Shown in formula (2), the given speed on chassis is moved by Omni-mobile, revolving speed required for 4 wheels can be solved, i.e., it is required Motor export control amount.
Further, STM32 control panel and 4 brushless direct current motor drivers on Omni-mobile movement chassis pass through CAN Bus communication interface connection, communication baud rate 1Mbps.
Further, STM32 control panel sends motor to brushless direct current motor driver and exports control amount, brushless dc Machine driver feeds back brshless DC motor revolving speed to STM32 control panel, realizes closed-loop control.
Further, 4 brushless direct current motor drivers feed back brushless dc to STM32 control panel by CAN message Machine rotary speed data, when the CAN controller of STM32 control panel receives rotary speed data, triggering CAN, which is received, to be interrupted.STM32 control Plate after entering the interrupt, using the brshless DC motor revolving speed in the CAN message received, realizes closed-loop control.
Specifically, lifting column control method uses the control method based on step-by-step counting, according to the target position of lifting column Turnning circle needed for solving stepper motor, and then solve required stepper motor and export pulse number.
Double 7 degree-of-freedom manipulators receive the track action command from first control unit, rail by STM32 control panel Mark action command includes track initial time, a series of tracing points and tolerance.Wherein, each tracing point includes to move to this Position, speed and the acceleration of the time, each joint put, tolerance are divided into path position tolerance, final position tolerance And terminal time tolerance.
First control unit carries out the reality of Omni-mobile movement chassis path planning, double 7 degree-of-freedom manipulator path plannings When calculate.The communication interface mode of the STM32 control panel of first control unit and the second control unit be Ethernet, RS485 or RS232, using the Rosserial communication protocol of robot operating system (ROS).
Omni-mobile is moved chassis control instruction, lifting column control by Rosserial communication protocol by first control unit System instruction and double 7 degree-of-freedom manipulator trace messages are sent to STM32 control panel；STM32 control panel acquires Omni-mobile fortune The state parameters such as dynamic chassis, lifting column, the position of double 7 degree-of-freedom manipulators and movement, are fed back by Rosserial communication protocol To first control unit.
After receiving the track action command of first control unit, STM32 control panel starts execution track and acts, and to First control unit constantly feeds back the execution state of current track action command.Feedback states include present instruction state, reality Border joint position, target joint position, pose error.
Specifically, in the implementation procedure of track movement, first control unit can take to STM32 control panel sending action Disappear instruction, to stop the execution of current track movement.
Specifically, after track acts and executes, STM32 control panel will report what track acted to first control unit Final implementing result includes whether to run succeeded, executes time-consuming, final position error.
Specifically, the execution state of track movement is divided into following several:
(1) idle state: not yet receiving track action command, and mechanical arm keeps in situ, after receiving track action command, It is switched to waiting for the start state.
(2) waiting for the start state: given trace initial time does not arrive, and mechanical arm keeps in situ, when reaching track initial Between when, be switched to the state of being carrying out.
(3) it is carrying out state: calculating current time and the time difference between the time started of track, find a series of tracks In point, former and later two corresponding tracing points are calculated current using linear interpolation algorithm (or other interpolation algorithms such as trapezoidal) The position in moment corresponding each joint, velocity and acceleration, and each joint is sent to using position data as target joint position Motor.In addition, will also check the error between practical joint position and target joint position.If error is greater than path position tolerance Value then stops manipulator motion immediately, terminates the execution of track movement, sends the final implementing result of track movement and is switched to Idle state.If current time is later than the last one tracing point, it is switched to and waits end state.
(4) it waits end state: constantly sending the corresponding target joint position of the last one tracing point to each joint motor, And check the error between practical joint position and target joint position, if error is less than final position tolerance, it is denoted as rail Mark acts the end that runs succeeded, and the final implementing result for sending track movement is simultaneously switched to idle state.If error is greater than terminal PT positional tolerance value and current time are later than terminal time tolerance, then are denoted as track movement and execute failure, equally transmission track The final implementing result of movement is simultaneously switched to idle state.
(5) it emergency stop state: when physics scram button is pressed or software emergency stop mark is set, is cut with highest priority Emergency stop state is shifted to, under the state, constantly will send halt instruction to all joint motors, disabling torque output is forced, works as object After reason scram button bounces and software emergency stop mark removed, it is switched to idle state.
Fig. 4 is outside the double 7 degree-of-freedom manipulator omni-directional mobile robots systems of a kind of integration provided in an embodiment of the present invention Shape schematic diagram, it is 600mm, width 400mm that Omni-mobile, which moves chassis length,.Omni-mobile movement chassis wheel select be Wheel footpath is the Mecanum wheel of 152mm.Mecanum wheel has compact-sized, receiving load capacity by force and the spies such as movement is flexible Point, it is ensured that the Omni-mobile, which moves chassis, has biggish load capacity, and it is mechanical to can satisfy integrated double 7 freedom degrees The requirement of arm omni-directional mobile robots system flexible motion.
Specifically, Omni-mobile moves chassis by 4 brushless direct current motor drivers, 4 brshless DC motors, 4 sets of nothings Brushless motor transmission mechanism, 4 Mecanum wheels and 1 chassis composition, wherein every set brshless DC motor passes transmission mechanism Specifically include 1 plum coupling, 1 bearing, 1 connecting shaft, 1 electric machine support and 1 ring flange component.Specifically, Electric machine support is connect with chassis, and Mecanum wheel is mounted on ring flange, and ring flange is connected with connecting shaft, and connecting shaft passes through bearing It fixes with electric machine support, and is connected with one end of plum coupling, the other end of plum coupling and the axis of brshless DC motor It is connected, brshless DC motor is connected on electric machine support by fastening screw.
Specifically, lifting column is made of stepper motor driver, stepper motor and ball screw framework.Lifting column fixed part Divide high 450mm, in the minimum point of ball-screw, lifting column height is 600mm for liftable part, and liftable stroke is 400mm, At the highest point of ball-screw, lifting column height is 1000mm for liftable part.
Fig. 5 is 7 degree-of-freedom manipulator structural schematic diagrams, and dotted line is used to illustrate the axis in each joint of mechanical arm, joint in figure Motor number is 1~7.Wherein, adjacent two joint axis intersects vertically, such as straight line 1 intersects vertically with straight line 2, but adjacent Three joint shafts do not meet the requirement for intersecting at a point or being parallel to each other.Therefore it is unable to satisfy PIEPER criterion, is unable to get envelope Close solution.
Specifically, the adjacent two joint motor shaft of single 7DOF mechanical arm of the invention is orthogonal, and 7 joints include The first joint motor of shoulder 1, shoulder second joint motor 2, shoulder third joint motor 3, the 4th joint motor 4, the 5th joint Motor 5, the 6th joint motor 6 and the seven or six joint motor 7, adjacent two joint electrical axis intersect vertically,
The axis of first joint motor of shoulder 1 is perpendicular to ground, and shoulder second joint motor 2 is perpendicular to shoulder first Joint motor 1 is installed, and is mounted on the end of the first joint motor of shoulder 1；Shoulder third joint motor 3 is connected to shoulder second The end of joint motor 2 is installed perpendicular to shoulder second joint motor 2, and guarantees the axis and shoulder of the first joint motor of shoulder 1 The distance between the axis of portion's third joint motor 3 is the retarder length of shoulder second joint motor 2 and closes with shoulder third Save the sum of 3 connecting flange thickness of motor；Shoulder third joint motor 3 is connected with big arm link, large arm pitman shaft and shoulder third 3 axis of joint motor is conllinear；Large arm connecting rod end connects the 4th joint motor 4, and guarantees the axis and shoulder of the 4th joint motor 4 The axis of third joint motor 3 is vertical；5th joint motor 5 is connected to the end of the 4th joint motor 4, and axis is perpendicular to the 4th The axis of joint motor 4, and guarantee the axis of the 5th joint motor 5 and the distance between the axis of shoulder third joint motor 3 It is the retarder length of the 4th joint motor 4 and the sum of with 5 connecting flange thickness of the 5th joint motor；Small arm link is connected to Five joint motors, 5 end, and guarantee the two axis collinear；Forearm connecting rod end connects the 6th joint motor 6, and guarantees that the 6th closes The axis for saving motor 6 is vertical with the axis of the 5th joint motor 5；Seven or six joint motor 7 is connected to the end of the 6th joint motor 6 End, axis and guarantee 7 axis of the seven or six joint motor and 5 axis of the 5th joint motor perpendicular to the axis of the 6th joint motor 6 The distance between be the retarder length of the 6th joint motor 6 and the sum of with 7 connecting flange thickness of the seven or six joint motor.
Adjacent two joint axis intersects vertically, but adjacent three joint shafts do not meet wanting of intersecting at a point or be parallel to each other It asks.Therefore it is unable to satisfy PIEPER criterion, is unable to get closing solution.
7 degree-of-freedom manipulator structures are by referring to normal adult's arm, to design the large arm and forearm lengths ruler of mechanical arm Very little and each joint type selecting, mechanical arm include clamping jaw, big arm link, small arm link and 7 joints, and 7 joints include 3 joint groups At shoulder, the ancon of 2 joints composition, 2 joint compositions wrist, joint motor distribution form is with respect to mankind's arm structure It optimizes, 1 degree-of-freedom joint motor for forming mankind's wrist is adjusted to ancon, 3 freedom degrees of mankind's wrist are closed Section motor is adjusted to 2 degree-of-freedom joint motors, and ancon includes 2 degree-of-freedom joint motors, improves the load of mechanical arm tail end Ability；Total length of 7 degree-of-freedom manipulator when not including clamping jaw is 600mm~700mm, 7 degree-of-freedom manipulator Total weight when not including clamping jaw is 6kg~7kg.
Specifically, single 7 degree-of-freedom manipulator overall length 700mm of the invention (being free of clamping jaw), total weight 7kg.Wherein, Big arm lengths are 350mm, forearm lengths 350mm.Large arm refers to that joint shaft 2 arrives the distance of joint shaft 4, and forearm refers to joint shaft 4 arrive the distance of joint shaft 6.
Specifically, there is flange in 7 end of joint, there is location hole above flange, and clamping jaw is fixed by location hole and joint 7.
The continuous torque of the joint motor of the shoulder is more than or equal to 20Nm, the continuous torsion of the joint motor of the ancon Square range is 5Nm~25Nm, and the continuous torque of the joint motor of the wrist is less than or equal to 5Nm.
As shown in figure 5, each joint motor selecting type scheme one: the biggish motor of torque is selected in joint 1/2/3/4, and the choosing of joint 5 is turned round The lesser motor of torque is selected in the medium motor of square, joint 6/7.Each parameter of electric machine is as follows: the motor rated power in joint 1/2/3/4 For 70W, continuous torque (referring to the continuous torque after retarder, similarly hereinafter) is 21.9Nm；The motor rated power in joint 5 is 30W, continuous torque are 8Nm；The motor rated power in joint 6/7 is 15W, and continuous torque is 3Nm.
As shown in figure 5, each joint motor selecting type scheme two: the biggish motor of torque is selected in joint 1/2/3, and the choosing of joint 4/5 is turned round The lesser motor of torque is selected in the medium motor of square, joint 6/7.Each parameter of electric machine is as follows: the motor rated power in joint 1/2/3 is 70W, continuous torque are 21.9Nm；The motor rated power in joint 4/5 is 30W, and continuous torque is 8Nm；The electricity in joint 6/7 Machine rated power is 15W, and continuous torque is 3Nm.The adjacent two joint motor shaft of 7DOF mechanical arm is orthogonal, clamping jaw with The 2nd joint connection of wrist, the 1st joint of wrist and ancon are connected between the 2nd joint by small arm link, and ancon the 1st The 3rd joint in joint and shoulder is attached by big arm link.
This 2 kinds of choice of electrical machine schemes can guarantee the load capacity of 7 degree-of-freedom manipulator ends suitable for man-machine association The occasion of work.
Fig. 6 show 7 degree-of-freedom manipulator control method flow charts, comprising:
The starting point and target point of 7 degree-of-freedom manipulators are set, acquires 7 degree-of-freedom manipulators in the state of starting point, adopts With TRAC-IK solver, 7 joint angles of corresponding starting pose and 7 degree-of-freedom manipulators under object pose are obtained；It is closing Under nodular state space, path planning is carried out by RRT algorithm and obtains starting pose to a series of path points between object pose, Each path point includes 7 joint angles；The interpolation carried out between path point calculates, and obtains multiple interpolated points, and combine joint The constraint such as maximum speed, peak acceleration of motor, carries out track generation, obtains tracing point corresponding with each interpolated point, often A tracing point includes angle, speed and the acceleration of trajectory time and 7 joints.
Using a series of tracing points, the second control unit carries out track following to each joint motor, and real-time control 7 is freely Spend manipulator motion.
Specifically, the pose (Xs, Ys, Zs, RXs, RYs, RZs) and target point of mechanical arm tail end starting point are set first Pose (Xe, Ye, Ze, RXe, RYe, RZe) is respectively obtained under corresponding starting pose and object pose by TRAC-IK solver 7 degree-of-freedom manipulators 7 joint angles (A1s, A2s, A3s, A4s, A5s, A6s, A7s) and (A1e, A2e, A3e, A4e, A5e, A6e, A7e)；Under joint space, path planning is carried out by RRT algorithm, obtains from starting pose to object pose it Between a series of path points；Interpolation is carried out using interpolation algorithm to this series of paths point again, and combines mechanical arm joint motor The constraint such as maximum speed, peak acceleration, carry out track generation, obtain angle, the speed comprising trajectory time and 7 joints And the tracing point of acceleration.In a series of tracing point that the second control unit utilizes path planning to generate, to each joint electricity Machine carries out track following, and the movement of 7 degree-of-freedom manipulator of real-time control keeps mechanical arm tail end motion process smooth and continuous.
Further, Xs, Ys, Zs represent the spatial position of mechanical arm tail end starting point, RXs, RYs, and RZs represents mechanical arm The spatial attitude of end starting point；Xe, Ye, Ze represent the spatial position of mechanical arm tail end target point, RXe, RYe, and RZe represents machine The spatial attitude of tool arm end target point.
Fig. 7 show 7 degree-of-freedom manipulator inverse kinematics algorithm flow charts, the inverse kinematics that the present invention uses Algorithm improves the real-time of calculating by TRAC-IK (inverse kinematics, IK:Inverse Kinematics) solver. TRAC-IK solver will create two resolving threads, and a thread runs the Optimized Iterative inversion algorithms based on Jacobian matrix: KDL-RR (KDL with Random Restarts), a kind of enhancing KDL (kinematics in robot operating system ROS and dynamic Mechanics library, KDL:Kinematics and Dynamics Library) algorithm；The operation of another thread is based on Newton iteration method Optimization Novel Algorithm: SQP-SS (SQP with Sum of Squares), the SQP (sequence two after a kind of optimization Secondary planning, SQP:Sequential Quadratic Programming) inversion algorithms.Once one of resolve thread meter It calculates and completes, two threads can stop immediately simultaneously, and return to that completed result for resolving thread and solve as TRAC-IK The calculated result of device, thus solution efficiency is higher.Such as under mechanical arm some posture, utilizes enhancing KDL algorithm to solve and need 5ms needs 8ms using optimization SQP inversion algorithms solution, then will enhance the result of KDL algorithm solution as the inverse movement of mechanical arm Learn solving result.The method calculated based on numerical value of the invention looks for most suitable solution by continuous iteration, has operation fast, The good feature of stability.
Further, TRAC-IK solver includes 2 kinds of inverse kinematics algorithms, also can solve and calculates when certain is solved When method fails, the shortcomings that inverse kinematics is without solution is caused, solution success rate is improved.
KDL-RR algorithm is optimized to classical KDL algorithm, obtained enhanced motion inversion algorithms.Classical KDL Shown in the main formulas of algorithm such as formula (3):
qnext=qprev+J-1perr (3)
Wherein, qnext、qprevIt is the joint vector of latter state, previous state, perrIt is the current pose of mechanical arm and target Descartes's error vector between pose, J-1It is the inverse of Jacobian matrix.
In KDL-RR algorithm, mainly carried out two o'clock improvement to classical KDL: 1) the circulation suspension condition of solver will most Big the number of iterations is changed to the largest loop time；2) increase the random seed of joint vector, to prevent the feelings of locally optimal solution Condition.
As shown in the KDL-RR algoritic module in Fig. 7, wherein initialization includes: the position under 1) initial cartesian coordinate system Appearance；2) Descartes's error vector p between initial pose and object poseerr；3) the inverse J of Jacobian matrix-1；Initialization is completed After start the cycle over iterative calculation qnext；If each joint angles error of mechanical arm | | d θ | | it is less than setting error threshold eps1, it will Random seed is as qnext, continue cycle calculations, the case where to prevent locally optimal solution.
Further, in order to keep algorithm controllable, the circulation time upper limit is set, if circulation time t is more than largest loop Between tset, then stop to recycle, q at this timenextCalculated result as KDL.
SQP algorithm is common method in Solution of Nonlinear Optimal Problem, and this algorithm can solve KDL serial algorithm and exist There are the shortcomings that failure is solved under the conditions of joint constraint, it is possible to provide higher solution success rate.The optimization of basic SQP algorithm is asked Topic is as shown in formula (4):
Wherein, qseedIt is the n dimension initial value in joint, inequality constraints fiIt (q) is joint limitation, Euclidean distance error With angular distance error.
SQP-SS will minimize quadratic sum and make compared to the minimum objective function in basic SQP algorithm optimization SQP For objective function, as shown in formula (5):
As shown in the SQP-SS algoritic module in Fig. 7, initial joint vector q is completed in initializationseedAnd inequality constraints fi (q)；Pass through the continuous iterative cycles of sequential quadratic programming again；If mechanical arm tail end position and attitude error | | perr| | it is less than setting error threshold Value eps2, then end loop.
Further, in order to keep algorithm controllable, the cycle-index upper limit is set, if cycle-index c reaches setting value cset, Then end loop.
The SQP-SS algorithm of the present embodiment compared to basic SQP algorithm there is better kinematics to invert effect.
Fig. 8 show 7 degree-of-freedom manipulator path planning algorithm flow charts.RRT (quickly traverses random tree, or quickly expands Open up random tree, RRT:Rapidly-exploring Random Tree) it is a kind of tree data storage organization and algorithm, pass through Incremental method is established, and quickly reduces random selection point with the distance of tree.The present invention uses the RRT path planning based on sampling Algorithm can fast and effeciently search for higher dimensional space, and by the stochastical sampling point of state space, search is oriented to white space, To search out a planning path from starting point to target point.When search, touched by the sampled point to state space Detection is hit, the modeling to space is avoided, the path planning problem of higher dimensional space and Complex Constraints can be efficiently solved, is suitble to In path planning of the solution multi-freedom robot under complex environment and in dynamic environment.
Path planning algorithm detailed process of the invention as shown in figure 8, initialization procedure include: random tree T initialization, Starting point qorigin, target point qgoal, the random number T of initialization only includes node: root node qinit.First from state space One sampled point q of middle random selectiontarget；Then distance q is selected in random tree TtargetNearest node qnearest；Pass through again From qnearestTo qtargetA distance is extended, a new node q is obtainednew；If qnewIt collides, then puts with barrier This secondary growth is abandoned, next iterative cycles are waited, otherwise by new node qnewIt is added in random tree；The son in random tree T is judged again Node qnearestWith target point qgoalDistance exit circulation if distance is less than the threshold value of setting, return calculated result, otherwise It continues cycling through.
It further,, can be random when the leaf node of random tree enters target area in above-mentioned algorithm A path from root node to leaf node is found in tree, each node includes each pass under joint space in the path The corresponding angle of motor is saved, interpolation calculating is then carried out between adjacent node, obtains multiple interpolated points, and combine joint motor The constraint such as maximum speed, peak acceleration, carry out track generation, obtain tracing point corresponding with each interpolated point, each rail Mark point includes angle, speed and the acceleration of trajectory time and 7 joints.
Further, in order to keep algorithm controllable, the searching times upper limit is set, if target can not be reached in limited number of times Point, then algorithm returns to failure.
Further, in path planning algorithm, due to the reason of stochastical sampling, the line segment that these path points are constituted may And it is unsmooth, it be easy to cause mechanical arm to occur unstable situation in the process of movement, it is therefore, smooth using least square method Multiple path points.Specific method is: original path is smoothed using the mode of least square polynomial fit, even if Former data are replaced with polynomial function, and guarantee that the quadratic sum of the deviation of fitting data and initial data is minimum.
If n is to raw data points (xi, yi), (i=1,2 ..., n) and m order polynomial (m < n): φ (x)=a0+ a1x+a2x2+…+amxm.If limiting polynomial highest number is in the case where fixing, to seek coefficient ai(i=1,2 ..., m), So that the quadratic sum Q of the deviation of fitting of a polynomial data and initial data is minimum, that is, meetMinimum, then the multinomial seeks to the fitting found Curve.
Further, it is 3 times that the present invention, which chooses the polynomial highest number of least square,.Polynomial highest number will select Appropriate, too small meeting poor fitting is taken, smooth effect is bad；Too big meeting over-fitting, also will increase calculation amount.
A kind of double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration of the present invention and control method are from system Structure, hardware composition, control method are designed for uniformity, under the same physical coordinates system and control system space can be with Mobile and lifting arm structure matches Omni-mobile movement chassis, lifting column, the type selecting of double 7 degree-of-freedom manipulators and layout It sets and is made that detailed specification；Bottom STM32 single-chip microcontroller, upper layer high-performance have been selected in conjunction with the system structure in the present invention The muti-layer control tactics of PC machine control Omni-mobile movement chassis, lifting column, double 7 degree-of-freedom manipulators, by will be upper Layer (first control unit) path planning is distributed on two platforms with bottom (the second control unit) motion control to carry out, and realizes The real-time and accuracy of double 7 degree-of-freedom manipulator omni-directional mobile robots motion controls；It is moved in combination with Omni-mobile Chassis, double 7 degree-of-freedom manipulators can carry out the movement of any direction, ensure that the flexibility of robot autonomous operation, and The adaptability of man-machine coordination operating environment.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include Within protection scope of the present invention.

Claims (10)

1. a kind of double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration characterized by comprising Omni-mobile fortune Dynamic chassis, lifting column, double 7 degree-of-freedom manipulators and control module；
The Omni-mobile moves chassis for realizing any direction of integrated double 7 degree-of-freedom manipulator omni-directional mobile robots Movement and original place Arbitrary Rotation；
The lifting column is used to increase the space of mechanical arm by adjusting robot；
Double 7 degree-of-freedom manipulators include: 7 freedom degree machinery left arms and 7 freedom degree machinery right arms, for improving robot fortune Dynamic learn meets higher flexible and requirement on flexibility with kinetic characteristics；
The control module includes: first control unit and the second control unit, and second control unit is for realizing described Omni-mobile moves the real-time control on chassis, the lifting column and double 7 degree-of-freedom manipulators；The first control unit is used In the real-time meter of the path planning of the path planning and double 7 degree-of-freedom manipulators of realizing Omni-mobile movement chassis It calculates.
2. the double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration as described in claim 1, which is characterized in that double 7 Degree-of-freedom manipulator omni-directional mobile robots system further include: for moving chassis, lifting column, double 7 freedom degrees for Omni-mobile Mechanical arm and control module provide the power module of power supply.
3. the double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration as claimed in claim 1 or 2, which is characterized in that Omni-mobile movement chassis includes: 4 brushless direct current motor drivers, 4 brshless DC motors, 4 sets of brushless dcs Machine transmission mechanism, 4 Mecanum wheels and 1 chassis；
The brushless direct current motor driver is attached with brshless DC motor by U phase, V phase, three line of W phase, brushless direct-current Motor is attached with brshless DC motor transmission mechanism by plum coupling, and brshless DC motor transmission mechanism is received with Mike It is connected between nurse wheel using ring flange, DC Motor Drives mechanism uses electric machine support, is fixed on chassis by fastening screw.
4. the double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration as claimed in claim 3, which is characterized in that every Covering brshless DC motor to pass transmission mechanism includes: plum coupling, bearing, connecting shaft, electric machine support and ring flange component；
Electric machine support is connect with chassis, and Mecanum wheel is mounted on ring flange, and ring flange is connected with connecting shaft, and connecting shaft passes through Bearing is fixed with electric machine support, and is connected with one end of plum coupling, the other end and brshless DC motor of plum coupling Axis be connected, brshless DC motor is connected on electric machine support by fastening screw.
5. the double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration according to any one of claims 1-4, feature It is, the Omni-mobile movement chassis length is 500mm~700mm, and width is 350mm~450mm；Omni-mobile moves bottom What plate wheel was selected is the Mecanum wheel that wheel footpath is 130mm~170mm.
6. the double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration as described in any one in claim 1-5, feature It is, the 7 freedom degree machinery left arm is identical with the 7 freedom degree mechanical right arm configuration, includes: clamping jaw, big arm link, small Arm link, the first joint motor (1) that robot shoulder is set, second joint motor (2) and third joint motor (3), if It sets in the 4th joint motor (4) of robot ancon and the 5th joint motor (5), and is arranged in the 6th of robot wrist and closes Save motor (6) and the 7th joint motor (7)；
The axis of first joint motor (1) is perpendicular to ground, and the second joint motor is perpendicular to the first joint electricity Machine (1) installation, and it is mounted on the end of first joint motor (1)；The third joint motor (3) is connected to described second The end of joint motor (2), and installed perpendicular to the second joint motor (2)；The third joint motor (3) is connected with greatly Arm link, large arm pitman shaft are conllinear with third joint motor (3) axis；Large arm connecting rod end connects the 4th joint motor (4), and guarantee that the axis of the 4th joint motor (4) is vertical with the axis of the third joint motor (3)；Described 5th closes Section motor (5) is connected to the end of the 4th joint motor (4), axis perpendicular to the 4th joint motor (4) axis, Small arm link is connected to the 5th joint motor (5) end, and guarantees the two axis collinear；Described in the connection of forearm connecting rod end 6th joint motor (6), and guarantee that the axis of the 6th joint motor (6) and the axis of the 5th joint motor (5) hang down Directly；7th joint motor (7) is connected to the end of the 6th joint motor (6), and axis is perpendicular to the 6th joint The axis of motor (6).
7. the double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration as claimed in claim 6, which is characterized in that institute The distance between the axis of the axis and the third joint motor (3) of stating the first joint motor (1) is the second joint electricity The retarder length of machine (2) and the sum of with third joint motor (3) the connecting flange thickness；
The axis of 5th joint motor (5) and the distance between the axis of the third joint motor (3) are the described 4th The retarder length of joint motor (4) and the sum of with the 5th joint motor (5) the connecting flange thickness；
The distance between 7th joint motor (7) axis and the 5th joint motor (5) axis are the 6th joints The retarder length of motor (6) and the sum of with the 7th joint motor (7) the connecting flange thickness.
8. the double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration as claimed in claims 6 or 7, which is characterized in that The continuous torque of first joint motor (1), the second joint motor (2) and the third joint motor (3) is all larger than Equal to 20Nm, the continuous torque range of the 4th joint motor (4) and the 5th joint motor (5) be 5Nm~ The continuous torque of 25Nm, the 6th joint motor (6) and the 7th joint motor (7), which is respectively less than, is equal to 5Nm.
9. a kind of controlling party based on the double 7 degree-of-freedom manipulator omni-directional mobile robots systems of integration described in claim 1 Method, which is characterized in that include the following steps:
(1) by 7 degree-of-freedom manipulator inverse kinematics device paired running KDL-RR algorithms and SQP-SS algorithm, by KDL-RR Result of the result most obtained fastly in algorithm and SQP-SS algorithm as solver；
(2) robotic arm path is planned according to the result of solver:
Using the RRT algorithm based on sampling under joint states space, using the redundant degree of freedom of 7 degree-of-freedom manipulators, generate From mechanical arm originate pose to object pose can flexibly avoidance a series of pilot process path points；
Multiple interpolated points are calculated using the smooth multiple path points of least square method, then the interpolation carried out between path point；
Track generation is carried out in conjunction with the maximum speed constraint and peak acceleration constraint of joint motor, is obtained and each interpolated point pair The tracing point answered, each tracing point include angle, speed and the acceleration of trajectory time and 7 joints；
(3) real-time control is carried out according to the path of planning:
Receiving locus action command is simultaneously synchronized to each joint motor progress track following, carries out the reality of double 7 degree-of-freedom manipulators When motion control so that the motion process of mechanical arm is smoother and continuous；
The track action command includes track initial time, a series of tracing points and tolerance；Tolerance is divided into path position Set tolerance, final position tolerance and terminal time tolerance.
10. control method as claimed in claim 9, which is characterized in that in step (1), the circulation of the KDL-RR algorithm Suspension condition is the largest loop time to utilize rand function when the circulation time of KDL-RR algorithm being less than the largest loop time KDL-RR algorithm is continued to run after generating the random seed of joint vector；
It is maximum cycle that the circulation of the SQP-SS algorithm, which stops condition, and SQP-SS algorithm is with the pose and target of starting point The minimum objective function of quadratic sum of Descartes's error vector between the pose of point.
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