CN109483597A - A method of external force is detected based on double photoelectric encoders - Google Patents
A method of external force is detected based on double photoelectric encoders Download PDFInfo
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- CN109483597A CN109483597A CN201811400477.3A CN201811400477A CN109483597A CN 109483597 A CN109483597 A CN 109483597A CN 201811400477 A CN201811400477 A CN 201811400477A CN 109483597 A CN109483597 A CN 109483597A
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- China
- Prior art keywords
- external force
- driving motor
- joint module
- torque
- suffered
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Abstract
The present invention provides a kind of method based on double photoelectric encoders detection external force, comprising the following steps: S1 measures the driving motor output end rotational angle x respectively1With the harmonic speed reducer input terminal rotational angle x2；S2 calculates the angle variable quantity Δ x=x of the joint module1‑x2, and calculate the resultant couple T=k Δ x of the driving motor output；S3 establishes the kinetics equation of the joint moduleS4 design moment observer is as follows:S5 adjustment parameter β1And β2, make z1And z2It restrains, z when convergence2Value be external force torque T suffered by the joint modulel.Beneficial effects of the present invention: without using force snesor, so that it may which external force suffered by detection cooperation robot so that this method is easily achieved, and reduces the cost of cooperation robot external force detection.
Description
Technical field
The present invention relates to cooperation robot external force detection fields, more particularly to a kind of pair photoelectric encoders that are based on to detect external force
Method.
Background technique
Cooperate robot in manufacturing industry and industrial production using more and more extensive, while the detection to robot external force
Also more and more important.For example, in the actual use of cooperation robot, it is necessary to the function of having collision detection carrys out the safety of guarantor,
So just need accurate detection external force.In order to detect external force suffered by robot, currently used method is mainly in robot external force
Force snesor is added, but the method is restricted to the installation site of sensor, and can greatly improve the cost of manufacture of robot, increased
The complexity of adding system.
Summary of the invention
In view of this, the embodiment provides a kind of methods based on double photoelectric encoders detection external force.
The embodiment of the present invention provides a kind of method based on double photoelectric encoders detection external force, for detecting cooperation machine
External force suffered by person joint's module, the joint module include driving motor and harmonic speed reducer, and the driving motor output end connects
Connect the harmonic speed reducer input terminal, comprising the following steps:
S1 measures the driving motor output end rotational angle x respectively1With the harmonic speed reducer input terminal angle of rotation
Spend x2；
S2 calculates the angle variable quantity Δ x=x of the joint module1-x2, and calculate the driving motor output
Resultant couple T=k Δ x, wherein k is the torque coefficient of the driving motor；
S3 establishes the kinetics equation of the joint module
Abbreviation can obtain
Wherein J is rotary inertia, and ω is the joint module rotational angular velocity, TlFor outer force suffered by the joint module
Square, G be the joint module gravity away from；
S4 design moment observer is as follows:
Wherein e is torque observation error, z1For the estimated value of rotational angular velocity ω, z2For external force suffered by the joint module
The estimated value of torque, β1And β2For the parameter of the torque observer, u is enabled to input equal to the joint module, i.e. u=Δ x enables x
Equal to rotational angular velocity ω；
S5 adjustment parameter β1And β2, make z1And z2It restrains, z when convergence2Value be outer force suffered by the joint module
Square Tl。
Further, the first photoelectric encoder is installed in the driving motor output end, is inputted in the harmonic speed reducer
The second photoelectric encoder of end installation, records the first photoelectric encoder measured value x respectively1It is surveyed with second photoelectric encoder
Magnitude x2。
Further, first photoelectric encoder and second photoelectric encoder are absolute optical encoder.
Further, adjustment parameter β in the step S51And β2When, make β2Compare β1It is order of magnitude greater.
Further, the gravity is away from the center of gravity that G is driving motor load to the driving motor output end distance
Multiplied by the load gravity.
The technical solution that the embodiment of the present invention provides has the benefit that one kind of the invention is based on double photoelectricity and compiles
The method of code device detection external force, the kinetics equation according to cooperation joint of robot module meet single order extended state observer
Two photoelectric encoders are arranged in citation form in joint module, measure joint module rotational angle and driving motor exports total power
Square solves external force suffered by joint module based on these parameter designing torque observer algorithms, without using force snesor, so that it may
External force suffered by detection cooperation robot so that this method is easily achieved, and reduces the cost of cooperation robot external force detection.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the method based on double photoelectric encoders detection external force of the present invention；
Fig. 2 is the scheme of installation of two photoelectric encoders in shutdown module；
Fig. 3 is a kind of simulation results figure of the method based on double photoelectric encoders detection external force of the present invention.
In figure: 1- driving motor, 2- harmonic speed reducer, the first photoelectric encoder of 3-, the second photoelectric encoder of 4-.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is further described.
Fig. 1 and Fig. 2 are please referred to, the embodiment provides a kind of sides based on double photoelectric encoders detection external force
Method, for detecting external force suffered by cooperation joint of robot module, the joint module includes driving motor 1 and harmonic speed reducer 2,
1 output end of driving motor connects 2 input terminal of harmonic speed reducer, comprising the following steps:
S1 installs the first photoelectric encoder 3 in 1 output end of driving motor, pacifies in 2 input terminal of harmonic speed reducer
The second photoelectric encoder 4 is filled, the driving motor starts work, records the 3 measured value x of the first photoelectric encoder respectively1With
Second photoelectric encoder, the 4 measured value x2, wherein x1Indicate the 1 output end rotational angle of driving motor, x2Indicate described humorous
2 input terminal rotational angle of wave retarder, in order to guarantee measurement accuracy, the first photoelectric encoder 3 described in the present embodiment and described
Second photoelectric encoder 4 selects absolute optical encoder.
Harmonic speed reducer 2 described in S2 can deform at work, and the joint module rotational angle is made to change, meter
Calculate the angle variable quantity Δ x=x of the joint module1-x2, and calculate the resultant couple T=k Δ that the driving motor 1 exports
X, wherein k is the torque coefficient of the driving motor 1, is determined by 1 self property of driving motor；
S3 establishes the kinetics equation of the joint module
Abbreviation can obtain
Wherein J is the rotary inertia of joint module, and ω is the joint module rotational angular velocity, TlFor the joint module
Suffered external force torque, G are the center of gravity that loads away from G for the driving motor 1 away from, the gravity of the gravity of the joint module to institute
1 output end distance of driving motor is stated multiplied by the load gravity, above formula meets the citation form of single order extended state observer, therefore
Outer moment T can be estimated with design moment observerl；
S4 design moment observer is as follows:
Wherein e is torque observation error, z1For the estimated value of rotational angular velocity ω, z2For external force suffered by the joint module
The estimated value of torque, β1And β2For the parameter of the torque observer, u is enabled to be equal to joint module input and u=Δ x, x etc.
In rotational angular velocity ω；
S5 adjustment parameter β1And β2, make z1And z2It restrains, z when convergence2Estimated value be outer suffered by the joint module
Force square Tl, in order to achieve the effect that fast convergence, adjustment parameter β1And β2When, make β2Compare β1It is order of magnitude greater.
The above method is verified below:
Select a certain six axis of model cooperation robot as test object, the cooperation robot is by six joint modules and company
Fitting composition, each joint module include being connected with each other driving motor 1 and harmonic speed reducer 2, select a wherein pass
Module is saved, the first photoelectric encoder 3 is installed in 1 output end of driving motor of the joint module, keeps first photoelectric coding
The rotor coaxial of device 3 and the driving motor 1 moves, and the harmonic speed reducer 2 is passed through ring flange and bearing and the driving
The connection of 1 rotor of motor, and the second photoelectric encoder 4 is installed in the other end of the bearing, make 4 He of the second photoelectric encoder
The harmonic speed reducer 2 can rotate coaxially.
Referring to FIG. 3, for the gravity of the known shutdown module away from G=2N*m, the shutdown module inputs u in the present embodiment
=Δ x=0.5rad, initial time rotational angular velocity ω=0, therefore x, z1, z2It is all 0, T1Moment applies the shutdown module
Add external force torque Tl=0.8N*m, T2Moment does not apply external force torque, i.e. T to the shutdown modulel=0N*m uses the power
Square observer estimates external force torque suffered by the shutdown module, adjustment parameter β1And β2, make z2Fast convergence, when convergence
z2=0.8N*m is equal to T1Moment is to T2The external force torque that moment applies the shutdown module, illustrates that one kind of the invention is based on
The method of double photoelectric encoder detection external force can accurately measure external force suffered by cooperation joint of robot module.
Herein, the nouns of locality such as related front, rear, top, and bottom are to be located in figure with components in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed range of the application.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of method based on double photoelectric encoders detection external force, for detecting external force suffered by cooperation joint of robot module,
The joint module includes driving motor and harmonic speed reducer, and the driving motor output end connects the harmonic speed reducer input
End, which comprises the following steps:
S1 measures the driving motor output end rotational angle x respectively1With the harmonic speed reducer input terminal rotational angle x2；
S2 calculates the angle variable quantity Δ x=x of the joint module1-x2, and calculate the total power of the driving motor output
Square T=k Δ x, wherein k is the torque coefficient of the driving motor；
S3 establishes the kinetics equation of the joint module
Abbreviation can obtain
Wherein J is rotary inertia, and ω is the joint module rotational angular velocity, TlFor external force torque, G suffered by the joint module
For the joint module gravity away from；
S4 design moment observer is as follows:
Wherein e is torque observation error, z1For the estimated value of rotational angular velocity ω, z2For external force torque suffered by the joint module
Estimated value, β1And β2For the parameter of the torque observer, u is enabled to input equal to the joint module, i.e. u=Δ x enables x be equal to
Rotational angular velocity ω；
S5 adjustment parameter β1And β2, make z1And z2It restrains, z when convergence2Value be external force torque T suffered by the joint modulel。
2. a kind of method based on double photoelectric encoders detection external force as described in claim 1, which is characterized in that the step
S1 specifically: the first photoelectric encoder is installed in the driving motor output end, in harmonic speed reducer input terminal installation the
Two photoelectric encoders record the first photoelectric encoder measured value x respectively1With the second photoelectric encoder measured value x2。
3. a kind of method based on double photoelectric encoders detection external force as claimed in claim 2, it is characterised in that: described first
Photoelectric encoder and second photoelectric encoder are absolute optical encoder.
4. a kind of method based on double photoelectric encoders detection external force as described in claim 1, it is characterised in that: the step
Adjustment parameter β in S51And β2When, make β2Compare β1It is order of magnitude greater.
5. a kind of method based on double photoelectric encoders detection external force as described in claim 1, it is characterised in that: the gravity
Away from the center of gravity that G is driving motor load to the driving motor output end distance multiplied by the load gravity.
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| CN201811400477.3A CN109483597A (en) | 2018-11-22 | 2018-11-22 | A method of external force is detected based on double photoelectric encoders |
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| CN201811400477.3A CN109483597A (en) | 2018-11-22 | 2018-11-22 | A method of external force is detected based on double photoelectric encoders |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112171655A (en) * | 2019-07-03 | 2021-01-05 | 深圳市越疆科技有限公司 | External torque measuring method and device, controller and mechanical arm |
| WO2023090204A1 (en) * | 2021-11-16 | 2023-05-25 | ソニーグループ株式会社 | Control system, control device, and actuator |
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| WO2023090204A1 (en) * | 2021-11-16 | 2023-05-25 | ソニーグループ株式会社 | Control system, control device, and actuator |
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