CN109500837A - A kind of joint of robot torgue measurement method based on Dual-encoder - Google Patents
A kind of joint of robot torgue measurement method based on Dual-encoder Download PDFInfo
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- CN109500837A CN109500837A CN201811550766.1A CN201811550766A CN109500837A CN 109500837 A CN109500837 A CN 109500837A CN 201811550766 A CN201811550766 A CN 201811550766A CN 109500837 A CN109500837 A CN 109500837A
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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
- B25J19/0095—Means or methods for testing manipulators
Abstract
The joint of robot torgue measurement method based on Dual-encoder that the invention discloses a kind of, absolute value encoder is installed in the output end of the motor side of joint of robot and harmonic speed reducer respectively, by obtaining the data information of two absolute value encoders, by establishing neural computer device person joint's torque.It has the advantage that: the present invention is not in the case where joint of robot has torque sensor, using only the absolute value encoder of the absolute value encoder of speed end (motor) and low speed end (harmonic speed reducer output end) as main sensors, optionally assist other sensors, without establishing the kinetic model in joint, it can be obtained accurate joint output torque, reduce installation space, reduce the cost of joint of robot, the elastic link for eliminating general torque sensor simultaneously, improves the bandwidth of entire joint control.
Description
Technical field
The present invention relates to robot field more particularly to a kind of joint of robot torgue measurement sides based on Dual-encoder
Method.
Background technique
Currently, generally using torque sensor for the measurement of joint of robot torque, torque sensor is measurement motor
The main measuring cell of output torque, is also presently the most extensive usage mode.Torque sensor includes contactless torque
Sensor and foil gauge torque sensor.
Wherein, contactless torque sensor is powered using the working method of contact with battery, input shaft and output shaft by
Torsion bar connects, and the spline on input shaft is corresponding with the keyway on output shaft, when torsion bar is made by the rotating torque of steering wheel
When with twisting, relative motion can occur for the relative position on the spline and output shaft on input shaft between keyway；Spline and
The relative displacement knots modification of keyway is equal to the torsional capacity of torque rod so that the magnetic induction on spline changes, the change of magnetic induction
Change, voltage signal is converted by coil.But non-contact torque sensor, due to needing battery to power, battery is installed to pass
Save inside after, can only short-period used, once dead battery capability needs to dismantle in joint, subsequent maintenance is cumbersome.
Wherein, strain-ga(u)ge transducer torgue measurement use electric measurement technique of strain gage, on elastic shaft paste Strain Meter Set at
Measuring bridge need to provide stable excitation power supply, cause bridge resistance to change after elastic shaft is generated micro-strain by torque,
The change transitions of strain bridge resistance are the variation of electric signal to realize torgue measurement.But foil gauge torque sensor electricity
Road is complicated, and the resistance value of foil gauge is interfered vulnerable to environmental factor, signal fluctuation is easy to produce, to cause measurement error greatly even
It measures unsuccessful.
In conclusion torque sensor is in external motor shaft or load-side, there are at high cost, structure is complicated, and volume is huge
The problems such as big.When at low cost, installation space is limited, when also guaranteeing measurement accuracy, such as microrobot control etc., just need
Explore a kind of novel measurement method of simple, the cheap measurable motor output torque of scheme.
In this regard, application publication number is the application for a patent for invention of CN104198098A " based on photoelectric code disk signal phase difference
Torque measurement sensor and measurement method " proposes a solution, is arranged by covering elastic link both sides in elastic transmission
Two duplicate photoelectric code disks are obtained square-wave output signal when code-disc rotation by two photoelectric sensors respectively, according to
The measurement of elastic transmission set torsional deflection and torque can be realized in the phase difference of two code-disc output square-wave signals.But it is this
On the one hand scheme installs two photoelectric encoders and elastic link in harmonic speed reducer output end due to its needs, so that it exists
The deficiencies of structure is complicated, torque acquisition mode redundancy, system control bandwidth reduce；On the other hand, the program has used increment type
Photoelectric encoder can only measure the relative deformation of elastic link, be unable to measure in the case where joint of robot has initial torque
Accurate moment values.
Therefore, it is necessary to propose solution regarding to the issue above.
Summary of the invention
In view of the above drawbacks of the prior art, technical problem to be solved by the invention is to provide one kind to be based on dual coding
The joint of robot torgue measurement method of device, by being mounted on the absolute type encoder of harmonic speed reducer output shaft and being mounted on electricity
The absolute value encoder of generator terminal can measure actual output torque, without establishing the kinetic model of joint of robot；By this
Method can reduce installation space, reduce the cost of joint of robot, while omit the elastic link of general torque sensor, improve
The bandwidth of entire joint control, to solve the problems in aforementioned background art.
To solve the above-mentioned problems, the present invention provides a kind of joint of robot torgue measurement side based on Dual-encoder
Method, comprising:
(1) joint of robot motor side install absolute value encoder A, carry out motor control and obtain the motor turn
Angle change value during dynamic relative to fixing end；
(2) absolute value encoder B is installed in the output end of the harmonic speed reducer of joint of robot, obtains joint of robot and exists
Angle value of the output end relative to fixing end in motion process；
(3) data-signal of joint control acquisition the absolute value encoder A and absolute value encoder B of joint of robot,
And motor in real time rotates electric current；
(4) using the data-signal difference of the collected absolute value encoder A of joint control and absolute value encoder B as
Main input, the method computing machine person joint's output torque being fitted by data.
Further, it for the joint of robot assembled for the first time, needs torque sensor being mounted on harmonic speed reducer
Output end is removed again after carrying out data acquisition；It is not necessarily to mounting torque sensor in actual use.
Further, the method for data fitting includes neural computing.
When further, using method computing machine person joint's output torque of neural computing, in neural network meter
It further include neural metwork training step being carried out to harmonic speed reducer and electrode, and save mind before calculating joint of robot output torque
Network structure and weight file after network training.
Further, for same model and consistent harmonic speed reducer and motor, it is convenient to omit neural network
The torque in each joint is calculated with the same neural network and identical network weight in trained step；I.e. with model
A collection of joint of robot, it is only necessary to one of progress data acquisition and be subject to neural metwork training.
Further, according to actual use increase in demand or reduction in addition to absolute value encoder A and absolute value encoder B
Input of the sensor as neural network, joint control acquire its in addition to absolute value encoder A and absolute value encoder B
His sensor information, as the secondary input of neural computer device person joint's output torque, to improve torgue measurement precision.
Further, the calculating of neural network includes calculating and using high-speed communication bus in joint of robot controller
Host computer, which is sent, by the data that robot control system acquires calculates two ways.
Further, according to upper PCs device person joint's output torque, then host computer is after nerve net calculates
Obtained joint of robot output torque is then forwarded to joint control or Torque Control is directly carried out by host computer.
It should be noted that neural computing is intended only as one kind of data fitting method, the data in the application are quasi-
Conjunction method should include other data fitting methods, such as least square method fitting of a polynomial；It in actual use can basis
The actual conditions such as required precision, message transmission rate, control frequency select different data fitting methods to be calculated.
The present invention also provides a kind of joint of robot with Dual-encoder, which is compiled by aforementioned based on double
Code device joint of robot torgue measurement method robot measurement joint moment, including articular shell, motor, joint control,
Harmonic speed reducer, absolute value encoder A and absolute value encoder B, the articular shell is wrapped in outside joint of robot, described
Motor, joint control, harmonic speed reducer, absolute value encoder A and absolute value encoder B are mounted in the articular shell,
The absolute value encoder A is mounted on the motor, is used for motor control, and obtains motor phase during operation
For the angle change value of fixing end；The absolute value encoder B is mounted on the output end of the harmonic speed reducer, for acquiring
Joint of robot angle value of the output end relative to fixing end during the motion；The absolute value encoder A and absolute value are compiled
Code device B is connect with the joint control, and the joint control acquires the absolute value encoder A and the absolute value is compiled
The data of code device B；The joint control is connect with the motor, acquires the current data of the motor；The joint control
Device is connect with host computer, and the data of acquisition are transferred on the host computer, carries out Calculating Torque during Rotary.
The present invention also provides a kind of robot, which includes that the aforementioned robot with Dual-encoder closes
Section, and pass through the aforementioned joint of robot torgue measurement method robot measurement joint moment based on Dual-encoder.
The present invention also provides a kind of computer readable storage mediums, wherein being stored with program, which is performed, and realize
The aforementioned joint of robot torgue measurement method based on Dual-encoder.
The joint of robot torgue measurement method based on Dual-encoder provided by implementing aforementioned present invention, has as follows
Technical effect:
The present invention in the case where joint of robot does not have torque sensor, compile by the absolute value that speed end (motor) is used only
The absolute value encoder of code device and low speed end (harmonic speed reducer output end) optionally assists other sensings as main sensors
Device can be obtained accurate joint output torque, reduce installation space, reduce without establishing the kinetic model in joint
The cost of joint of robot, while the elastic link of general torque sensor is eliminated, improve the band of entire joint control
It is wide.
Detailed description of the invention
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Fig. 1 is data acquisition and neural metwork training flow chart in the specific embodiment of the invention；
Fig. 2 is that joint control does nerve calculating torque closed loop flow chart in the specific embodiment of the invention；
Fig. 3 is that host computer does nerve calculating torque closed loop flow chart in the specific embodiment of the invention.
Specific embodiment
Below in conjunction with the embodiment of the present invention, technical scheme in the embodiment of the invention is clearly and completely described,
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the scope of protection of the invention.
Using following specific embodiment, the technical schemes of the invention are described in detail below.
In conjunction with Fig. 1, Fig. 2 and Fig. 3 it is found that the joint of robot includes that articular shell, motor, joint control, harmonic wave subtract
Fast device, absolute value encoder A and absolute value encoder B, articular shell are wrapped in outside joint of robot, motor, joint control
Device, harmonic speed reducer, absolute value encoder A and absolute value encoder B are mounted in articular shell, absolute value encoder A installation
Absolute value encoder B is mounted on the output end of harmonic speed reducer on motor；Absolute value encoder A and absolute value encoder B are equal
It is connect with joint control；Joint control is connect with motor and host computer respectively.
Based on above-mentioned robot joint structure, the method packet of joint of robot measurement is carried out using neural computing method
It includes:
(1) joint of robot motor side install absolute value encoder A, obtain the motor during rotation relative to
The angle change value of fixing end；
(2) absolute value encoder B is installed in the output end of the harmonic speed reducer of joint of robot, obtains joint of robot and exists
Angle value of the output end relative to fixing end in motion process；
(3) signal of joint control acquisition the absolute value encoder A and absolute value encoder B of joint of robot, and it is real
When acquisition motor rotate electric current；
(4) using the signal difference of the collected absolute value encoder A of joint control and absolute value encoder B as main
Input, passes through neural computer device person joint's output torque.
Further, it for the joint of robot assembled for the first time, needs torque sensor being mounted on harmonic speed reducer
Output end is removed again after carrying out data acquisition；It is not necessarily to mounting torque sensor in actual use.
It further, further include to harmonic speed reducer and electrode before neural computer device person joint's output torque
Neural metwork training step is carried out, and saves the network structure after neural metwork training and weight file.
Further, for same model and consistent harmonic speed reducer and motor, it is convenient to omit neural network
The torque in each joint is calculated with the same neural network and identical network weight in trained step；I.e. with model
A collection of joint of robot, it is only necessary to one of progress data acquisition and be subject to neural metwork training.
Further, according to actual use increase in demand or reduction in addition to absolute value encoder A and absolute value encoder B
Input of the sensor as neural network, joint control acquire its in addition to absolute value encoder A and absolute value encoder B
His sensor information, as the secondary input of neural computer device person joint's output torque, to improve torgue measurement precision.
Further, the calculating of neural network includes calculating and using high-speed communication bus in joint of robot controller
Host computer, which is sent, by the data that robot control system acquires calculates two ways.
Further, according to upper PCs device person joint's output torque, then host computer is after nerve net calculates
Obtained joint of robot output torque is then forwarded to joint control or Torque Control is directly carried out by host computer.
It should be noted that neural computing is intended only as one kind of data fitting method, the data in the application are quasi-
Conjunction method should include other data fitting methods, such as least square method fitting of a polynomial；It in actual use can basis
The actual conditions such as required precision, message transmission rate, control frequency select different data fitting methods to be calculated.
The present invention also provides a kind of robot, which includes that the aforementioned robot with Dual-encoder closes
Section, and pass through the aforementioned joint of robot torgue measurement method robot measurement joint moment based on Dual-encoder.
The present invention also provides a kind of computer readable storage mediums, wherein being stored with program, which is performed, and realize
The aforementioned joint of robot torgue measurement method based on Dual-encoder.
Based on the above method, the implementation process of this method is specifically stated in conjunction with Fig. 1, Fig. 2 and Fig. 3, comprising:
(A) joint of robot of the aforementioned Dual-encoder with absolute value encoder A and absolute value encoder B is installed；
(B) in the retarder output end mounting torque sensor for the joint of robot being installed, the torque sensor
Installation form can be selected arbitrarily；
(C) ensure that joint of robot output end is non-loaded, joint control records the reading of current time absolute value encoder A
Number is θ0, absolute value encoder B reading be α0, torque sensor reading be τ0, harmonic reduction case speed ratio is denoted as n；
(D) articular shell of joint of robot is fixed, starts motor, rotates motor under different electric currents, here
Electric current need to reach maximum operating currenbt；Apply random external disturbance in joint output end simultaneously；
(E) in joint of robot motion process, joint control acquired under the same clock absolute value encoder A,
The sensor informations such as absolute value encoder B, torque sensor and current of electric are denoted as θ, α, τ, i；
(F) joint control is electric by the absolute value encoder A of acquisition, absolute value encoder B, torque sensor and motor
The sensor informations data such as stream save or are sent to host computer；
(G) torque sensor is removed；
(H) corresponding angular speed is calculated according to sample frequency by absolute value encoder A:
Wherein, ωiFor the angular speed of i moment motor, θiFor position (the i.e. reading of absolute value encoder A of i moment motor
Number), θi-1For the position of upper sampling instant motor, Δ t is the fixed sampling period.
(I) if harmonic speed reducer is considered as rigid body, the angle of motor rotation and the angle of harmonic speed reducer output end rotation
Degree is answered directly proportional, it may be assumed that
In fact, since harmonic reduction case itself is elastomer, when receiving external torque speed end (motor) with it is low
The ratio of the angle of fast end (harmonic speed reducer output end) rotation has certain difference, is denoted as:
It should be noted that δ is approximate with moment of face suffered by joint directly proportional within the scope of harmonic speed reducer elastic deformation,
That is k δ ≈ τ-τ0, wherein k is the elasticity modulus of harmonic speed reducer；In actual use, harmonic speed reducer is also rubbed by quiet
The applied external forces such as power are wiped, and the elasticity modulus of harmonic speed reducer is it can also happen that change, therefore can not only be used with above-mentioned formula
Dual-encoder accurately estimates the torque that joint is subject to.
(J) neural network, network inputs δ, ω, i are built in host computer, network output is τ-τ0, training network, wait tie
Weight file is saved when fruit converges in preset range；
(K) as shown in Fig. 2, as neural network structure is relatively simple, calculation amount, can be in joint control operational capability
Neural network structure and weight file are imported into joint control, use two encoder datas and the motor electricity acquired in real time
Stream, obtains the current Moment in joint by neural computing；
(L) as shown in figure 3, as neural network structure is complex, calculation amount exceeds joint control operational capability, can be with
Joint sensors data are sent to host computer using high-speed communication bus (such as EtherCAT), host computer is calculated by nerve net
Obtained joint moment is then forwarded to joint control afterwards or Torque Control is directly carried out by host computer.
It can also be according to actual use increase in demand it should be noted that obtaining joint of robot torque by the above method
Or sensor, such as current of electric, motor temperature, harmonic speed reducer temperature etc. in addition to Dual-encoder are reduced, as nerve net
The input of network, to improve torgue measurement precision.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of joint of robot torgue measurement method based on Dual-encoder characterized by comprising
(1) absolute value encoder A is installed in the motor side of joint of robot, carries out motor control and obtain the motor to rotate
Relative to the angle change value of fixing end in journey；
(2) absolute value encoder B is installed in the output end of the harmonic speed reducer of joint of robot, obtains joint of robot and is moving
Angle value of the output end relative to fixing end in the process；
(3) data-signal of joint control acquisition the absolute value encoder A and absolute value encoder B of joint of robot, and it is real
When acquisition motor rotate electric current；
(4) using the data-signal difference of the collected absolute value encoder A of joint control and absolute value encoder B as main
Input, the method computing machine person joint's output torque being fitted by data.
2. joint of robot torgue measurement method as described in claim 1, which is characterized in that for the robot assembled for the first time
It is removed again after carrying out data acquisition in the output end mounting torque sensor of harmonic speed reducer in joint.
3. joint of robot torgue measurement method as described in claim 1, which is characterized in that data fitting method includes nerve
Network query function.
4. joint of robot torgue measurement method as claimed in claim 3, which is characterized in that using the side of neural computing
It further include subtracting to harmonic wave before neural computer device person joint's output torque when method calculating robot's joint moment exports
Fast device and electrode carry out neural metwork training step, and save the network structure after neural metwork training and weight file.
5. joint of robot torgue measurement method as claimed in claim 4, which is characterized in that for same model and have one
The harmonic speed reducer and motor of cause property, it is convenient to omit the step of neural metwork training, with the same neural network and identical net
The torque in each joint is calculated in network weight.
6. joint of robot torgue measurement method as claimed in claim 5, which is characterized in that the calculating of neural network is included in
It calculates and is sent the data that robot control system acquires to using high-speed communication bus upper in joint of robot controller
Machine calculates two ways.
7. joint of robot torgue measurement method as claimed in claim 6, which is characterized in that use upper PCs device people
When the mode of joint output torque, obtained joint of robot output torque is then forwarded to by host computer after nerve net calculates
Joint control directly carries out Torque Control by host computer.
8. a kind of joint of robot with Dual-encoder, which passes through described in any one of aforementioned claim 1-7
Joint of robot torgue measurement method robot measurement joint moment, which is characterized in that the joint of robot includes outside joint
Shell, motor, joint control, harmonic speed reducer, absolute value encoder A and absolute value encoder B, the articular shell are wrapped in
Outside joint of robot, the motor, joint control, harmonic speed reducer, absolute value encoder A and absolute value encoder B peace
In the articular shell, the absolute value encoder A is mounted on the absolute value encoder B on the motor and is mounted on institute
State the output end of harmonic speed reducer；The absolute value encoder A and absolute value encoder B are connect with the joint control；
The joint control is connect with the motor and host computer respectively.
9. a kind of robot, which includes the joint of robot described in preceding claims 8 with Dual-encoder, and is led to
Cross the joint of robot torgue measurement method robot measurement joint based on Dual-encoder described in any one of aforementioned claim 1-7
Torque.
10. the present invention also provides a kind of computer readable storage mediums, wherein being stored with program, which is performed, and is realized
Joint of robot torgue measurement method based on Dual-encoder described in any one of aforementioned claim 1-7.
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| CN112008763A (en) * | 2020-09-01 | 2020-12-01 | 之江实验室 | Integrated double-encoder applied to robot joint module and detection method |
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| CN112008763A (en) * | 2020-09-01 | 2020-12-01 | 之江实验室 | Integrated double-encoder applied to robot joint module and detection method |
| CN112370742A (en) * | 2020-10-29 | 2021-02-19 | 深圳华鹊景医疗科技有限公司 | Active dragging method and device of mechanical arm and upper limb rehabilitation robot |
| CN113510695A (en) * | 2021-04-19 | 2021-10-19 | 珞石（北京）科技有限公司 | Robot joint position control method |
| CN114102594A (en) * | 2021-11-25 | 2022-03-01 | 深圳市越疆科技有限公司 | Mechanical arm joint and initial position determining method, device, equipment and storage medium |
| CN114102594B (en) * | 2021-11-25 | 2023-11-14 | 深圳市越疆科技股份有限公司 | Mechanical arm joint and initial position determining method, device, equipment and storage medium |
| CN115070823A (en) * | 2022-06-21 | 2022-09-20 | 法奥意威(苏州)机器人系统有限公司 | Joint stiffness detection method, robot motion control method and related device |
| CN115070823B (en) * | 2022-06-21 | 2023-09-29 | 法奥意威(苏州)机器人系统有限公司 | Joint stiffness detection method, robot motion control method and related devices |
| WO2024027868A1 (en) * | 2022-08-05 | 2024-02-08 | Schaeffler Technologies AG & Co. KG | Method for precisely determining an output torque, and collaborative robot |
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Application publication date: 20190322 |