CN109551478A - A kind of dual robot principal and subordinate's control method for coordinating based on Distributed Control System - Google Patents
A kind of dual robot principal and subordinate's control method for coordinating based on Distributed Control System Download PDFInfo
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- CN109551478A CN109551478A CN201811365950.9A CN201811365950A CN109551478A CN 109551478 A CN109551478 A CN 109551478A CN 201811365950 A CN201811365950 A CN 201811365950A CN 109551478 A CN109551478 A CN 109551478A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
-
- 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
- B25J9/1666—Avoiding collision or forbidden zones
Abstract
A kind of dual robot principal and subordinate's control method for coordinating based on Distributed Control System is claimed in the present invention; this method current two-shipper coordination strategy there are aiming at the problem that; propose principal and subordinate's control method for coordinating based on Distributed Control System; three-level framework is devised, dual robot establishment of coordinate system process is given；Then the relative movement orbit the constraint relationship of end pose in Dual-robot coordination movement is given, and proposes dual robot trajectory planning calculation method, guarantees the synchronization on the end pose retention time and constraint spatially；Finally for the robot Collision Detection in principal and subordinate's coordination control strategy, improved method is proposed, is shown through test result high using the Dual-robot coordination system execution efficiency of improved master-slave control strategy method.
Description
Technical field
The invention belongs to robot control field, relation belonging to dual robot control aspects, more particularly to one kind is based on collection
Dissipate dual robot principal and subordinate's control method for coordinating of control system.
Background technique
With the proposition of made in China 2025, the gradually transition and upgrade of CHINESE INDUSTRIES, the intelligence artificially represented with industrial machine
Can equip will realize explosive growth.And multi-robot system relative to single robot system have increase operating space, mention
The advantages that high working efficiency, there are many researchs for being directed to multi-robot cooperation system both at home and abroad at present, the content being related to is also suitable
Extensively.
Currently, the structure of multi-robot control system mainly has three classes: one kind is centralized control, and another kind of is dispersion control
System.Decentralised control refers to that the control section in system shows as several dispersions, there is the sub- control machine of certain relative independentability
Structure, these mechanisms respectively take charge of its duty in respective range, and each does what he thinks is right, non-interference, respectively complete the target of oneself, and concentrate
It controls just the opposite.Both controls have their own characteristics, and the difference of coordination of tasks performed by random device people and change, show
So, decentralised control has biggish flexibility, is able to achieve simultaneously operating and parallel processing.However, the control structure is executing need
When wanting the higher task of coordination degree (such as dual robot carries rigid body jointly and keeps its posture constant), then very with decentralised control
Hardly possible is completed.Centralized control then overcomes this defect of decentralised control, can easily realize this generic operation, and deficiency is to be formed by
System is a rigid system, lacks flexibility, and generates the bottleneck problem on calculating.In actual robot system, especially
It is in multi-robot coordination system, robot controller should solve planning, control, coordination problem, and processing is from various again
The information etc. of external sensor, therefore bottleneck problem is especially prominent.Centralized control and decentralised control are in multi-robot coordination system
In respectively have disadvantage, it is therefore desirable to seek a kind of new control system, it made not only to have the characteristics that centralized control and decentralised control, but also
Existing resource can preferably be utilized.Therefore it is proposed collecting and distributing control, i.e., centralized planning, management, dispersion is carried out to robot system
Processing, executes control, to solve decentralised control realizing under certain operations and the Calculation bottleneck in centralized control
Problem.
The existing control method of multi-robot system can be divided into following three classes: master-slave control strategy；Symmetrical control strategy；It is mixed
Close position/force control strategy.These three control strategies respectively have advantage and disadvantage, master & slave control simple, intuitive, it is easy to accomplish, but require from
There is faster response speed in robot；Symmetrical control strategy then avoids this point, but computationally intensive, needs high performance calculating
Machine；The thoughtcast that hybrid position/power control meets the mankind can provide preferable operation interface, but mesh based on control object
Before lack measurement object of which movement and stress sensor, it is not very practical.The present invention proposes on the basis of Distributed Control System
Principal and subordinate's control method for coordinating based on Distributed Control System, and theory analysis has been carried out to collision region detection.
Summary of the invention
Present invention seek to address that the above problem of the prior art.Propose a kind of dynamic for promoting dual robot Collaborative Control
Response performance, and the process for controlling it is more living, the dual robot principal and subordinate more adaptable based on Distributed Control System
Control method for coordinating.Technical scheme is as follows:
A kind of dual robot principal and subordinate's control method for coordinating based on Distributed Control System comprising following steps:
1) Dual-robot coordination control system, that is, Distributed Control System of triple aging, the three-fies system, are designed
Including upper layer, middle layer and lower layer, wherein upper layer be computer control work station, for carry out robot coordinated operation from
Line programming and emulation, collision-free Trajectory Planning of Welding research；Middle layer, for receiving order or instruction from upper layer, to robot
Carry out the control including the processing of power supply control, signal communication, the control of operation, coordination and sensor information；Lower layer is
Executive level is responsible for executing the task including position closed loop, overspeed protection, SERVO CONTROL, smooth trajectory；
2) dual robot coordinate system, is established, sets the relative movement orbit of end pose in Dual-robot coordination movement about
Beam relationship keeps the relative pose relationship between principal and subordinate robot end pose constant in motion process；
3) and design dual robot trajectory planning calculation method, specific solution be in order to guarantee temporal synchronization,
It must assure that the interpolation points of interpolation sequence are identical, while in order to guarantee constraint spatially, it is necessary to assure principal and subordinate's interpolation sequence
The corresponding principal and subordinate's robot tool hand pose of any pair of interpolated point should meet the constraint relationship in the identical and interpolation sequence of interpolation points,
Guarantee the synchronization on the end pose retention time and constraint spatially；
4) improved method finally, is proposed for the robot Collision Detection in principal and subordinate's coordination control strategy, is improved
Point is essentially consisted in when robot needs self-movement, can be with self-movement；Universal time coordinated is needed, can coordinate to transport with unified planning
It is dynamic.
Further, the step 2) establishes dual robot coordinate system, specifically includes: specifically including: assuming that R1For host
Device people, R2For from distance O between robot, two robot coordinate system's origins1O2For b, then O2Relative to O1Coordinate be (0 ,-b, 0)；
Arbitrary point P is relative to main robot R in space1Coordinate be (x, y, z), then relative to from robot R2Coordinate (x ', y ',
Z ') expression formula are as follows:
Further, the relative movement orbit of end pose constrains pass in step 2) the setting Dual-robot coordination movement
System, specifically include: the end effector pose relative pose relationship of principal and subordinate robot is kept fixed not in entire coordination process
Become, pact of state-transition matrix of principal and subordinate's robot tool hand pose under respective base coordinate system during coupling synchronous coordination
Beam relational expression are as follows:
The formula means any moment in the coordinated movement of various economic factors of principal and subordinate robot from robot from robot base mark
The state-transition matrix of tool hand pose under system, should be equal to tool hand pose of the main robot under main robot base coordinate system
State-transition matrix and coupling synchronous collaboration process initial time principal and subordinate robot tool hand pose between transformation relation multiply
Product.
Further, the step 3) designs dual robot trajectory planning calculation method, specifically: the thought of trajectory planning
It is to calculate principal and subordinate robot path length ratio k, it is assumed that 1 running track of robot is shorter, length Sr1, the operation rail of robot 2
Mark is longer, length Sr2, then k=Sr1÷Sr2, so that the trajectory calculation parameter of dual robot is there is the Relationship of Coefficients about k, use
The interpolation sequence algorithm of accelerating and decelerating part is respectively quintic algebra curve interpolation or seven order polynomial interpolations.
Further, when the track interpolation used is quintic algebra curve interpolation, the formula of quintic algebra curve interpolation
Are as follows:
θ (t)=a0+a1t+a2t2+a3t3+a4t4+a5t5
Constraint condition are as follows: initial position θ0, final position θe, remaining corresponds to the speed that parameter is initial position and final position
Degree and acceleration, teAccelerating sections total time is represented, then Relationship of Coefficients formula are as follows:
Further, in t < min (t1e, t2e) when, in order to guarantee that principal and subordinate's robot end's pose maintains spatially same
Step, robot 1,2 need to keep the equal proportion of oneself track of each self-operating at any time, i.e., any time, robot 1 was run
Path length is k times of 2 running track length of robot, because in accelerating sections initial velocity, initial acceleration, end acceleration
It is all 0, so in boost phase, the constraint relationship formula existing for the Relationship of Coefficients of robot 1,2 are as follows:
t1e=t2e。
Further, the step 4) is proposed for the robot Collision Detection in principal and subordinate's coordination control strategy
Improved method can be with self-movement when robot needs self-movement；Universal time coordinated is needed, it can be with the unified planning coordinated movement of various economic factors.
It advantages of the present invention and has the beneficial effect that:
Innovative point of the invention is the Dual-robot coordination control system i.e. Distributed Control System for designing triple aging,
The three-fies system includes upper layer, middle layer and lower layer, wherein upper layer is that computer controls work station, for carrying out robot
The off-line program and simulation of coordinative operation, collision-free Trajectory Planning of Welding research；Middle layer, for receiving the order from upper layer or referring to
It enables, robot is carried out including the processing of power supply control, signal communication, the control of operation, coordination and sensor information
Control；Lower layer is executive level, is responsible for executing the task including position closed loop, overspeed protection, SERVO CONTROL, smooth trajectory.
Advantage is that it not only has the characteristics that centralized control and decentralised control, but also can preferably utilize existing resource.Therefore it is proposed collecting and distributing
Control carries out centralized planning, management to robot system, decentralized processing, control, execution exist to solve decentralised control
Calculation bottleneck problem in realizing under certain operations and centralized control.
Detailed description of the invention
Fig. 1 is the coordinated control architectural schematic for the dual robot that the present invention provides preferred embodiment.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, detailed
Carefully describe.The described embodiments are merely a part of the embodiments of the present invention.
The technical solution that the present invention solves above-mentioned technical problem is:
The invention proposes a kind of dual robot principal and subordinate's control method for coordinating based on Distributed Control System, this method requirement
The relative pose relationship that principal and subordinate's robot end's pose is kept fixed using Distributed Control System and is analyzed using collecting and distributing control system
The advantage of system, and propose principal and subordinate robot track calculating method guarantees synchronization on the end pose retention time and spatially
Constraint, the process for controlling it is more living, more adaptable.Hereinafter reference will be made to the drawings and combine example to the present invention make into
One step is described in detail.
Step 1: as shown in Figure 1, the coordinated control architectural schematic of dual robot of the invention, coordinated control system
System uses hierarchical structure, establishes the Dual-robot coordination control system an of triple aging, and upper layer is computer control
Work station processed.Middle layer i.e. coordinate grade, be dual robot control unit, the layer be responsible for robot power supply control, signal communication,
The control of operation, coordination and sensor information processing, are mainly used to receive order or instruction from upper layer, to robot into
Row control.Lower layer is executive level, is the ontology of dual robot, it is responsible for execution position closed loop, overspeed protection, SERVO CONTROL, rail
The tasks such as mark is smooth.
Step 2: keep the relative pose relationship between principal and subordinate robot end pose constant in motion process, this fortune
Dynamic relationship is referred to as coupled motions.Due to following main robot to move from robot, individual rail is not needed from robot
Mark teaching instruction, the teaching and planning of whole system can be completed under the basis coordinates system of main robot.Couple synchronous coordination mistake
Range request has the movement with main robot same form, the tool hand pose relative pose relationship of principal and subordinate robot from robot
It should be kept fixed in entire coordination process constant.State transfer of principal and subordinate's robot tool hand pose under respective base coordinate system
The constraint relationship formula of matrix during coupling synchronous coordination are as follows:
The formula means any moment in the coordinated movement of various economic factors of principal and subordinate robot from robot from robot base mark
The state-transition matrix of tool hand pose under system, should be equal to tool hand pose of the main robot under main robot base coordinate system
State-transition matrix and coupling synchronous collaboration process initial time principal and subordinate robot tool hand pose between transformation relation multiply
Product.
Step 3: the thought of trajectory planning is to calculate principal and subordinate robot path length ratio k, it is assumed that robot 1 runs rail
Mark is shorter, length Sr1, 2 running track of robot is longer, length Sr2, then k=Sr1÷Sr2, count the track of dual robot
Parameter is calculated in the presence of the Relationship of Coefficients about k.The interpolation sequence algorithm of accelerating and decelerating part more popular at present is respectively quintic algebra curve
Interpolation and seven order polynomial interpolations, the track interpolation that the present invention uses is quintic algebra curve interpolation.Quintic algebra curve interpolation
Formula are as follows:
θ (t)=a0+a1t+a2t2+a3t3+a4t4+a5t5
Constraint condition are as follows: initial position θ0, final position θe, remaining corresponds to the speed that parameter is initial position and final position
Degree and acceleration, teRepresent accelerating sections total time.Then Relationship of Coefficients formula are as follows:
Step 4: then in t < min (t1e, t2e) when, in order to guarantee that principal and subordinate's robot end's pose maintains spatially same
Step, robot 1,2 need to keep the equal proportion of oneself track of each self-operating at any time, i.e., any time, robot 1 was run
Path length is k times of 2 running track length of robot.Because in accelerating sections initial velocity, initial acceleration, end acceleration
It is all 0, so in boost phase, the constraint relationship formula existing for the Relationship of Coefficients of robot 1,2 are as follows:
t1e=t2e
In summary, actually trajectory planning is to allow move faster synchronization object " compromise ", reduces itself speed to change
Take synchronous effect.Multi-core computer performance, parallel calculating principal and subordinate robot can be made full use of using track calculating method
Running track can save the calculating time of half, and with increasing for coordinating robot, trajectory planning, which is saved, calculates the excellent of time
Gesture is bigger.The motion conditions moved according to above-mentioned Dual-robot coordination, it can be seen that follow main robot to move from robot
And keep movement relative pose constant, meet the definition of coupled motions.In order to verify the effective of dual robot principal and subordinate's coordinated control
Property, pass through the correctness and practicability of experimental verification this method.
The above embodiment is interpreted as being merely to illustrate the present invention rather than limit the scope of the invention.?
After the content for having read record of the invention, technical staff can be made various changes or modifications the present invention, these equivalent changes
Change and modification equally falls into the scope of the claims in the present invention.
Claims (7)
1. a kind of dual robot principal and subordinate's control method for coordinating based on Distributed Control System, which comprises the following steps:
1) Dual-robot coordination control system, that is, Distributed Control System of triple aging, is designed, the three-fies system includes
Upper layer, middle layer and lower layer, wherein upper layer is that computer controls work station, for carrying out the offline volume of robot coordinated operation
Journey and emulation, collision-free Trajectory Planning of Welding research；Middle layer carries out robot for receiving order or instruction from upper layer
Control including the processing of power supply control, signal communication, the control of operation, coordination and sensor information；Lower layer is to execute
Grade is responsible for executing the task including position closed loop, overspeed protection, SERVO CONTROL, smooth trajectory；
2) dual robot coordinate system, is established, the relative movement orbit of end pose, which constrains, in setting Dual-robot coordination movement closes
It is to keep the relative pose relationship between principal and subordinate robot end pose constant in motion process；
3) dual robot trajectory planning calculation method, is designed, is to guarantee temporal synchronization, it is necessary to assure interpolation sequence
Interpolation points are identical, while in order to guarantee constraint spatially, it is necessary to assure the identical and interpolation of principal and subordinate's interpolation sequence interpolation points
The corresponding principal and subordinate's robot tool hand pose of any pair of interpolated point should meet the constraint relationship in sequence, to guarantee that end pose is kept
Temporal synchronization and constraint spatially；
4) improved method, improvement master finally, are proposed for the robot Collision Detection in principal and subordinate's coordination control strategy
It is when robot needs self-movement, it can be with self-movement；Universal time coordinated is needed, it can be with the unified planning coordinated movement of various economic factors.
2. dual robot principal and subordinate's control method for coordinating according to claim 1 based on Distributed Control System, feature exist
In the step 2) establishes dual robot coordinate system, specifically includes: assuming that R1For main robot, R2For from robot, two machines
Distance O between people's coordinate origin1O2For b, then O2Relative to O1Coordinate be (0 ,-b, 0)；Arbitrary point P is relative to host in space
Device people R1Coordinate be (x, y, z), then relative to from robot R2Coordinate (x ', y ', z ') expression formula are as follows:
3. dual robot principal and subordinate's control method for coordinating according to claim 2 based on Distributed Control System, feature exist
In the relative movement orbit the constraint relationship of end pose, specifically includes: main in step 2) the setting Dual-robot coordination movement
It is kept fixed in entire coordination process from the end effector pose relative pose relationship of robot constant, principal and subordinate's machine is artificial
Have state-transition matrix the constraint relationship formula couple synchronous coordination during of the hand pose under respective base coordinate system are as follows:In formula:Indicate the state-transition matrix from end effector of robot pose；Indicate the state-transition matrix of main robot end effector pose；When indicating coupling synchronous collaboration process starting
Carve the state-transition matrix from end effector of robot pose；Indicate coupling synchronous collaboration process initial time host
The state-transition matrix of device people's end effector pose；
The formula means any moment in the coordinated movement of various economic factors of principal and subordinate robot from robot under robot base coordinate system
End effector pose state-transition matrix, end effector of the main robot under main robot base coordinate system should be equal to
Transformation between the state-transition matrix and coupling synchronous collaboration process initial time principal and subordinate's end effector of robot pose of pose
The product of relationship.
4. dual robot principal and subordinate's control method for coordinating according to claim 2 based on Distributed Control System, feature exist
In, the step 3) designs dual robot trajectory planning calculation method, specifically: the thought of trajectory planning is to calculate slave
Device people path length ratio k, it is assumed that 1 running track of robot is shorter, length Sr1, 2 running track of robot is longer, and length is
Sr2, then k=Sr1÷Sr2, so that the trajectory calculation parameter of dual robot is there is the Relationship of Coefficients about k, using inserting for accelerating and decelerating part
Complementary series algorithm is respectively quintic algebra curve interpolation or seven order polynomial interpolations.
5. dual robot principal and subordinate's control method for coordinating according to claim 4 based on Distributed Control System, feature exist
In, when the track interpolation used is quintic algebra curve interpolation, the formula of quintic algebra curve interpolation are as follows:
θ (t)=a0+a1t+a2t2+a3t3+a4t4+a5t5
Constraint condition are as follows: initial position θ0, final position θe, a0-a5The coefficient of quintic algebra curve is respectively indicated, θ (t) is indicated five times
Polynomial function expression, remaining corresponds to the speed and acceleration that parameter is initial position and final position, teIt represents and accelerates
Section total time, then Relationship of Coefficients formula are as follows:
In formula:It indicates to initial position θ0It asks and once leads, is i.e. initial position θ0Speed,It indicates to initial position θ0Ask two
It is secondary to lead, i.e. initial position θ0Acceleration, indicate to final position θeIt asks and once leads, is i.e. final position θeSpeed,Expression pair
Final position θeIt asks secondary to lead, i.e. final position θeAcceleration.
6. dual robot principal and subordinate's control method for coordinating according to claim 5 based on Distributed Control System, feature exist
In in t < min (t1e, t2e) when, wherein t1eIndicate main robot accelerating sections total time, t2eWhen indicating total from robot accelerating sections
Between.In order to guarantee that principal and subordinate's robot end's pose maintains synchronization spatially, robot 1,2 need to keep respectively transporting at any time
The equal proportion of oneself track of row, i.e., any time robot 1 running track length be k times of 2 running track length of robot,
Because being all 0 in accelerating sections initial velocity, initial acceleration, end acceleration, in boost phase, robot 1,2 is
The constraint relationship formula existing for number relationship are as follows:
t1e=t2e
θ1eIndicate 1 final position of robot, θ2eIndicate 2 final position of robot, θ10Indicate 1 initial position of robot, θ20It indicates
2 initial position of robot,Expression 1 final position of robot is asked once lead,Expression asks one to 2 final position of robot
It is secondary lead, k indicates that 1 running track length of any time robot is k times of 2 running track length of robot.
7. dual robot principal and subordinate's control method for coordinating described in one of -6 based on Distributed Control System according to claim 1,
It being characterized in that, the step 4) proposes improved method for the robot Collision Detection in principal and subordinate's coordination control strategy,
It, can be with self-movement when robot needs self-movement；Universal time coordinated is needed, it can be with the unified planning coordinated movement of various economic factors.
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