CN109740270A - The big L/D ratio peg-in-hole assembly system and method predicted and analyzed based on contact force and torque - Google Patents
The big L/D ratio peg-in-hole assembly system and method predicted and analyzed based on contact force and torque Download PDFInfo
- Publication number
- CN109740270A CN109740270A CN201910018170.5A CN201910018170A CN109740270A CN 109740270 A CN109740270 A CN 109740270A CN 201910018170 A CN201910018170 A CN 201910018170A CN 109740270 A CN109740270 A CN 109740270A
- Authority
- CN
- China
- Prior art keywords
- axis
- data
- force
- torque
- contact
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The present invention discloses a kind of big L/D ratio peg-in-hole assembly system and method based on contact force and torque prediction and analysis, first passes through three axis pose parameter I by projecting body1, three axis contact force data I2, three-axis force square data I3Predict practical contact force/torque data I of assembling process5；Again by force analysis mechanism according to three axis pose parameter I1, practical contact force/torque data I5The stress condition that big L/D ratio in assembling process inserts axis and pilot hole is analyzed, obtains the adjustment analysis result of assembly posture.The utility model has the advantages that by establishing accurate mathematical model, then parameter is solved by the data collected, by the data acquired under different condition to being used to train neural network model and establish its mapping relations, realize accurate predictive power and torque, and accurately analyze whether its assembly has deviation by the stress condition of big L/D ratio axis in assembling process after the prediction, it is supported to provide analysis for accurate control assembly movement.
Description
Technical field
The present invention relates to the people's control technology fields that puts together machines, and specifically, are related to a kind of pre- based on contact force and torque
The big L/D ratio peg-in-hole assembly system and method surveyed and analyzed.
Background technique
The considerations of for full-automatic assembly, in assembling process robot control whether accurately to directly affect assembly as a result,
And the parameter accuracy of Robot Force and torque is the necessary condition accurately controlled, load gravity, installation error when due to assembly
Deng disturbance, actual forces required for controlling robot and torque are difficult to accurately calculate, it is necessary to carry out to contact force and torque
Prediction, prediction result can be used as the important references actually controlled, then precision of prediction is higher, and the assembly effect actually controlled is got over
It is good.
The accurate perception problems of contact force can be attributed to, and the mapping relations for seeking robot end's pose and contact force are asked
Topic.
The force analysis of assembling process is the premise accurately controlled, if analysis is not right, the feedback of control is bad with regard to effect, when
When deviation occurs in angle of assembling, assembly just has obstruction, and force analysis at this time cannot timely feedback deviation, just will increase assembly
Difficulty is controlled, or even is unable to complete assembly.
The problem analysis of assembling process can be attributed to, and seek the stress condition of contact point.
Summary of the invention
For the problems of above-mentioned background, based on contact force and torque predicts and analyze the invention proposes a kind of
Big L/D ratio peg-in-hole assembly system and method, by establishing accurate mathematical model, then by collect data to parameter into
Row solves, and by the data acquired under different condition to being used to train neural network model and establishing its mapping relations, realizes accurate
Predictive power and torque, and accurately analyze whether its assembly has by the stress condition of big L/D ratio axis in assembling process after the prediction
Deviation is supported to provide analysis for accurate control assembly movement.
In order to achieve the above objectives, the specific technical solution that the present invention uses is as follows:
A kind of big L/D ratio peg-in-hole assembly system predicted and analyzed based on contact force and torque, including the people that puts together machines,
The assembly side of the people that puts together machines is provided with attitude transducer and force snesor, and the attitude transducer is for detecting assembly side
Three axis pose parameter I1, the force snesor is for detecting the three axis contact force data I of assembly side2, three-axis force square data I3；
It further include projecting body, force analysis mechanism, the projecting body passes through three axis pose parameter I1, three axis contact forces
Data I2, three-axis force square data I3Predict practical contact force/torque data I of assembling process5, the force analysis mechanism according to
Three axis pose parameter I1, practical contact force/torque data I5Analyze the stress feelings that big L/D ratio in assembling process inserts axis and pilot hole
Condition obtains the adjustment analysis result of assembly posture；
The data input pin group of the projecting body connects the output end and the force snesor of the attitude transducer
Output end, the data output end group of the projecting body connect the data input pin group of the force analysis mechanism, the stress
The data input pin group of analysis institution is also connected with the output end of the attitude transducer, the data output of the force analysis mechanism
End group is connected with the data input pin group for the people's control mechanism that puts together machines.
The power that the six-dimension force sensor of robotic asssembly end installation measures is caused with torque data by three parts, that is: is sensed
Device own system error, erection load gravity, external contact force suffered by erection load, it is outer suffered by erection load to obtain
Portion's contact force is that is, practical to control required power, it is necessary to eliminate the shadow of sensing system error and erection load gravity
It rings.
Shown in following formula:
As can be seen that contact force (the F of assembling processcx、Fcy、Fcz) it is force sensor measuring value (Fx、Fy、Fz) subtract load
Gravity bring influences (Gx、Gy、Gz) and sensor itself bring error (Fx0、Fy0、Fz0), torque is asked there is also similar
Topic.
Assembly side is influenced caused by by gravity and error, it is practical during unassembled state and two kinds of assembled state
It is almost consistent, therefore can be by the impacted situation of assembly side of the unassembled state of analysis, then introduces in the assembled state
The impacted situation analyzed before can obtain actual contact force/torque data, effectively remove interference data, the control of assembly
Precision processed greatly improves；
Above-mentioned unassembled state refers to the mistake that assembly side has connected assembly parts but assembly parts are not contacted with assembly target also
Journey, then assembled state refers to that assembly parts start to contact the process until assembly completion with assembly target.
On the basis of obtaining precise contact power, torque, in order to realize flexible assembly control, need to establish assembling process
Analysis model.According to the geological information of axis hole, analyzed all contact conditions that axis is likely to occur are inserted in assembling process,
That is: single edge contact, single-contact and two-point contact.Specific such as Fig. 9 illustrates: (a) being single edge contact, (b) is single-contact, (c)
For two-point contact.Wherein single edge contact is the special case situation of single-contact, can merge and carry out mechanics force analysis.
By above-mentioned design, force analysis mechanism is according to three axis pose parameter I1The misalignment angle of shaft and hole is obtained, centainly
Misalignment angle when can make shaft insertion hole by high resistance, which then passes through three axis contact force data I2, three-axis force
Square data I3It calculates and obtains, once resistance is excessive, just illustrate that insert action is obstructed, axis hole is equipped with deviation so that can not be successfully
Assembly is completed, just needs the movement of adjustment assembly robot at this time, is smoothly inserted a shaft into hole with meeting.
Further design, the projecting body include that static pose is actually contacted with power/moment conditions mapping block, dynamic
Power/torque data computation module, processing module, data memory module, the processing module respectively with static pose and power/torque
Relationship map module, the practical contact force/torque data computation module of dynamic, data memory module connection.
By above-mentioned design, static pose and power/moment conditions mapping block analyze the assembly side of unassembled state in advance
Stress condition establishes mapping relations with this, and since assembly parts are also not in contact with assembly target at this time, then assembly side is detected at this time
Obtained three axis contact force data I2a, three-axis force square data I3aIt is exactly the force data influenced completely by gravity and itself error,
By three axis pose parameter I at this time1aForce data I is contacted with three axis2a, three-axis force square data I3aOpening relationships can know gravity
In addition influence of itself error to assembly side posture；
The influence will continue to exist in assembled state, can also pass through static pose and power/moment conditions mapping block
Know that assembly side posture when assembly contacts three axis by being influenced, then by the practical contact force/torque data computation module of dynamic
Force data I2b, three-axis force square data I3bIt is corresponding to deduct the influence, accurate practical contact force/torque data I can be obtained5, from
And data supporting is provided to be more precisely controlled robot motion.
Further design, the static state pose and power/moment conditions mapping block are provided with BP neural network model,
Input layer is 3 input nodes, and output layer is 6 output nodes.
BP neural network can establish the mapping relations between data well, once neural metwork training is completed, can lead to
The input data for crossing input layer directly obtains the output of output layer as a result, due to three axis pose parameter I1For 3 parameter values, therefore
The input layer of BP neural network need to only be set as 3 input nodes, and three axis contact force data I2, three-axis force square data I3Share 6
A parameter value, then output layer needs to be set as 6 output nodes, and each node and each parameter value correspond.
It further describes, the force analysis mechanism includes judging treatmenting module, single-contact analysis module, two-point contact
Analysis module, data storage cell, the judging treatmenting module analyze mould with single-contact analysis module, two-point contact respectively
Block, data storage cell are bi-directionally connected.
Judging treatmenting module is used to judge the quantity of contact point, and if single-contact, then subsequent processing meets at single-contact
Analysis module processing, if two-point contact, then turns by two-point contact analysis module, judging treatmenting module is also used to be connect according to single-point
Touching analysis module/two-point contact analysis module force analysis result judges whether assembly needs to readjust, and obtains assembly point
Analysis is as a result, data memory module is used to store the significant data information of all processes, such as contact point judging result, force analysis knot
Fruit, assembly analysis result etc..
It is further described, the judging unit that has point of contact, analysis result judging unit, institute is arranged in the judging treatmenting module
State contact point judging unit output end group connection single-contact analysis module input terminal and two-point contact analysis module it is defeated
Enter end, the output end of the input terminal group connection single-contact analysis module of the analysis result judging unit and two-point contact analysis
The output end of module.
Wherein, contact point judging unit is used to judge the quantity of contact point, and analysis result judging unit is for being assembled
Analyze result.
A kind of big L/D ratio peg-in-hole assembly method predicted and analyzed based on contact force and torque:
Step 1, projecting body pass through three axis pose parameter I1, three axis contact force data I2, three-axis force square data I3Prediction
The practical contact force of assembling process/torque data I5；
Step 2, force analysis mechanism is according to three axis pose parameter I1, practical contact force/torque data I5Analysis was assembled
Big L/D ratio inserts the stress condition of axis and pilot hole in journey, obtains the adjustment analysis result of assembly posture.
By above-mentioned design, projecting body can predict the stress condition of big L/D ratio axis in real time, i.e., practical contact force/power
Square data I5；Force analysis mechanism obtains rigging position further according to the data analysis axis of big L/D ratio axis and the stress condition in hole
Whether can be with whether assembly posture needs to adjust, to provide data supporting for the accurate human action that puts together machines that controls, improves dress
With precision and efficiency.
Further design, step 1 include the following steps:
S1.1, static pose and power/moment conditions mapping block establish the people's assembly side that puts together machines static pose and power/
Moment conditions mapping model:
S1.1.1 establishes BP neural network, and the input layer of the BP neural network is 3 input nodes, and output layer is 6
Output node；
S1.1.2 is right using the N group assembly side pose and measuring force/torque data of unassembled state gathered in advance to J
The BP neural network is trained；
Assembly side pose described in every group and measuring force/torque data include three axis pose parameter I to J1a, three axis contact force numbers
According to I2a, three-axis force square data I3a, wherein three axis pose parameter I1aAs 3 input parameters of BP neural network, the contact of three axis
Force data I2a, three-axis force square data I3a6 output parameters as BP neural network；
S1.1.3 utilizes the other M group assembly side pose and measuring force/torque data pair of unassembled state gathered in advance
J verifies the BP neural network；
S1.1.4, the BP neural network after the completion of verifying are the static pose and power/moment conditions mapping model；
The static state pose is obtained with power/moment conditions mapping model by BP neural network: put together machines people's assembly side
Three axis pose parameter I1Power/torque data the I influenced with gravity4Between relationship；
Wherein, power/torque data I that the gravity influences4Three axis gravity influence powers and three axis gravity including assembly side
Influence torque；
BP neural network can learn three axis pose parameter I well1aForce data I is contacted with three axis2a, three-axis force square number
According to I3aBetween data mapping relations, only need to multi-group data to input neural network can complete it is trained, verify, finally obtain
The static pose and power/moment conditions mapping model quickly calculated.
S1.2, in assembling process, processing module real-time reception puts together machines the dynamic three axis pose parameter I of people's assembly side1b、
Three axis contact force data I2b, three-axis force square data I3b；
S1.3, processing module is by the dynamic three axis pose parameter I of S1.21bIt is input to static pose and power/moment conditions
Mapping block obtains power/torque data I that dynamic gravity influences4b；
S1.4, power/torque data I that the dynamic gravity that processing module obtains S1.3 influences4bWith three axis of step 2
Contact force data I2b, three-axis force square data I3bIt is input to the practical contact force/torque data computation module of dynamic, obtains assembly side
Practical contact force/torque data I5。
Since the stressing influence of unassembled state includes gravity and itself two kinds of factor of error, it is actually quiet
The mapping relations that state pose and power/moment conditions mapping model obtain are the relationship of pose Yu (gravity+error), above-mentioned gravity shadow
Loud power/torque data I4To be include data that gravity and error synthesis influence, and being named as gravity influences simply because gravity
It interferes bigger.
By above-mentioned design, three axis pose parameter I of unassembled state1a, three axis contact force data I2a, three-axis force square number
According to I3aStatic pose and power/moment conditions mapping model can be trained, then by three axis pose parameter I in assembling process1bInput
Model can obtain power/torque data I that dynamic gravity influences4b, the I4bForce data I is contacted with three axis2b, three-axis force square number
According to I3bCompare to make the difference and knows practical contact force/torque data I5, to be provided accurately to control the control force for the people that puts together machines
Calculate basis.
Further, exclusive PCR calculation in S1.4 are as follows:
Wherein, Fx、Fy、FzForce data I is contacted for three axis that step 2 detects2b, Fx0、Fy0、Fz0It is obtained for step 3
Power/torque data I that dynamic gravity influences4bIn three axis gravity influence powers, Tx、Ty、TzThe three-axis force detected for step 2
Square data I3b, Tx0、Ty0、Tz0For the power/torque data I for the dynamic gravity influence that step 3 obtains4bIn three axis gravity shadows
Ring torque, Fcx、Fcy、Fcz、Tcx、Tcy、TczIt is then practical contact force/torque data I of assembly side5。
Further design, step 2 include the following steps:
S2.1, the practical contact force of force analysis mechanism real-time reception/torque data I5；
S2.2, contact point judging unit identify the quantity of big L/D ratio axis hole contact point, if contact point is 1, enter
S2.3, if contact point is 2, into S2.4；
S2.3, single-contact analysis module is according to three axis pose parameter I1, practical contact force/torque data I5Calculate axis hole
Single-point reaction force N and single-point resistance f, into S2.5；
S2.4, two-point contact analysis module is according to three axis pose parameter I1, practical contact force/torque data I5Calculate axis hole
Two o'clock reaction force N1、N2And two o'clock resistance f1、f2, into S2.6；
S2.5, the calculated result of analysis result judging unit analysis S2.3:
If N >=AN, f >=Af, ANFor single-point reaction force threshold value, AfFor single-point resistance threshold value, then result is analyzed as assembly angle
Degree needs to adjust, and otherwise analyzing result is normal assembly；
Output analysis result；
S2.6, the calculated result of analysis result judging unit analysis S2.4:
If N1≥AN1, N2≥AN2, f1≥Af1, f2≥Af2, AN1、AN2For two o'clock reaction force threshold value, Af1、Af2For two o'clock resistance
Force threshold, then analyzing result is that angle of assembling needs to adjust；
Output analysis result.
By above-mentioned design, big L/D ratio axis and the angle of assembling in hole are accurate, then analyze the axis hole single-point reaction obtained
Power N and single-point resistance f (or axis hole two o'clock reaction force N1、N2And two o'clock resistance f1、f2) can be at one compared in minizone, this
Shi Jixu assembly can complete insert action, but once be more than the section, and continuing into can only block, and be unable to complete dress
Match, needs to readjust the direction of insert action.And the above method is that each assembly movement is analyzed in real time, in assembling process
With three axis pose parameter I of acquisition1, three axis contact force data I2, three-axis force square data I3Change continuous replicate analysis process, directly
To being finally completed assembly work.
It is further described, S2.3 calculates axis hole single-point reaction force N and the method for single-point resistance f is as follows:
S2.3.1 determines that analysis face P-O-Q, the analysis face P-O-Q are to show all connect according to the contact point of assembly
The axis section of the big L/D ratio axis of contact；
S2.3.2 decomposes the three axis pose parameter I1, practical contact force/torque data I5, obtain based on the analysis face
The contact force F of P-O-Qp、Fq, torque Tr, axis hole deflect angle theta, axial length l, diameter of axle d, wherein FqFor big L/D ratio axis axle center side
To contact force, FpFor the contact force perpendicular to axis direction, TrFor the torque perpendicular to analysis face P-O-Q；
S2.3.3, group, the data that S3.2 is decomposed substitute into calculating according to the following formula:
Obtain axis hole single-point reaction force N and single-point resistance f；
Above-mentioned design needs to include all connect on the P-O-Q of the analysis face using a certain axis section of axis as analysis face P-O-Q
Contact, if therefore the axis hole single-point reaction force N that is analyzed on the P-O-Q of the analysis face and single-point resistance f be more than normally by
Power section then needs to adjust the axis posture of analysis face P-O-Q, analyzed again after adjustment other angles axis section whether stress just
Often, to make the complete alignment hole of axis, assembly is smoothly completed.
Approximately, S2.4 calculates axis hole two o'clock reaction force N1、N2And two o'clock resistance f1、f2Method it is as follows:
S2.4.1 determines that analysis face P-O-Q, the analysis face P-O-Q are to show all connect according to the contact point of assembly
The axis section of the big L/D ratio axis of contact；
S2.4.2 decomposes the three axis pose parameter I1, practical contact force/torque data I5, obtain based on the analysis face
The contact force F of P-O-Qp、Fq, torque Tr, axis hole deflect angle theta, axial length l, diameter of axle d, the axial length h being not inserted into, wherein FqIt is big
The contact force of draw ratio axis axis direction, FpFor the contact force perpendicular to axis direction, TrFor the power perpendicular to analysis face P-O-Q
Square；
S2.4.3, group, the data that S3.2 is decomposed substitute into calculating according to the following formula:
Obtain axis hole two o'clock reaction force N1、N2And two o'clock resistance f1、f2。
Beneficial effects of the present invention: by establishing accurate mathematical model, then parameter is carried out by the data collected
It solves, by the data acquired under different condition to being used to train neural network model and establishing its mapping relations, realizes accurate pre-
Dynamometry and torque, and accurately analyze whether its assembly has partially by the stress condition of big L/D ratio axis in assembling process after the prediction
Difference is supported to provide analysis for accurate control assembly movement.
Detailed description of the invention
Fig. 1 is the structural block diagram of system；
Fig. 2 is the main flow schematic diagram of step 1；
Fig. 3 is static pose and power/moment conditions mapping model Establishing process figure；
Fig. 4 is the main flow schematic diagram of step 2；
Fig. 5 is the work flow diagram of embodiment prediction steps；
Fig. 6 is embodiment BP neural network training error schematic diagram；
Fig. 7 is embodiment BP neural network validation error schematic diagram；
Fig. 8 is embodiment prediction effect comparison diagram；
Fig. 9 is the contact point analysis schematic diagram of axis section；
Figure 10 is the mechanical analysis schematic diagram of axis section.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:
A kind of big L/D ratio peg-in-hole assembly system predicted and analyzed based on contact force and torque, as shown in Figure 1, including dress
With robot 1, the assembly side of the people that puts together machines is provided with attitude transducer 1a and force snesor 1b, the attitude transducer 1a
For detecting three axis pose parameter I of assembly side1, the force snesor 1b is for detecting the three axis contact force data I of assembly side2、
Three-axis force square data I3；
It further include projecting body 2, force analysis mechanism 3, the projecting body 2 passes through three axis pose parameter I1, three axis connect
Touch data I2, three-axis force square data I3Predict practical contact force/torque data I of assembling process5, the force analysis mechanism 3
According to three axis pose parameter I1, practical contact force/torque data I5Analyze big L/D ratio in assembling process insert axis and pilot hole by
Power situation obtains the adjustment analysis result of assembly posture；
The data input pin group of the projecting body 2 connects the output end and the force snesor of the attitude transducer 1a
The output end of 1b, the data output end group of the projecting body 2 connect the data input pin group of the force analysis mechanism 3, institute
The data input pin group for stating force analysis mechanism 3 is also connected with the output end of the attitude transducer 1a, the force analysis mechanism 2
Data output end group be connected with the data input pin group of the people's control mechanism 4 that puts together machines.
The projecting body 2 includes static pose and power/moment conditions mapping block 2a, the practical contact force/torque of dynamic
Data computation module 2b, processing module 2c, data memory module 2d, the processing module 2c respectively with static pose and power/power
Square relationship map module 2a, the practical contact force/torque data computation module 2b of dynamic, data memory module 2d connection.
The static state pose and power/moment conditions mapping block 2a are provided with BP neural network model, and input layer is 3
Input node, output layer are 6 output nodes.
The force analysis mechanism 3 includes judging treatmenting module 3a, single-contact analysis module 3b, two-point contact analysis mould
Block 3c, data storage cell 3d, the judging treatmenting module 3a analyze mould with single-contact analysis module 3b, two-point contact respectively
Block 3c, data storage cell 3d are bi-directionally connected.
The judging unit that has point of contact, analysis result judging unit is arranged in the judging treatmenting module 3a, and the contact point is sentenced
The input terminal of the output end group connection single-contact analysis module 3b of disconnected unit and the input terminal of two-point contact analysis module 3c, institute
State the output end and two-point contact analysis module of the input terminal group connection single-contact analysis module 3b of analysis result judging unit
The output end of 3c.
The present embodiment preferred equipment parameter is as follows:
The preferred model of the people that puts together machines: An Chuan MOTOMAN MH12, controller: DX200, load: 12kg, freedom degree: 6,
Repetitive positioning accuracy: ± 0.08mm, maximum working radius: 1440mm, power supply capacity: 1.5kVA.
The assembly side of the people that puts together machines comes with attitude transducer 1a, controller: DX200 is the people's control that puts together machines
Mechanism；
Force snesor 1b is preferably model: the six-dimension force sensor of ATI-mini45-E, important technological parameters are as follows: amount
Journey: SI-290-10
Fx,Fy(±N) 290
Fz(±N) 580
Tx,Ty(±Nm) 10
Tz(±Nm) 10
Resolution ratio: SI-290-10
Fx,Fy(N) 1/4
Fz(N) 1/4
Tx,Ty(Nm) 1/188
Tz(Nm) 1/376
It is additionally provided with processor host, projecting body 2 and force analysis mechanism 3 are set on the processor host.
A kind of big L/D ratio peg-in-hole assembly method predicted and analyzed based on contact force and torque:
Step 1, projecting body 2 pass through three axis pose parameter I1, three axis contact force data I2, three-axis force square data I3Prediction
The practical contact force of assembling process/torque data I5；
Step 2, force analysis mechanism 3 is according to three axis pose parameter I1, practical contact force/torque data I5Analysis was assembled
Big L/D ratio inserts the stress condition of axis and pilot hole in journey, obtains the adjustment analysis result of assembly posture.
Wherein, step 1 is as shown in Figure 2:
S1.1, static pose and power/moment conditions mapping block 2a establish the static pose of the people's assembly side that puts together machines with
Power/moment conditions mapping model, as shown in Figure 2:
S1.1.1 establishes BP neural network, and the input layer of the BP neural network is 3 input nodes, and output layer is 6
Output node；
S1.1.2 is right using the N group assembly side pose and measuring force/torque data of unassembled state gathered in advance to J
The BP neural network is trained；
Assembly side pose described in every group and measuring force/torque data include three axis pose parameter I to J1a, three axis contact force numbers
According to I2a, three-axis force square data I3a, wherein three axis pose parameter I1aAs 3 input parameters of BP neural network, the contact of three axis
Force data I2a, three-axis force square data I3a6 output parameters as BP neural network；
S1.1.3 utilizes the other M group assembly side pose and measuring force/torque data pair of unassembled state gathered in advance
J verifies the BP neural network；
S1.1.4, the BP neural network after the completion of verifying are the static pose and power/moment conditions mapping model；
The static state pose is obtained with power/moment conditions mapping model by BP neural network: put together machines people's assembly side
Three axis pose parameter I1Power/torque data the I influenced with gravity4Between relationship；
Wherein, power/torque data I that the gravity influences4Three axis gravity influence powers and three axis gravity including assembly side
Influence torque；
S1.2, in assembling process, processing module 2c real-time reception puts together machines the dynamic three axis pose parameter of people's assembly side
I1b, three axis contact force data I2b, three-axis force square data I3b；
S1.3, processing module 2c are by the dynamic three axis pose parameter I of S1.21bIt is input to static pose and power/torque is closed
It is mapping block 2a, obtains power/torque data I that dynamic gravity influences4b；
Power/torque data I that the dynamic gravity that S1.4, processing module 2c obtain S1.3 influences4bWith the three of step 2
Axis contacts force data I2b, three-axis force square data I3bIt is input to the practical contact force/torque data computation module 2b of dynamic, is filled
Practical contact force with end/torque data I5。
Exclusive PCR calculation are as follows:
Wherein, Fx、Fy、FzForce data I is contacted for three axis that step 2 detects2b, Fx0、Fy0、Fz0It is obtained for step 3
Power/torque data I that dynamic gravity influences4bIn three axis gravity influence powers, Tx、Ty、TzThe three-axis force detected for step 2
Square data I3b, Tx0、Ty0、Tz0For the power/torque data I for the dynamic gravity influence that step 3 obtains4bIn three axis gravity shadows
Ring torque, Fcx、Fcy、Fcz、Tcx、Tcy、TczIt is then practical contact force/torque data I of assembly side5。
Step 2 is as shown in Figure 4:
S2.1, the practical contact force of 3 real-time reception of force analysis mechanism/torque data I5；
S2.2, contact point judging unit identify the quantity of big L/D ratio axis hole contact point, if contact point is 1, enter
S2.3, if contact point is 2, into S2.4；
S2.3, single-contact analysis module 2b are according to three axis pose parameter I1, practical contact force/torque data I5Calculate axis
Hole single-point reaction force N and single-point resistance f, into S2.5；
S2.4, two-point contact analysis module 2c are according to three axis pose parameter I1, practical contact force/torque data I5Calculate axis
Hole two o'clock reaction force N1、N2And two o'clock resistance f1、f2, into S2.6；
S2.5, the calculated result of analysis result judging unit analysis S2.3:
If N >=AN, f >=Af, ANFor single-point reaction force threshold value, AfFor single-point resistance threshold value, then result is analyzed as assembly angle
Degree needs to adjust, and otherwise analyzing result is normal assembly；
Output analysis result；
S2.6, the calculated result of analysis result judging unit analysis S2.4:
If N1≥AN1, N2≥AN2, f1≥Af1, f2≥Af2, AN1、AN2For two o'clock reaction force threshold value, Af1、Af2For two o'clock resistance
Force threshold, then analyzing result is that angle of assembling needs to adjust；
Output analysis result.
For single-point stress condition as shown in part (a) in Figure 10, which is analysis face P-O-Q in the present embodiment,
S2.3 calculates axis hole single-point reaction force N and the method for single-point resistance f is as follows:
S2.3.1 determines that analysis face P-O-Q, the analysis face P-O-Q are to show all connect according to the contact point of assembly
The axis section of the big L/D ratio axis of contact；
S2.3.2 decomposes the three axis pose parameter I1, practical contact force/torque data I5, obtain based on the analysis face
The contact force F of P-O-Qp、Fq, torque Tr, axis hole deflect angle theta, axial length l, diameter of axle d, wherein FqFor big L/D ratio axis axle center side
To contact force, FpFor the contact force perpendicular to axis direction, TrFor the torque perpendicular to analysis face P-O-Q；
S2.3.3, group, the data that S3.2 is decomposed substitute into calculating according to the following formula:
Obtain axis hole single-point reaction force N and single-point resistance f；
For two points stress situation as shown in part (b) in Figure 10, which is analysis face P-O-Q in the present embodiment,
S2.4 calculates axis hole two o'clock reaction force N1、N2And two o'clock resistance f1、f2Method it is as follows:
S2.4.1 determines that analysis face P-O-Q, the analysis face P-O-Q are to show all connect according to the contact point of assembly
The axis section of the big L/D ratio axis of contact；
S2.4.2 decomposes the three axis pose parameter I1, practical contact force/torque data I5, obtain based on the analysis face
The contact force F of P-O-Qp、Fq, torque Tr, axis hole deflect angle theta, axial length l, diameter of axle d, the axial length h being not inserted into, wherein FqIt is big
The contact force of draw ratio axis axis direction, FpFor the contact force perpendicular to axis direction, TrFor the power perpendicular to analysis face P-O-Q
Square；
S2.4.3, group, the data that S3.2 is decomposed substitute into calculating according to the following formula:
Obtain axis hole two o'clock reaction force N1、N2And two o'clock resistance f1、f2。
The step of the present embodiment one, uses Content Implementation shown in fig. 5, wherein experiment acquires 2000 groups of assembly side poses
With measuring force/torque data to J, and will wherein 1700 groups be used for network training, 300 groups for testing.
Experiment shows prediction accuracy, training error such as Fig. 6 using the relative error rate of network output and truthful data
Shown, test error is as shown in fig. 7, be 1% to contact force/torque prediction error.
The present embodiment also provides a comparison of the assembly strategy using random adjustment pose method, during insertion to robot
End pose carries out continuous random adjustment, continues into after reaching minimum.
X-O-Z is replaced with coordinate surface letter P-O-Q in experimentation, obtains contrast effect as shown in figure 8, red in figure
Lines indicate assembling process contact force/torque variation that the present invention predicts, blue lines indicate the assembling process of control methods
The variation of contact force/torque makes data variation it is evident that the parameter of assembling process is more acurrate after Accurate Prediction of the present invention
Fluctuation is smaller, has also just preferably achieved the purpose that prediction data optimization assembly.
Adjustable strategies of the invention can reduce Fx and Fy when power/torque becomes larger in time.When the value of Fx and Fy become
When change, slotting axis will receive the frictional force of hole wall, and the value of Fz, Tx and Ty can also change.In the whole process, the value of Tz is kept
It is constant.From experimental result as can be seen that the interval that power is adjusted is gradually increased.This explanation inserts the appearance of axis after the adjustment of each pose
State can gradually tend to be optimal.
Pass through analysis of experimental results, it can be deduced that the assembly strategy of this project, for big L/D ratio (draw ratio is greater than 10)
Peg-in-hole assembly realize the Shared control of 5N/0.5Nm.
Claims (10)
1. a kind of big L/D ratio peg-in-hole assembly system predicted and analyzed based on contact force and torque, it is characterised in that: including dress
With robot (1), the assembly side of the people that puts together machines is provided with attitude transducer (1a) and force snesor (1b), and the posture passes
Sensor (1a) is used to detect three axis pose parameter I of assembly side1, the force snesor (1b) is used to detect three axis of assembly side and connect
Touch data I2, three-axis force square data I3；
It further include projecting body (2), force analysis mechanism (3), the projecting body (2) passes through three axis pose parameter I1, three axis connect
Touch data I2, three-axis force square data I3Predict practical contact force/torque data I of assembling process5, the force analysis mechanism
(3) according to three axis pose parameter I1, practical contact force/torque data I5It analyzes big L/D ratio in assembling process and inserts axis and pilot hole
Stress condition, obtain assembly posture adjustment analysis result；
The data input pin group of the projecting body (2) connects the output end and the force snesor of the attitude transducer (1a)
The output end of (1b), the data output end group of the projecting body (2) connect the data input pin of the force analysis mechanism (3)
The data input pin group of group, the force analysis mechanism (3) is also connected with the output end of the attitude transducer (1a), the stress
The data output end group of analysis institution (2) is connected with the data input pin group for the people's control mechanism (4) that puts together machines.
2. the big L/D ratio peg-in-hole assembly system predicted and analyzed based on contact force and torque according to claim 1, special
Sign is: the projecting body (2) includes static pose and power/moment conditions mapping block (2a), the practical contact force/power of dynamic
Square data computation module (2b), processing module (2c), data memory module (2d), the processing module (2c) respectively with static bit
Appearance and power/moment conditions mapping block (2a), the practical contact force of dynamic/torque data computation module (2b), data memory module
(2d) connection.
3. the big L/D ratio peg-in-hole assembly system predicted and analyzed based on contact force and torque according to claim 2, special
Sign is: the static state pose and power/moment conditions mapping block (2a) are provided with BP neural network model, input layer 3
A input node, output layer are 6 output nodes.
4. the big L/D ratio peg-in-hole assembly system predicted and analyzed based on contact force and torque according to claim 1, special
Sign is: the force analysis mechanism (3) includes judging treatmenting module (3a), single-contact analysis module (3b), two-point contact
Analysis module (3c), data storage cell (3d), the judging treatmenting module (3a) respectively with single-contact analysis module (3b),
Two-point contact analysis module (3c), data storage cell (3d) are bi-directionally connected.
5. the big L/D ratio peg-in-hole assembly system predicted and analyzed based on contact force and torque according to claim 4, special
Sign is: the judging unit that has point of contact, analysis result judging unit is arranged in the judging treatmenting module (3a), and the contact point is sentenced
The input terminal of output end group connection single-contact analysis module (3b) of disconnected unit and the input of two-point contact analysis module (3c)
End, the output end and two-point contact point of input terminal group connection single-contact analysis module (3b) of the analysis result judging unit
Analyse the output end of module (3c).
6. a kind of big L/D ratio peg-in-hole assembly method predicted and analyzed based on contact force and torque, characterized by comprising:
Step 1, projecting body (2) pass through three axis pose parameter I1, three axis contact force data I2, three-axis force square data I3Prediction dress
Practical contact force with process/torque data I5；
Step 2, force analysis mechanism (3) is according to three axis pose parameter I1, practical contact force/torque data I5Analyze assembling process
Middle big L/D ratio inserts the stress condition of axis and pilot hole, obtains the adjustment analysis result of assembly posture.
7. the big L/D ratio peg-in-hole assembly method predicted and analyzed based on contact force and torque according to claim 6, special
Sign is that step 1 includes the following steps:
S1.1, static pose and power/moment conditions mapping block (2a) establish the people's assembly side that puts together machines static pose and power/
Moment conditions mapping model:
S1.1.1 establishes BP neural network, and the input layer of the BP neural network is 3 input nodes, and output layer is 6 outputs
Node；
S1.1.2, using the N group assembly side pose and measuring force/torque data of unassembled state gathered in advance to J, to described
BP neural network is trained；
Assembly side pose described in every group and measuring force/torque data include three axis pose parameter I to J1a, three axis contact force data
I2a, three-axis force square data I3a, wherein three axis pose parameter I1aAs 3 input parameters of BP neural network, three axis contact forces
Data I2a, three-axis force square data I3a6 output parameters as BP neural network；
S1.1.3 is right using the other M group assembly side pose and measuring force/torque data of unassembled state gathered in advance to J
The BP neural network is verified；
S1.1.4, the BP neural network after the completion of verifying are the static pose and power/moment conditions mapping model；
The static state pose is obtained with power/moment conditions mapping model by BP neural network: three axis of the people's assembly side that puts together machines
Pose parameter I1Power/torque data the I influenced with gravity4Between relationship；
Wherein, power/torque data I that the gravity influences4Three axis gravity influence powers and three axis gravity influence powers including assembly side
Square；
S1.2, in assembling process, processing module (2c) real-time reception puts together machines the dynamic three axis pose parameter I of people's assembly side1b、
Three axis contact force data I2b, three-axis force square data I3b；
S1.3, processing module (2c) is by the dynamic three axis pose parameter I of S1.21bIt is input to static pose and power/moment conditions
Mapping block (2a) obtains power/torque data I that dynamic gravity influences4b；
S1.4, power/torque data I that the dynamic gravity that processing module (2c) obtains S1.3 influences4bWith three axis of step 2
Contact force data I2b, three-axis force square data I3bIt is input to the practical contact force/torque data computation module (2b) of dynamic, is filled
Practical contact force with end/torque data I5。
8. the assembling process power based on neural network analysis and torque prediction technique according to claim 7, it is characterised in that
Exclusive PCR calculation in S1.4 are as follows:
Wherein, Fx、Fy、FzForce data I is contacted for three axis that step 2 detects2b, Fx0、Fy0、Fz0The dynamic obtained for step 3
Gravity influence power/torque data I4bIn three axis gravity influence powers, Tx、Ty、TzThe three-axis force square number detected for step 2
According to I3b, Tx0、Ty0、Tz0For the power/torque data I for the dynamic gravity influence that step 3 obtains4bIn three axis gravity influence powers
Square, Fcx、Fcy、Fcz、Tcx、Tcy、TczIt is then practical contact force/torque data I of assembly side5。
9. the big L/D ratio peg-in-hole assembly method predicted and analyzed based on contact force and torque according to claim 6, special
Sign is that step 2 includes the following steps:
S2.1, the practical contact force of force analysis mechanism (3) real-time reception/torque data I5；
S2.2, contact point judging unit identify the quantity of big L/D ratio axis hole contact point, if contact point is 1, into S2.3, if
Contact point is 2, into S2.4；
S2.3, single-contact analysis module (2b) is according to three axis pose parameter I1, practical contact force/torque data I5Calculate axis hole
Single-point reaction force N and single-point resistance f, into S2.5；
S2.4, two-point contact analysis module (2c) is according to three axis pose parameter I1, practical contact force/torque data I5Calculate axis hole
Two o'clock reaction force N1、N2And two o'clock resistance f1、f2, into S2.6；
S2.5, the calculated result of analysis result judging unit analysis S2.3:
If N >=AN, f >=Af, ANFor single-point reaction force threshold value, AfFor single-point resistance threshold value, then analyze result needs for angle of assembling
Adjustment, otherwise analyzing result is normal assembly；
Output analysis result；
S2.6, the calculated result of analysis result judging unit analysis S2.4:
If N1≥AN1, N2≥AN2, f1≥Af1, f2≥Af2, AN1、AN2For two o'clock reaction force threshold value, Af1、Af2For two o'clock resistance threshold
Value, then analyzing result is that angle of assembling needs to adjust；
Output analysis result.
10. the big L/D ratio peg-in-hole assembly method predicted and analyzed based on contact force and torque according to claim 9, special
Sign is:
S2.3 calculates axis hole single-point reaction force N and the method for single-point resistance f is as follows:
S2.3.1 determines that analysis face P-O-Q, the analysis face P-O-Q are had point of contact to show according to the contact point of assembly
Big L/D ratio axis axis section；
S2.3.2 decomposes the three axis pose parameter I1, practical contact force/torque data I5, obtain based on the analysis face P-O-
The contact force F of Qp、Fq, torque Tr, axis hole deflect angle theta, axial length l, diameter of axle d, wherein FqFor big L/D ratio axis axis direction
Contact force, FpFor the contact force perpendicular to axis direction, TrFor the torque perpendicular to analysis face P-O-Q；
S2.3.3, group, the data that S3.2 is decomposed substitute into calculating according to the following formula:
Obtain axis hole single-point reaction force N and single-point resistance f；
S2.4 calculates axis hole two o'clock reaction force N1、N2And two o'clock resistance f1、f2Method it is as follows:
S2.4.1 determines that analysis face P-O-Q, the analysis face P-O-Q are had point of contact to show according to the contact point of assembly
Big L/D ratio axis axis section；
S2.4.2 decomposes the three axis pose parameter I1, practical contact force/torque data I5, obtain based on the analysis face P-O-
The contact force F of Qp、Fq, torque Tr, axis hole deflect angle theta, axial length l, diameter of axle d, the axial length h being not inserted into, wherein FqFor big major diameter
Than the contact force of axis axis direction, FpFor the contact force perpendicular to axis direction, TrFor the torque perpendicular to analysis face P-O-Q；
S2.4.3, group, the data that S3.2 is decomposed substitute into calculating according to the following formula:
Obtain axis hole two o'clock reaction force N1、N2And two o'clock resistance f1、f2。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910018170.5A CN109740270B (en) | 2019-01-09 | 2019-01-09 | Large length-diameter ratio shaft hole assembling system and method based on contact force and moment prediction and analysis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910018170.5A CN109740270B (en) | 2019-01-09 | 2019-01-09 | Large length-diameter ratio shaft hole assembling system and method based on contact force and moment prediction and analysis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109740270A true CN109740270A (en) | 2019-05-10 |
| CN109740270B CN109740270B (en) | 2022-04-22 |
Family
ID=66363965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910018170.5A Active CN109740270B (en) | 2019-01-09 | 2019-01-09 | Large length-diameter ratio shaft hole assembling system and method based on contact force and moment prediction and analysis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109740270B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113134839A (en) * | 2021-04-26 | 2021-07-20 | 湘潭大学 | Robot precision flexible assembly method based on vision and force position image learning |
| CN114537705A (en) * | 2022-04-25 | 2022-05-27 | 成都飞机工业（集团）有限责任公司 | Airplane flaring conduit belt error assembly method and device, storage medium and equipment |
| CN114749899A (en) * | 2022-03-28 | 2022-07-15 | 五邑大学 | Electric screwdriver screw locking method and system based on reinforcement learning |
| CN115446574A (en) * | 2022-10-14 | 2022-12-09 | 智新科技股份有限公司 | Neural network-based rotor compression ring press-fitting method and system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272416A (en) * | 2016-08-29 | 2017-01-04 | 上海交通大学 | Feel based on power and the robot slender axles Fine Boring system and method for vision |
| CN106335057A (en) * | 2016-09-27 | 2017-01-18 | 东南大学 | Total-space smooth hole insertion control method applied to assembly robot and based on real-time force control |
-
2019
- 2019-01-09 CN CN201910018170.5A patent/CN109740270B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272416A (en) * | 2016-08-29 | 2017-01-04 | 上海交通大学 | Feel based on power and the robot slender axles Fine Boring system and method for vision |
| CN106335057A (en) * | 2016-09-27 | 2017-01-18 | 东南大学 | Total-space smooth hole insertion control method applied to assembly robot and based on real-time force control |
Non-Patent Citations (4)
| Title |
|---|
| SACCARES, LORENZO 等: "A Novel Joint Torque Estimation Method and Sensory System for Assistive Lower Limb Exoskeletons", 《2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)》 * |
| 刘昌健 等: "基于力反馈设备的三维力传感器和控制器的研究与实现", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 吴广顺等: "基于B-P 人工神经网络的机器人主动装配作业系统", 《制造业自动化》 * |
| 李海龙: "基于视觉/力传感器的机器人柔顺装配技术研究", 《中国硕士学位论文全文数据库 信息科技辑》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113134839A (en) * | 2021-04-26 | 2021-07-20 | 湘潭大学 | Robot precision flexible assembly method based on vision and force position image learning |
| CN114749899A (en) * | 2022-03-28 | 2022-07-15 | 五邑大学 | Electric screwdriver screw locking method and system based on reinforcement learning |
| CN114537705A (en) * | 2022-04-25 | 2022-05-27 | 成都飞机工业（集团）有限责任公司 | Airplane flaring conduit belt error assembly method and device, storage medium and equipment |
| CN115446574A (en) * | 2022-10-14 | 2022-12-09 | 智新科技股份有限公司 | Neural network-based rotor compression ring press-fitting method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109740270B (en) | 2022-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109740270A (en) | The big L/D ratio peg-in-hole assembly system and method predicted and analyzed based on contact force and torque | |
| CN109940605B (en) | Compliant assembly system and method integrating three-dimensional vision and contact force analysis | |
| CN106335057B (en) | A kind of submissive jack control method of the people's total space that puts together machines based on real-time force control | |
| Salisbury | Interpretation of contact geometries from force measurements | |
| CN106112505A (en) | Double-shaft-and-hole assembly system and control method thereof | |
| CN106272416A (en) | Feel based on power and the robot slender axles Fine Boring system and method for vision | |
| CN103984237B (en) | Axial symmetry aircraft triple channel Adaptive Control System Design method based on movement state comprehensive identification | |
| Gálvez et al. | Intrinsic tactile sensing for the optimization of force distribution in a pipe crawling robot | |
| CN101957175A (en) | Three-point micro-plane-based normal detection method | |
| US20210260759A1 (en) | Estimation of payload attached to a robot arm | |
| CN106514712A (en) | Object posture calculation system | |
| CN107414834A (en) | A kind of multirobot cooperative system Static stiffness real-time performance evaluation method | |
| CN109940606B (en) | Robot guiding system and method based on point cloud data | |
| CN110154089A (en) | The abnormal detector and method for detecting abnormality in the joint of robot | |
| JP2012040634A (en) | Calibration device and method for power-controlled robot | |
| Grinshpun et al. | From virtual testbeds to real lightweight robots: Development and deployment of control algorithms for soft robots, with particular reference to | |
| CN111515928B (en) | Mechanical arm motion control system | |
| US20230008909A1 (en) | Automated calibration system and method for the relation between a profile-scanner coordinate frame and a robot-arm coordinate frame | |
| CN109940604A (en) | Workpiece 3 D positioning system and method based on point cloud data | |
| CN110238848B (en) | Method for calculating gravity vector under robot coordinate system | |
| CN113319855B (en) | Gravity compensation method under compliance control mode of multi-joint diagnosis and treatment robot | |
| CN106248000B (en) | The measurement method of part axially bored line | |
| CN109531560A (en) | Big L/D ratio peg-in-hole assembly analysis system and method | |
| CN109794935A (en) | Assembling process power and torque forecasting system and method based on neural network analysis | |
| Wang et al. | Traching control of a redundant manipulator with the assistance of tactile sensing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |