CN109760048A - A kind of method of servo-controlling of robot, device and robot - Google Patents
A kind of method of servo-controlling of robot, device and robot Download PDFInfo
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- CN109760048A CN109760048A CN201811622861.8A CN201811622861A CN109760048A CN 109760048 A CN109760048 A CN 109760048A CN 201811622861 A CN201811622861 A CN 201811622861A CN 109760048 A CN109760048 A CN 109760048A
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Abstract
The present invention is suitable for technical field of robot control, provide the method for servo-controlling, device and terminal device of a kind of robot, it include: the actual torque for obtaining each joint of the robot, obtain the Rated motor torque in each joint of joint reduction ratio and the robot, the torque Feed-forward command values that each joint is obtained according to the joint reduction ratio, the actual torque in each joint, the Rated motor torque in each joint carry out feedforward compensation to the articulate torque of the institute, robot according to the torque Feed-forward command values.When Rated motor torque that the present invention passes through the actual torque obtained robot under different motion state, shutdown is slowed down simultaneously calculates, obtain the torque feedforward compensation value in each joint of robot, feedforward compensation is carried out with the torque to each joint, improves robot in the performance of dynamic tracking of accelerating and decelerating part.
Description
Technical field
The invention belongs to technical field of robot control more particularly to a kind of method of servo-controlling of robot, device and
Robot.
Background technique
The SERVO CONTROL of robot relies primarily on the three close-loop control (i.e. position ring, speed ring and torque ring) in servo itself
Based on, the adjusting dependent on PID control to output.
The problem of there is hyperharmonic time lags due to PID control itself, makes servo-controlled precision receive constraint.
Currently, many servos enhance the tracking performance of servo by the way that velocity feed forward instruction is added.
However, still will appear hysteresis since the velocity variations of robot during the motion are bigger, reducing and watch
The tracking performance of clothes.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of method of servo-controlling of robot, device and robot, with solution
Certainly PID control is there are hyperharmonic time lag phenomenon in the prior art, the problem of making servo-controlled precision receive constraint.
The first aspect of the embodiment of the present invention provides a kind of method of servo-controlling of robot, comprising:
Obtain the actual torque in each joint of the robot；
Obtain the Rated motor torque in each joint of joint reduction ratio and the robot；
It is obtained according to the joint reduction ratio, the actual torque in each joint, the Rated motor torque in each joint
The torque Feed-forward command values in each joint；
Feedforward compensation is carried out to the articulate torque of the institute, robot according to the torque Feed-forward command values.
Optionally, the actual torque in each joint of the robot is obtained, comprising:
Obtain the kinetic parameter in each joint of the robot；Wherein, the kinetic parameter include inertia tensor, it is quiet
Torque, quality, rotor inertia, viscosity friction coefficient and Coulomb friction coefficient；
Speed planning, acquisition speed program results are carried out according to the kinetic parameter in each joint of the robot；
The actual torque in each joint of the robot is obtained according to the speed planning result.
Optionally, it before the actual torque in each joint that the robot is obtained according to the speed planning result, also wraps
It includes:
Inverse dynamics model is established by Newton-Euler method or Lagrangian method.
Optionally, the actual torque in each joint of the robot is obtained according to the speed planning result, comprising:
The speed planning result is calculated according to inverse dynamics model, obtains the reality in each joint of the robot
Border torque.
Optionally, feedforward compensation is carried out to the articulate torque of the institute, robot according to the torque Feed-forward command values,
Include:
The torque Feed-forward command values are sent to torque feedforward port；
The torque feedforward port is controlled according to the torque Feed-forward command values to the articulate torque of the institute, robot
Carry out feedforward compensation.
Optionally, according to the joint reduction ratio, the actual torque in each joint, the Rated motor power in each joint
Square obtains the torque Feed-forward command values in each joint, comprising:
According to Calculating Torque during Rotary formula to the actual torque of the joint reduction ratio, each joint and the electricity in each joint
Machine rated moment is calculated, and the torque Feed-forward command values in each joint are obtained.
Optionally, the Calculating Torque during Rotary formula are as follows:
Wherein, τjFor the actual torque in each joint, the r is the joint reduction ratio, the TorratedIt is described
The Rated motor torque in each joint.
The second aspect of the embodiment of the present invention provides a kind of Servocontrol device of robot, comprising:
First obtains module, the actual torque in each joint for obtaining the robot；
Second obtains module, the Rated motor torque in each joint for obtaining joint reduction ratio and the robot；
Third obtains module, for according to the actual torque of the joint reduction ratio, each joint, each joint
Rated motor torque obtains the torque Feed-forward command values in each joint；
Feed-forward compensation module, for being carried out according to the torque Feed-forward command values to the articulate torque of the institute, robot
Feedforward compensation.
The third aspect of the embodiment of the present invention provides a kind of robot, comprising: memory, processor and is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor executes real when the computer program
Now such as the step of the above method.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, realizes when the computer program is executed by processor such as the step of the above method.
The embodiment of the present invention passes through the actual torque obtained robot under different motion state, shutdown deceleration when motor
Rated moment is simultaneously calculated, and is obtained the torque feedforward compensation value in each joint of robot, is feedovered with the torque to each joint
Compensation, improves robot in the performance of dynamic tracking of accelerating and decelerating part.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow diagram of the method for servo-controlling for the robot that the embodiment of the present invention one provides；
Fig. 2 is the flow diagram of the method for servo-controlling of robot provided by Embodiment 2 of the present invention；
Fig. 3 is the flow diagram of the method for servo-controlling for the robot that the embodiment of the present invention three provides；
Fig. 4 is the flow diagram of the method for servo-controlling for the robot that the embodiment of the present invention four provides；
Fig. 5 is the structural schematic diagram of the Servocontrol device for the robot that the embodiment of the present invention five provides；
Fig. 6 is the schematic diagram for the robot that the embodiment of the present invention six provides.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention are explicitly described, it is clear that described embodiment is the present invention one
The embodiment divided, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, should fall within the scope of the present invention.
Description and claims of this specification and term " includes " and their any deformations in above-mentioned attached drawing, meaning
Figure, which is to cover, non-exclusive includes.Such as process, method or system comprising a series of steps or units, product or equipment do not have
It is defined in listed step or unit, but optionally further comprising the step of not listing or unit, or optionally also wrap
Include the other step or units intrinsic for these process, methods, product or equipment.In addition, term " first ", " second " and
" third " etc. is for distinguishing different objects, not for description particular order.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
As shown in Figure 1, the present embodiment provides a kind of method of servo-controlling of robot, this method can be applied to mobile phone,
The terminal devices such as PC, tablet computer, robot.The method of servo-controlling of robot provided by the present embodiment, comprising:
S101, obtain the robot each joint actual torque.
In a particular application, the actual torque in each joint of robot is obtained by Inverse Dynamic Equation, specifically, according to
Inverse Dynamic Equation calculates position of each joint of robot under current trajectory, speed, acceleration, obtains machine
The actual torque in each joint of device people.
The Rated motor torque in each joint of S102, acquisition joint reduction ratio and the robot.
In a particular application, by speed reducer obtain each joint joint reduction ratio and preset robot it is each
The Rated motor torque in joint.
S103, according to the joint reduction ratio, the actual torque in each joint, the Rated motor torque in each joint
Obtain the torque Feed-forward command values in each joint.
In a particular application, according to the actual torque of the joint reduction ratio in each joint of robot and each joint for calculating acquisition
And the Rated motor torque in each joint obtains the torque Feed-forward command values in each joint.In the present embodiment, torque meter can be passed through
Calculate the torque Feed-forward command values that formula obtains above-mentioned each joint.
S104, feedforward compensation is carried out to the articulate torque of the institute, robot according to the torque Feed-forward command values.
In a particular application, it is feedovered according to institute articulate torque of the torque Feed-forward command values of acquisition to robot
Compensation, even if the articulate actual torque of institute is equal with corresponding torque Feed-forward command values.
In one embodiment, step S1013, comprising:
S10131, the speed planning result is calculated according to inverse dynamics model, obtains each of the robot
The actual torque in joint.
In a particular application, speed planning result is calculated according to inverse dynamics model, obtains each pass of robot
The actual torque of section.Wherein, speed planning result includes but is not limited to the machine that speed planning acquisition is carried out according to kinetic parameter
The position of device people, speed, acceleration.
In one embodiment, using the speed in the program results as velocity feed forward value, and according to the speed before
Feedback value is adjusted the speed in each joint of robot.
In a particular application, using the speed in program results as velocity feed forward value, velocity feed forward value is sent to machine
The positioner of people, control positioner are adjusted according to speed of the velocity feed forward value to each joint of robot, make machine
The actual speed of device people is equal with velocity feed forward value.
The present embodiment passes through the actual torque obtained robot under different motion state, shutdown deceleration when Rated motor
Torque is simultaneously calculated, and the torque feedforward compensation value in each joint of robot is obtained, and carries out feedforward compensation with the torque to each joint,
Robot is improved in the performance of dynamic tracking of accelerating and decelerating part.
Embodiment two
As shown in Fig. 2, the present embodiment is the further explanation to the method and step in embodiment one.In the present embodiment,
Step S101, including
S1011, obtain the robot each joint kinetic parameter；Wherein, the kinetic parameter includes inertia
Tensor, statical moment, quality, rotor inertia, viscosity friction coefficient and Coulomb friction coefficient；
In a particular application, machine is obtained by dynamic parameters identification method (or directly acquiring preset kinetic parameter)
The kinetic parameter in each joint of device people, wherein kinetic parameter includes but is not limited to inertia tensor, statical moment, quality, motor turn
Viscosity friction coefficient and Coulomb friction coefficient in sub- inertia, Frictional model.Statical moment includes joint in X-axis, Y-axis, Z axis three
Statical moment (i.e. MX, MY, MZ) on a direction.
S1012, speed planning, acquisition speed planning knot are carried out according to the kinetic parameter in each joint of the robot
Fruit.
In a particular application, speed planning, acquisition speed planning are carried out according to the kinetic parameter in each joint of robot
As a result.Wherein, speed planning result includes but is not limited to position, velocity and acceleration.
S1013, obtained according to the speed planning result robot each joint actual torque.
In a particular application, speed planning result is calculated by Inverse Dynamic Equation, obtains each joint of robot
Actual torque.
In one embodiment, before step S1013, further includes:
Inverse dynamics model is established by Newton-Euler method or Lagrangian method.
In a particular application, inverse dynamics model is established by Newton-Euler method or Lagrangian method, with calculating robot
The actual torque in each joint.
The present embodiment is calculated by obtaining kinetic parameter and memory of the robot in current trajectory, obtains machine
The actual torque in each joint of device people is improved with obtaining the torque feedforward value in each joint of robot in real time to each joint of robot
Carry out the accuracy and flexibility of torque feedforward.
Embodiment three
As shown in figure 3, the present embodiment is the further explanation to the method and step in embodiment one.In the present embodiment,
Step S104, comprising:
S1041, the torque Feed-forward command values are sent to torque feedforward port；
In a particular application, it sends by calculating the torque Feed-forward command values obtained to torque feedforward port, to machine
The torque in each joint of people is adjusted.
S1042, control torque feedforward port are according to the torque Feed-forward command values to all joints of the robot
Torque carry out feedforward compensation.
In a particular application, control moment feedforward port is carried out according to torque of the torque Feed-forward command values to corresponding joint
Feedforward compensation, even if the articulate actual torque of institute, robot is equal with corresponding torque Feed-forward command values.
The present embodiment, which passes through, carries out feedforward compensation according to torque of the torque feedforward value obtained in real time to each joint, improves
The speed of torque feedforward compensation improves the flexibility of the performance of dynamic tracking of servo.
Example IV
As shown in figure 4, the present embodiment is the further explanation to the method and step in embodiment one.In the present embodiment,
Step S103, comprising:
S1031, the actual torque according to Calculating Torque during Rotary formula to the joint reduction ratio, each joint and each pass
The Rated motor torque of section is calculated, and the torque Feed-forward command values in each joint are obtained.
In a particular application, according to Calculating Torque during Rotary formula to the actual torque of joint reduction ratio, each joint and each joint
Rated motor torque is calculated, and the torque Feed-forward command values in each joint of robot are obtained.
In one embodiment, the Calculating Torque during Rotary formula are as follows:
Wherein, τjFor the actual torque in each joint, the r is the joint reduction ratio, the TorratedIt is described
The Rated motor torque in each joint.
In a particular application, Calculating Torque during Rotary formula are as follows:
Wherein, τjFor the actual torque in each joint, r is joint reduction ratio, TorratedFor the Rated motor torque in each joint；
In one embodiment, τjOr calculated according to preset power parameter of the Inverse Dynamic Equation to each joint of robot,
The ideal torque of acquisition；Alternatively, τjOr by by the actual torque in each joint and ideal torque according to preset ratio knot
The torque obtained is closed, preset ratio can specifically be set according to the actual situation.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
The present embodiment is counted by the Rated motor torque of actual torque and each joint to joint reduction ratio, each joint
Calculate, obtain the torque Feed-forward command values in each joint of robot, with realize in varied situations to the torque in each joint of robot into
Row feedforward compensation improves servo tracking performance of the robot under motion state.
Embodiment five
As shown in figure 5, the present embodiment provides a kind of Servocontrol devices 100 of robot, for executing in embodiment one
Method and step.The Servocontrol device 100 of robot provided in this embodiment, comprising:
First obtains module 101, the actual torque in each joint for obtaining the robot；
Second obtains module 102, the Rated motor torque in each joint for obtaining joint reduction ratio and the robot；
Third obtains module 103, for the actual torque according to the joint reduction ratio, each joint, each pass
The Rated motor torque of section obtains the torque Feed-forward command values in each joint；
Feed-forward compensation module 104 is used for according to the torque Feed-forward command values to the articulate torque of the institute, robot
Carry out feedforward compensation.
In one embodiment, described first module 101 is obtained, comprising:
First acquisition unit 1011, the kinetic parameter in each joint for obtaining the robot；Wherein, the power
Learning parameter includes inertia tensor, statical moment, quality, rotor inertia, viscosity friction coefficient and Coulomb friction coefficient；
Planning unit 1012, the kinetic parameter for each joint according to the robot carry out speed planning, obtain
Speed planning result；
Second acquisition unit 1013, the reality in each joint for obtaining the robot according to the speed planning result
Torque.
In one embodiment, described first module 101 is obtained, further includes:
Unit 1014 is established, for establishing inverse dynamics model by Newton-Euler method or Lagrangian method.
In one embodiment, second acquisition unit 1013, comprising:
Computation subunit 10131 obtains institute for calculating according to inverse dynamics model the speed planning result
State the actual torque in each joint of robot.
In one embodiment, the feed-forward compensation module 104, comprising:
Transmission unit, for sending the torque Feed-forward command values to torque feedforward port；
Control unit, for controlling torque feedforward port according to the torque Feed-forward command values to the institute, robot
Articulate torque carries out feedforward compensation.
In one embodiment, the third obtains module 103, comprising:
Third acquiring unit, for the actual forces according to Calculating Torque during Rotary formula to the joint reduction ratio, each joint
The Rated motor torque in square and each joint is calculated, and the torque Feed-forward command values in each joint are obtained.
In one embodiment, the Calculating Torque during Rotary formula are as follows:
Wherein, τjFor the actual torque in each joint, the r is the joint reduction ratio, the TorratedIt is described
The Rated motor torque in each joint.
The present embodiment passes through the actual torque obtained robot under different motion state, shutdown deceleration when Rated motor
Torque is simultaneously calculated, and the torque feedforward compensation value in each joint of robot is obtained, and carries out feedforward compensation with the torque to each joint,
Robot is improved in the performance of dynamic tracking of accelerating and decelerating part.
Embodiment six
Fig. 6 is the schematic diagram of robot provided in this embodiment.As shown in fig. 6, the robot 6 of the embodiment includes: place
It manages device 60, memory 61 and is stored in the computer program that can be run in the memory 61 and on the processor 60
62, such as the SERVO CONTROL program of robot.The processor 60 realizes above-mentioned each machine when executing the computer program 62
Step in the method for servo-controlling embodiment of device people, such as step S101 to S104 shown in FIG. 1.Alternatively, the processor
The function of each module/unit in above-mentioned each Installation practice, such as mould shown in Fig. 5 are realized when the 60 execution computer program 62
The function of block 101 to 104.
Illustratively, the computer program 62 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 61, and are executed by the processor 60, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 62 in the robot 6 is described.For example, the computer program 62 can be divided
It is as follows that module, the second acquisition module, third acquisition module and feed-forward compensation module, each module concrete function are obtained at first:
First obtains module, the actual torque in each joint for obtaining the robot；
Second obtains module, the Rated motor torque in each joint for obtaining joint reduction ratio and the robot；
Third obtains module, for according to the actual torque of the joint reduction ratio, each joint, each joint
Rated motor torque obtains the torque Feed-forward command values in each joint；
Feed-forward compensation module, for being carried out according to the torque Feed-forward command values to the articulate torque of the institute, robot
Feedforward compensation.
The robot 6 can be desktop PC, notebook, palm PC and cloud server etc. and calculate equipment.
The robot may include, but be not limited only to, processor 60, memory 61.It will be understood by those skilled in the art that Fig. 6 is only
It is the example of robot 6, does not constitute the restriction to robot 6, may include than illustrating more or fewer components or group
Close certain components or different components, for example, the robot can also include input-output equipment, network access equipment,
Bus etc..
Alleged processor 60 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 61 can be the internal storage unit of the robot 6, such as the hard disk or memory of robot 6.
The memory 61 is also possible to the External memory equipment of the robot 6, such as the plug-in type being equipped in the robot 6 is hard
Disk, intelligent memory card (Smart Media Card, SMC), safe digital card (Secure Digital, SD), flash card
(Flash Card) etc..Further, the memory 61 can also both include the internal storage unit of the robot 6 or wrap
Include External memory equipment.The memory 61 is for other programs needed for storing the computer program and the robot
And data.The memory 61 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/robot and method, Ke Yitong
Other modes are crossed to realize.For example, device/robotic embodiment described above is only schematical, for example, the mould
The division of block or unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple
Unit or assembly can be combined or can be integrated into another system, or some features can be ignored or not executed.It is another
Point, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device or
The INDIRECT COUPLING or communication connection of unit can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of method of servo-controlling of robot characterized by comprising
Obtain the actual torque in each joint of the robot；
Obtain the Rated motor torque in each joint of joint reduction ratio and the robot；
According to the joint reduction ratio, the actual torque in each joint, the acquisition of the Rated motor torque in each joint
The torque Feed-forward command values in each joint；
Feedforward compensation is carried out to the articulate torque of the institute, robot according to the torque Feed-forward command values.
2. the method for servo-controlling of robot as described in claim 1, which is characterized in that obtain each joint of the robot
Actual torque, comprising:
Obtain the kinetic parameter in each joint of the robot；Wherein, the kinetic parameter includes inertia tensor, static(al)
Square, quality, rotor inertia, viscosity friction coefficient and Coulomb friction coefficient；
Speed planning, acquisition speed program results are carried out according to the kinetic parameter in each joint of the robot；
The actual torque in each joint of the robot is obtained according to the speed planning result.
3. the method for servo-controlling of robot as claimed in claim 2, which is characterized in that obtained according to the speed planning result
Before taking the actual torque in each joint of the robot, further includes:
Inverse dynamics model is established by Newton-Euler method or Lagrangian method.
4. the method for servo-controlling of robot as claimed in claim 2, which is characterized in that obtained according to the speed planning result
Take the actual torque in each joint of the robot, comprising:
The speed planning result is calculated according to inverse dynamics model, obtains the actual forces in each joint of the robot
Square.
5. the method for servo-controlling of robot as described in claim 1, which is characterized in that according to the torque Feed-forward command values
Feedforward compensation is carried out to the articulate torque of the institute, robot, comprising:
The torque Feed-forward command values are sent to torque feedforward port；
It controls the torque feedforward port and the articulate torque of the institute, robot is carried out according to the torque Feed-forward command values
Feedforward compensation.
6. the method for servo-controlling of robot as described in claim 1, which is characterized in that according to the joint reduction ratio, institute
The Rated motor torque of the actual torque, each joint of stating each joint obtains the torque Feed-forward command values in each joint, packet
It includes:
According to Calculating Torque during Rotary formula to the actual torque of the joint reduction ratio, each joint and the motor volume in each joint
Determine torque to be calculated, obtains the torque Feed-forward command values in each joint.
7. the method for servo-controlling of robot as claimed in claim 6, which is characterized in that the Calculating Torque during Rotary formula are as follows:
Wherein, τjFor the actual torque in each joint, the r is the joint reduction ratio, the TorratedFor each pass
The Rated motor torque of section.
8. a kind of Servocontrol device of robot characterized by comprising
First obtains module, the actual torque in each joint for obtaining the robot；
Second obtains module, the Rated motor torque in each joint for obtaining joint reduction ratio and the robot；
Third obtains module, for the motor according to the actual torque of the joint reduction ratio, each joint, each joint
Rated moment obtains the torque Feed-forward command values in each joint；
Feed-forward compensation module, for being feedovered according to the torque Feed-forward command values to the articulate torque of the institute, robot
Compensation.
9. a kind of robot, including memory, processor and storage can transport in the memory and on the processor
Capable computer program, which is characterized in that the processor realizes such as claim 1 to 7 times when executing the computer program
The step of one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 7 of realization the method.
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| CN201811622861.8A CN109760048B (en) | 2018-12-28 | 2018-12-28 | Robot servo control method and device and robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666794A (en) * | 2019-09-25 | 2020-01-10 | 天津大学 | Tail end load force compensation method for dragging of multi-degree-of-freedom cooperative robot |
| CN110842925A (en) * | 2019-11-24 | 2020-02-28 | 深圳华数机器人有限公司 | Torque feedforward compensation method of collaborative robot |
| CN110861090A (en) * | 2019-12-03 | 2020-03-06 | 泉州华中科技大学智能制造研究院 | Torque feedforward control system and method |
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| CN112613149A (en) * | 2020-12-30 | 2021-04-06 | 深圳市优必选科技股份有限公司 | Method and device for determining reduction ratio and electronic equipment |
| CN114425770A (en) * | 2020-10-29 | 2022-05-03 | 北京配天技术有限公司 | Industrial robot teaching control method, electronic equipment and storage medium |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666794A (en) * | 2019-09-25 | 2020-01-10 | 天津大学 | Tail end load force compensation method for dragging of multi-degree-of-freedom cooperative robot |
| CN110666794B (en) * | 2019-09-25 | 2022-03-04 | 天津大学 | Method for compensating load force and moment of end tool of robot |
| CN110842925A (en) * | 2019-11-24 | 2020-02-28 | 深圳华数机器人有限公司 | Torque feedforward compensation method of collaborative robot |
| CN110861090A (en) * | 2019-12-03 | 2020-03-06 | 泉州华中科技大学智能制造研究院 | Torque feedforward control system and method |
| CN112207819A (en) * | 2020-08-31 | 2021-01-12 | 深圳市优必选科技股份有限公司 | Robot, joint control method thereof, and joint control device |
| CN114425770A (en) * | 2020-10-29 | 2022-05-03 | 北京配天技术有限公司 | Industrial robot teaching control method, electronic equipment and storage medium |
| CN112613149A (en) * | 2020-12-30 | 2021-04-06 | 深圳市优必选科技股份有限公司 | Method and device for determining reduction ratio and electronic equipment |
| CN112613149B (en) * | 2020-12-30 | 2024-04-12 | 深圳市优必选科技股份有限公司 | Determination method and device of reduction ratio and electronic equipment |
| CN117075482A (en) * | 2023-10-13 | 2023-11-17 | 深圳市正弦电气股份有限公司 | Servo self-adaptive feedforward control system |
| CN117075482B (en) * | 2023-10-13 | 2024-01-05 | 深圳市正弦电气股份有限公司 | Servo self-adaptive feedforward control system |
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Inventor after: Huang Rui Inventor after: Lang Xulin Inventor after: Liu Peichao Inventor after: Lin Jionghui Inventor after: Cao Linpan Inventor before: Huang Rui Inventor before: Lang Zulin Inventor before: Liu Peichao Inventor before: Lin Jionghui Inventor before: Cao Linpan |