CN109844477A - External force detection method - Google Patents
External force detection method Download PDFInfo
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- CN109844477A CN109844477A CN201780064853.3A CN201780064853A CN109844477A CN 109844477 A CN109844477 A CN 109844477A CN 201780064853 A CN201780064853 A CN 201780064853A CN 109844477 A CN109844477 A CN 109844477A
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- China
- Prior art keywords
- acceleration
- external force
- current
- value
- movable part
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
Abstract
The present invention is constituted as follows: acceleration detector (4) detects the acceleration of fixed part (101), position detector (2) detects the position of the movable part (102) relative to fixed part (101), the current instruction value Irp of difference of position control component (subtracter (5) and gain adjustment portion (the 6)) output based on the position as detected by position detector (2) and base position Pr, acceleration compensation portion (8) output is based on the acceleration as detected by acceleration detector (4) and movable part (102), the acceleration compensation value Irc of the multiplied result of total quality of end effector (12) and workpiece (50), adder-subtractor (9) is added current instruction value Irp with acceleration compensation value Irc, constant current control unit (10) makes driving current I The current value of a is consistent with current instruction value Ir, and external force test section (11) detects external force F according to the resulting result of acceleration compensation value Irc is subtracted from the current value of driving current Ia.
Description
Technical field
The present invention relates to a kind of external force detection methods of external force for detecting and being applied in actuator movable portion.
Background technique
Since in the past, in the apparatus for work for the operations such as being assembled, being pressed or grind, multi-purpose industrial robot
(hereinafter referred to as robot) etc..In the robot, the end effectors such as manipulator (end is installed in the front end of mechanical arm
Effector), by holding operation object (part or workpiece) Lai Jinhang operation.
On the other hand, the movement of robot is usually controlled by position control.Therefore, because of operation object
Scale error or grip position error etc., and cause the target position of the operation object to plan sth. ahead different from actual position
In the case where, big power (external force) is generated when being contacted there are operation object and other objects, in operation object
Generate the worry of damage or breakage.
As its countermeasure, the jig (institute for the power that in addition setting absorption is generated by the location error of operation object sometimes
" buffer " of meaning).But as to operation object each shape or material required by characteristic it is different, it is therefore necessary to
Prepare different buffer corresponding with the species number of operation object, and designs the buffer every time.Accordingly, there exist at
This increase and this enlarged problem of device.
In this regard, also there is following method: force sensor (force being arranged between robot and end effector
Sensor), if excessive power will be generated in the contact of operation object, the testing result of force sensor is fed back to
In robot, without generating excessive power.In the case, buffer is not needed.But the price of force sensor is high.
In addition, in the case where having used force sensor, exist when being difficult to shorten operation because of reason as described below
Between this problem.
That is, detecting and producing at the time of contact when having error on the position that operation object is contacted with other objects
Excessive power simultaneously issues halt instruction, but heavy and with deceleration mechanism robot can not stop movable part suddenly again greatly.
In addition, power caused by robot when the power generated when contact becomes the impact force as caused by inertia and contacts
With.Herein, the product of the quality and movement speed of the impact force as caused by inertia and operation object and robot movable part at
Ratio.But robot has big and weight mechanism, therefore in order to reduce the impact force as caused by inertia, it is necessary to slow down i.e.
By the movement speed before contact.
Even if producing excessive power in addition, detecting and issuing halt instruction, robot can not also stop suddenly, therefore
Even if sharp slowing down from the time point for having issued halt instruction, also stop on the position deviateed from contact position, and
Crush operation object.Moreover, the overshoot of position is proportional to movement speed, therefore has to slow down and lean on operation object
The speed of other nearly objects.
Due to the reason, in region a possibility that being contacted there are operation object and other objects, it is necessary to
Sufficiently reduce the movement speed of robot.But in order to shorten circulation time, it is necessary to accelerate the speed of transfer operation object.
As a result, becoming to be dramatically reduced speed near contact area.
But end effector is installed in the front end of force sensor.Therefore, sharp slowed down in robot
In the case where, it is influenced caused by the quality of reason end effector, and the acceleration with negative direction is generated in force sensor
Spend proportional power.
However, it is difficult to carry out area to the power proportional with the acceleration and the power generated by the contact of operation object
Point, in order to distinguish, it has to significantly extend the deceleration time of robot.
In addition, existing in the case where having used force sensor and being difficult to compensate in real time because of reason as described below
This problem of influence as caused by gravity.
That is, the adoptable posture of robot is not solid always in the case where the operations such as being assembled, being pressed or being ground
Calmly, the case where changing corresponding to the state of operation is more.For example, in the operation ground while tracking curved surface, it must
Posture must be made continuously to change.
But as described above, end effector is installed in the front end of force sensor, thus when the posture of robot simultaneously
When non-horizontal, in force sensor, influence caused by reason acceleration of gravity and generate correspond to the posture of robot with
The power of the quality of end effector.
On the other hand, the gravity compensation mode as the influence of compensation acceleration of gravity, such as can enumerate in patent document 1
Disclosed method.In the patent document 1, prior off-line learning, which is felt because of the influence corresponding to the gravity of posture in power, to be passed
The power generated in sensor.Moreover, subtracting learnt power from the power generated in actual operation, operation power is thus calculated.But
It is that in this method, must all be learnt when changing operation object.In addition, study must be in the contact with object
Preceding progress can not carry out gravity compensation in that case of such as robot continuously changes posture.
In addition, in described, as the external force being applied in movable part, illustrate operation object and other objects into
Gone contact when the power that generates, but not limited to this, generates when end effector and operation object are contacted
Power is same.
Existing technical literature
Patent document
Patent document 1: Japanese Patent Laid-Open 2012-115912 bulletin
Summary of the invention
Problem to be solved by the invention
As described above, the activity duration is elongated in the case where carrying out the operation such as assembling using robot and force sensor.
On the other hand, if it is desired to shorten the activity duration, then it can not be to injuring, crush, contact operation object and correctly detect.Separately
Outside, it is also difficult to carry out gravity compensation in real time.In this way, being had the following problems in the case where having used force sensor:
In the case that robot has sharp carried out the case where acceleration and deceleration or posture has changed, external force can not be correctly detected.
The present invention is as described above into person in order to solve the problems, such as, anxious in movable part even if its purpose is to provide one kind
In the case that the case where having carried out acceleration and deceleration acutely or posture have been changed, it can also correctly detect and be applied in movable part
The external force detection method of external force.
Technical means to solve problem
External force detection method of the invention is characterized in that: acceleration detection means detection enables movable part relative to solid
Determine the acceleration of the fixed part in the actuator that portion is displaced, position detection component is detected relative to the movable of fixed part
The position in portion, position control component export the electricity of the difference based on the position as detected by position detection component and base position
Instruction value is flowed, Acceleration Compensation Unit exports the matter based on the acceleration as detected by acceleration detection means Yu movable part side
The acceleration compensation value of the multiplied result of amount, adding unit make the current instruction value exported from position control component with from
The acceleration compensation value exported in Acceleration Compensation Unit is added, and constant current control unit makes the driving current for driving actuator
Current value it is consistent with the current instruction value that added acceleration compensation value by adding unit, external force detection part according to from
It is resulting as a result, the external force that detection is applied in movable part that the current value of driving current subtracts acceleration compensation value.
The effect of invention
According to the present invention, due to constituting as described, so even sharp having carried out the feelings of acceleration and deceleration in actuator
In the case that condition or posture have been changed, the external force being applied in movable part can also be correctly detected.
Detailed description of the invention
[Fig. 1] is the figure for indicating the structural example of the apparatus for work including external force detection equipment of embodiments of the present invention 1.
[Fig. 2] is the figure for indicating the structural example in the gain adjustment portion in embodiments of the present invention 1.
[Fig. 3] Fig. 3 A and Fig. 3 B is illustrated in the external force detection equipment of embodiments of the present invention 1, actuator sharply
Ground has carried out the figure of the detection of external force when movable part in the state of acceleration and deceleration contacts workpiece, Fig. 3 A be indicate to have been entered to
The figure of the driving current and acceleration compensation value in subtracter in external force test section, Fig. 3 B are to indicate to be examined by external force test section
The figure of the external force measured.
Specific embodiment
Hereinafter, detaileding description of embodiments of the present invention while referring to attached drawing.
Embodiment 1.
Fig. 1 is the apparatus for work including external force detection equipment (contact control unit) for indicating embodiments of the present invention 1
Structural example figure.
Apparatus for work is the device for the operations such as being assembled, being pressed or being ground.As shown in Figure 1, the apparatus for work includes:
Actuator 1, position detector (position detection component) 2, position and speed converter section 3, acceleration detector (acceleration detecting section
Part) 4, subtracter 5, gain adjustment portion 6, quality inferring portion (quality deduction component) 7, (acceleration compensation portion, acceleration compensation portion
Part) 8, adder-subtractor (adding unit) 9, constant current control unit (constant current control unit) 10 and external force test section (external force
Detection part) 11.
In addition, position detector 2, position and speed converter section 3, acceleration detector 4, subtracter 5, gain adjustment portion 6, matter
It measures inferring portion 7, acceleration compensation portion 8, adder-subtractor 9, constant current control unit 10 and external force test section 11 and constitutes external force detection
Device.
Actuator 1 enables movable part 102 relative to fixed part by supplying electric current to the coil for having been placed into magnetic field
101 move in the enterprising line position of linear movement direction or direction of rotation.Before the actuator 1 is installed in robot (not shown) etc.
End, it is whole to be transferred, in addition, posture is changed.
In addition, being equipped with end effector 12 on movable part 102.In Fig. 1, gripping claw (manipulator) is installed as end
Hold actuator 12.Gripping claw is constituted in a manner of holding operation object freely.In addition, following presentation uses workpiece 50 as work
The case where industry object, but part also can be used.
Position detector 2 is arranged on actuator 1, and the position for detecting the movable part 102 relative to fixed part 101 is (opposite
Position).Indicate that the signal (position signal) of the position as detected by the position detector 2 is output to position and speed conversion
In portion 3 and subtracter 5.
Position and speed converter section 3 carries out differential to the position detected by position detector 2 to be converted into speed.It is described
Speed indicates the speed (relative velocity) of the movable part 102 relative to fixed part 101.It indicates by the position and speed converter section 3
The signal (speed signal) for the speed converted is output in adder-subtractor 9.
Acceleration detector 4 is arranged on fixed part 101, detects the acceleration of fixed part 101.At this point, acceleration detection
Device 4 detects one of acceleration of gravity α g and translational acceleration α 1 of fixed part 101 or the two is made to be added resulting acceleration
(αg+α1).In Fig. 1, the case where acceleration detector 4 detects acceleration (α g+ α 1) is indicated.It indicates by the acceleration detection
The signal (acceleration signal) of acceleration detected by device 4 is output in acceleration compensation portion 8.
Subtracter 5 subtracts the position as detected by position detector 2 from base position Pr.It indicates by the subtracter 5
The resulting signal for subtracting each other result is output in gain adjustment portion 6.
Value of the gain adjustment portion 6 to the compliance (inverse of spring constant: the index of flintiness pliability) in actuator 1
It is adjusted.As shown in Figure 1 and Figure 2, the gain adjustment portion 6 has loop gain determination part 601, gain cross-over control unit 602
And variable gain adjustment section 603.
Loop gain determination part 601 measures the loop gain of the signal exported from subtracter 5.At this point, loop gain
Determination part 601 is as shown in Fig. 2, make the signal exported from subtracter 5 and loop gain become 1 times by oscillator 6011
The frequency of (0dB), the i.e. sine wave of the frequency set by gain cross-over are added via adder 6012.By the circuit
Signal before and after the addition of the resulting sine wave of gain determination part 601 is output in gain cross-over control unit 602.
Gain cross-over control unit 602 is as shown in Fig. 2, as comparator 6021 come to as obtained by loop gain determination part 601
Sine wave addition before and after signal in amplitude ratio be compared.It indicates resulting by the gain cross-over control unit 602
The signal of comparison result is output in variable gain adjustment section 603.
Variable gain adjustment section 603 becomes 1 with the multiplying power of the amplitude ratio compared by gain cross-over control unit 602
Mode, adjust the gain of signal exported from subtracter 5.Circuit is had adjusted by the variable gain adjustment section 603 to increase
The signal of benefit is output in adder-subtractor 9 as current instruction value Irp.In addition, indicating by 603 institute of variable gain adjustment section
The signal of the adjusted value of the loop gain obtained is output in quality inferring portion 7.
In addition, subtracter 5 and gain adjustment portion 6 constitute output based on the position as detected by position detector 2 and base
Level sets the position control component (phase control loop) of the current instruction value Irp of the difference of Pr.
Quality inferring portion 7 infers movable part according to the adjusted value by the resulting loop gain of variable gain adjustment section 603
The quality of 102 sides.That is, the principle that quality inferring portion 7 is proportional to the variation of quality using the variation of loop gain.Herein, exist
In the case that end effector 12 does not hold workpiece 50, the quality of 102 side of movable part is by the mass M 1 of movable part 102 and end
The mass M 2 of actuator 12 is added resulting quality (M1+M2), in the case where end effector 12 has held workpiece 50, movably
The quality of 102 side of portion is to be added the mass M 1 of movable part 102 with the mass M 3 of the mass M 2 of end effector 12 and workpiece 50
Resulting quality (M1+M2+M3).In addition, indicating that quality inferring portion 7 is inferred the mass M 1 of movable part 102 and end in Fig. 1
The case where mass M 3 of the mass M 2 and workpiece 50 of holding actuator 12 is added resulting quality (M1+M2+M3).It indicates by the matter
The signal for the quality that amount inferring portion 7 is inferred is output in acceleration compensation portion 8.
In addition, the operating principle of gain adjustment portion 6 and quality inferring portion 7 is identical as following patent documents 2, and omit it
Detailed description.
In addition, the case where illustrating through quality inferring portion 7 quality for inferring 102 side of movable part in described, but simultaneously
It is not limited to this, other methods can be used also to obtain the quality of 102 side of movable part.
Patent document 2: Japanese Patent Laid-Open 2010-182084 bulletin
Acceleration compensation portion 8 exports the acceleration compensation value for correcting perturbing torque (disturbance torque)
Irc.The acceleration compensation portion 8 has multiplier 801 and multiplication portion 802.
The quality that multiplier 801 makes the acceleration as detected by acceleration detector 4 and inferred by quality inferring portion 7
It is multiplied.It indicates to be output to multiplication portion 802 and external force test section by the signal of the resulting multiplied result of the multiplier 801
In 11.
Multiplication portion 802 makes to be multiplied by the resulting multiplied result of multiplier 801 with coefficient (1/Kt).In addition, Kt is table
Show the torque constant of the ratio for the thrust and driving current Ia that actuator 1 generates.It indicates by the resulting phase in the multiplication portion 802
The signal for multiplying result is output in adder-subtractor 9 as acceleration compensation value Irc.
Adder-subtractor 9 make from the current instruction value Irp that is exported in gain adjustment portion 6 with from acceleration compensation portion 8
The acceleration compensation value Irc of output is added, and subtracts the speed signal exported from position and speed converter section 3.It indicates by institute
The signal for stating the resulting plus-minus result of adder-subtractor 9 is output in constant current control unit 10 as current instruction value Ir.
Constant current control unit 10 by make drive actuator 1 driving current Ia and current instruction value Ir it is consistent in a manner of into
Row control.The constant current control unit 10 has subtracter 1001, driving driver 1002 and current detector 1003.
Subtracter 1001 is subtracted from the current instruction value Ir exported from adder-subtractor 9 and is examined by current detector 1003
The current value of the driving current Ia measured.It indicates to be output to driving by the signal of the resulting subtracted result of the subtracter 1001
With in driver 1002.
Driving driver 1002, which generates, to be corresponded to by the resulting driving current Ia for subtracting each other result of subtracter 1001.By institute
Driving current Ia caused by driving driver 1002 is stated to be output in actuator 1 via current detector 1003.
Current detector 1003 is detected as the current value of driving driving current Ia caused by driver 1002.Indicate by
The signal of current value detected by the current detector 1003 is output in subtracter 1001.
External force test section 11 is resulting as a result, inspection according to acceleration compensation value Irc is subtracted from the current value of driving current Ia
Survey external force (reaction force) F being applied in movable part 102.In addition, can be arranged as the external force F being applied in movable part 102
It lifts: the workpiece 50 and other objects that end effector 12 has been held generated power or end effector 12 when being contacted
Generated power when being contacted with workpiece 50.The external force test section 11 has multiplication portion 1101, subtracter 1102
And multiplication portion 1103.
Multiplication portion 1101 makes the resulting multiplied result of multiplier 801 and coefficient (1/Kt) by acceleration compensation portion 8
It is multiplied.Expression is output in subtracter 1102 by the signal of the resulting multiplied result in the multiplication portion 1101.
Subtracter 1102 is subtracted from the current value of the driving current Ia as caused by constant current control unit 10 by coefficient phase
Multiply the resulting multiplied result in portion 1101.It indicates to be output to coefficient phase by the resulting signal for subtracting each other result of the subtracter 1102
Multiply in portion 1103.
Multiplication portion 1103 makes to be subtracted each other result by subtracter 1102 is resulting and be multiplied with coefficient (Kt), thus to obtain external force
F。
Then, the operating principle of the external force detection equipment of embodiment 1 is illustrated.In addition, being set as to have produced below
Raw thrust is transferred directly to the linear actuators for directly driving form in workpiece 50 used as actuator 1, and makes movable
Portion 102 carries out linear motion person relative to fixed part 101.The actuator 1 corresponds to electric current by constant current control unit 10
Driving current Ia caused by instruction value Ir drives.
On the other hand, position detector 2 detection relative to fixed part 101 movable part 102 on linear movement direction
Position.
In addition, position and speed converter section 3 carries out differential to the position detected by position detector 2 to be converted into speed
Degree.The speed indicates the speed of the movable part 102 relative to fixed part 101.
In addition, acceleration detector 4 detects the acceleration on linear movement direction of fixed part 101.Hereinafter, will accelerate
Degree detector 4 is set as detecting the translational acceleration α 1 and fixed part 101 on linear movement direction ingredient of fixed part 101
Acceleration of gravity α g on linear movement direction ingredient is added resulting acceleration (α 1+ α g) person.
In addition, be compared the position as detected by position detector 2 with base position Pr in subtracter 5,
Difference is provided in adder-subtractor 9 as current instruction value Irp via gain adjustment portion 6, and the current instruction value Irp is
Constitute one of the element of current instruction value Ir.
Current instruction value Ir includes the acceleration compensation value for correcting perturbing torque in addition to current instruction value Irp
Irc is indicated by following formula (1).
Ir=Irp+Irc (1)
In addition, if merely feedback position, control system become unstable.Therefore, position and speed will actually be come from
The speed signal of converter section 3 is added in the negative output of adder-subtractor 9 and is stabilized as subloop (minor loop),
But it is omitted below.
In addition, changing the loop gain of position control loop in gain adjustment portion 6, thus can make soft in actuator 1
The value of amount changes.
Herein, if being conceived to driving current Ia, current value becomes zero in the case where unperturbed dynamic torque, but is having disturbance
In the case where torque, current value changes with being also proportional to.
As general perturbing torque, it is contemplated that the reaction force being subject to when operation from workpiece 50, gravity and by mobile plus
Loss torque of power, retarder caused by speed etc..Herein, actuator 1 is the linear actuators for the form that directly drives, therefore
Without retarder, consider that the necessity of loss torque is few.Therefore, driving current Ia becomes and is subject to from workpiece 50 when operation
The proportional value of reaction force, gravity, the power as caused by translational acceleration.In addition, reaction force is set as workpiece 50 below
Contact generated power when other objects.
Herein, the driving current of actuator 1 is set as Ia, F will be set as from the reaction force that workpiece 50 is subject to when operation, it will
The translational acceleration on linear movement direction ingredient of fixed part 101 is set as α 1, by fixed part 101 in linear movement direction
Acceleration of gravity on ingredient is set as α g, and the quality of movable part 102 is set as M1, and the quality of end effector 12 is set as M2,
The quality of workpiece 50 is set as M3.In the case, the relationship of following formula (2) is set up.
F+(α1+αg)·(M1+M2+M3)
=KtIr=Kt (Irp+Irc) (2)
In addition, Kt is the torque constant of the ratio of the thrust and driving current Ia that indicate that actuator 1 generates.
In addition, setting the acceleration compensation value Irc for correcting perturbing torque as following formula (3) in formula (2).
(α 1+ α g) (M1+M2+M3)=KtIrc (3)
In the case where setting acceleration compensation value Irc as formula (3), from the formula (2) removal α 1, α g, M1, M2,
The project of M3 is arranged as following formula (4).
F=KtIrp (4)
If in this way, know to set the acceleration compensation value Irc for correcting perturbing torque as formula (3), when operation
The reaction force F and current instruction value Irp being subject to from workpiece 50 become proportionate relationship.
This means that from the power that workpiece 50 is subject to being zero in operation, i.e., the case where workpiece 50 is not contacted with other objects
Under, the current instruction value Irp based on base position Pr and the difference of actual position is also zero, i.e. position is not displaced.
Moreover, produced when can know that workpiece 50 is contacted with other objects by standby current instruction value Irp
Reaction force F.
It is the translational acceleration α 1 on linear movement direction ingredient not comprising fixed part 101, solid moreover, in formula (4)
Determine acceleration of gravity α g on linear movement direction ingredient in portion 101, the mass M 1 of movable part 102, end effector 12
The project of mass M 2, the mass M 3 of workpiece 50.
Even if that is, the case where robot is sharp moved, is stopped and produced translational acceleration or robot connect
Posture is changed continuously and in the case that acceleration of gravity has changed, the movable part 102 of actuator 1 will not rock and can be correctly
Detect reaction force F.
Moreover, the value of compliance can also be set freely.
In addition, as described above, can know that workpiece 50 and other objects carry out contact institute by standby current instruction value Irp
The reaction force F of generation.
But in position control loop, current instruction value Irp is usually unhappy for the response of reaction force F.Another party
Face, driving current Ia are very fast for the response ratio of reaction force F.Therefore, it by not being directly monitored by current instruction value Irp, and supervises
The detection of reaction force F is carried out depending on driving current Ia.
Herein, formula (2) is as follows.
F+(α1+αg)·(M1+M2+M3)
=KtIr=Kt (Irp+Irc) (2)
On the other hand, driving current Ia is indicated by following formula (5).
Ia=Ir=Irp+Irc (5)
Therefore, following formula (6) can be obtained according to formula (2), (5).
F+ (α 1+ α g) (M1+M2+M3)=KtIa (6)
Moreover, if subtracting ((α 1+ α g) (the M1+M2+M3)) Lai Jinhang on the left side as formula (3) from the both sides of formula (6)
It arranges, then can get following formula (7).
F=Kt (Ia- (α 1+ α g) (M1+M2+M3)/Kt) (7)
As shown in the formula (7), after subtracting acceleration compensation value (α 1+ α g) (M1+M2+M3)/Kt from driving current Ia
Multiplied by torque constant Kt, thus reaction force F can be found out according to Ia proportional to reaction force F and that response is fast.
In Fig. 3, indicate that movable part 102 carries out linear motion downward as shown in Figure 1 and workpiece 50 contacts it
Signal waveform when his object (not shown).In addition, indicating to have been entered the driving current into subtracter 1102 in figure 3 a
Ia and acceleration compensation value Irc (=((α 1+ α g) (M1+M2+M3))/Kt), indicates in figure 3b by 11 institute of external force test section
The reaction force F detected.As shown in described Fig. 3, acceleration compensation value Irc (=((α 1+ α g) is subtracted from driving current Ia
(M1+M2+M3))/Kt) after multiplied by coefficient (Kt), thus can correctly detect reaction force F.
Then, effect caused by the external force detection equipment as embodiment 1 is illustrated.
As described above, the movement of robot is usually controlled by position control.Therefore, because of operation object
Scale error or grip position error etc., and cause the target position of the operation object to plan sth. ahead different from actual position
In the case where, there are big power is generated when operation object and other objects are contacted, damage is generated in operation object
Wound or the worry of breakage.
As its countermeasure, also there is following method: force sensor is set between robot and end effector, if
Excessive power will be generated when the contact of operation object, then is fed back to the testing result of force sensor in robot, and
Generate excessive power.
But produce excessive power even if detecting and issue halt instruction, robot can not also stop suddenly, therefore
Even if sharp slowing down from the time point for having issued halt instruction, also stop on the position deviateed from contact position, and
Crush operation object.Moreover, the overshoot of position is proportional to movement speed, therefore has to slow down and lean on operation object
The speed of other nearly objects.
Due to the reason, in region a possibility that being contacted there are operation object and other objects, it is necessary to
Sufficiently reduce the movement speed of robot.But in order to shorten circulation time, it is necessary to accelerate the speed of transfer operation object.
As a result, becoming to be dramatically reduced speed near contact area.
On the other hand, in the embodiment 1, actuator 1 is mounted on to the front end of robot etc., even if in addition, activating
The posture of the case where device 1 is sharp moved or stopped and produce translational acceleration or actuator 1 is changed and gravity adds
In the case that speed has changed, external force detection equipment can also correctly detect the reaction force F being applied in movable part 102,
In addition, can arbitrarily change compliance value.Therefore, although can not to stop this point suddenly identical for robot, but not because of position
Overshoot and crush operation object.It is therefore not necessary to terrifically slow down the speed for making operation object close to other objects, in addition,
Operation can safely be carried out.
In addition, end effector to be mounted on to the front end of force sensor in the past, sharp slowed down in robot
In the case where, it is influenced caused by the quality of reason end effector, and the acceleration with negative direction is generated in force sensor
Spend proportional power.
However, it is difficult to carry out area to the power proportional with the acceleration and the power generated by the contact of operation object
Point, in order to distinguish, it has to significantly extend the deceleration time of robot.
On the other hand, in the external force detection equipment of embodiment 1, even if sharp having carried out acceleration and deceleration in actuator 1
In the case where, external force F can also be correctly detected, due to only detecting power at the time of contact, there is no need to extend the deceleration of actuator 1
Time.
In addition, there is also be difficult to compensate the shadow as caused by gravity in real time in the case where having used force sensor
Ring this problem.
That is, the adoptable posture of robot is not solid always in the case where the operations such as being assembled, being pressed or being ground
Calmly, the case where changing corresponding to the state of operation is more.For example, in the operation ground while tracking curved surface, it must
Posture must be made continuously to change.
But as described above, end effector is installed in the front end of force sensor, thus when the posture of robot simultaneously
When non-horizontal, in force sensor, influence caused by reason acceleration of gravity and generate correspond to the posture of robot with
The power of the quality of end effector.
On the other hand, in the external force detection equipment of embodiment 1, even if the posture in actuator 1 is changed and gravity
In the case that acceleration has changed, external force F can also be correctly detected, therefore the shadow as caused by gravity can be compensated in real time
It rings.
In addition, illustrating the actuating for enabling movable part 102 to move in the enterprising line position of linear movement direction in described
The case where device 1.But it's not limited to that, as long as acceleration detector 4 can detect angular acceleration, also can be used that make can
The actuator 1 that dynamic portion 102 can be displaced in a rotational direction.
As described above, according to the embodiment 1, due to constituting as follows, i.e. the detection of acceleration detector 4 is solid
Determine the acceleration in portion 101, position detector 2 detects the position of the movable part 102 relative to fixed part 101, position control component
Difference of (the subtracter 5 and gain adjustment portion 6) output based on the position as detected by position detector 2 and base position Pr
Current instruction value Irp, acceleration compensation portion 8 are exported based on the acceleration as detected by acceleration detector 4 and movable part 102
The acceleration compensation value Irc of the multiplied result of the quality of side, adder-subtractor 9 make current instruction value Irp and acceleration compensation value Irc
It is added, constant current control unit 10 keeps the current value of driving current Ia consistent with current instruction value Ir, 11 basis of external force test section
The resulting result of acceleration compensation value Irc is subtracted from the current value of driving current Ia to detect external force F, so even in movable part
In the case that 102 the case where sharp having carried out acceleration and deceleration or posture have been changed, can also correctly detect be applied to it is movable
External force F in portion 102.
In addition, the present application can within the scope of the invention, carry out the arbitrary composition element of embodiment deformation,
Or the omission of the arbitrary composition element of embodiment.
Industrial availability
External force detection method of the invention, even if the case where movable part has sharp carried out acceleration and deceleration or posture is become
In the case where more, the external force being applied in movable part can also be correctly detected, to be applied to movable part suitable for detection
External force detection method of external force etc..
The explanation of symbol
1: actuator
2: position detector (position detection component)
3: position and speed converter section
4: acceleration detector (acceleration detection means)
5: subtracter
6: gain adjustment portion
7: quality inferring portion
8: acceleration compensation portion (Acceleration Compensation Unit)
9: adder-subtractor (adding unit)
10: constant current control unit (constant current control unit)
11: external force test section (external force detection part)
12: end effector
50: workpiece
101: fixed part
102: movable part
601: loop gain determination part
602: gain cross-over control unit
603: variable gain adjustment section
801: multiplier
802: multiplication portion
1001: subtracter
1002: driver is used in driving
1003: current detector
1101: multiplication portion
1102: subtracter
1103: multiplication portion
6011: oscillator
6012: adder
6021: comparator
Claims (4)
1. a kind of external force detection method, which is characterized in that
The fixed part in actuator that acceleration detection means detection enables movable part to be displaced relative to fixed part
Acceleration,
Position detection component detects the position of the movable part relative to the fixed part,
The electricity of difference of the position control component output based on the position as detected by the position detection component and base position
Instruction value is flowed,
Acceleration Compensation Unit is exported based on the acceleration as detected by the acceleration detection means and the movable part side
Quality multiplied result acceleration compensation value,
Adding unit makes the current instruction value exported from the position control component and from the Acceleration Compensation Unit
The acceleration compensation value of middle output is added,
Constant current control unit makes that the current value of the driving current of the actuator is driven to add with by the adding unit
The current instruction value for having gone up acceleration compensation value is consistent,
External force detection part is resulting as a result, detection according to the acceleration compensation value is subtracted from the current value of the driving current
The external force being applied in the movable part.
2. external force detection method according to claim 1, which is characterized in that
The acceleration detection means detects one of acceleration of gravity and translational acceleration of the fixed part or makes the two
It is added resulting acceleration.
3. external force detection method according to claim 1, which is characterized in that
The actuator is the linear actuators for the type that directly drives.
4. external force detection method according to claim 1, which is characterized in that
Quality infers that component infers the quality of the movable part side,
The Acceleration Compensation Unit output is based on the acceleration as detected by the acceleration detection means and by the matter
Amount infers the acceleration compensation value of the multiplied result for the quality that component is inferred.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016211596A JP6711536B2 (en) | 2016-10-28 | 2016-10-28 | External force detection method |
| JP2016-211596 | 2016-10-28 | ||
| PCT/JP2017/032864 WO2018079107A1 (en) | 2016-10-28 | 2017-09-12 | External force detecting method |
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| Publication Number | Publication Date |
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| CN109844477A true CN109844477A (en) | 2019-06-04 |
| CN109844477B CN109844477B (en) | 2020-10-30 |
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| CN201780064853.3A Active CN109844477B (en) | 2016-10-28 | 2017-09-12 | External force detection method |
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| JP (1) | JP6711536B2 (en) |
| CN (1) | CN109844477B (en) |
| WO (1) | WO2018079107A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113157547A (en) * | 2021-05-27 | 2021-07-23 | 江苏安纳金机械有限公司 | Notebook computer touch pad performance testing device and method adopting double detection functions |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6711536B2 (en) | 2020-06-17 |
| WO2018079107A1 (en) | 2018-05-03 |
| CN109844477B (en) | 2020-10-30 |
| JP2018072135A (en) | 2018-05-10 |
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