CN109986543A - Apply location regulation method and device, robot in robot - Google Patents
Apply location regulation method and device, robot in robot Download PDFInfo
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- CN109986543A CN109986543A CN201711499080.XA CN201711499080A CN109986543A CN 109986543 A CN109986543 A CN 109986543A CN 201711499080 A CN201711499080 A CN 201711499080A CN 109986543 A CN109986543 A CN 109986543A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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Abstract
The invention discloses a kind of location regulation method applied in robot and devices, robot.Wherein, this method comprises: obtaining the measured value of the tension in the joint of the wire saws parallel robot of tension sensor measurement, wherein tension sensor is located in joint；Measured value is converted by predetermined matrices；Using the value after conversion as the end feedback force of the end effector of wire saws parallel robot；The position of end effector is adjusted according to end feedback force.The present invention solve in the related technology wire saws parallel robot the technical issues of being assembled with higher cost caused by tension sensor on joint and end effector.
Description
Technical field
The present invention relates to field of intelligent control, in particular to a kind of location regulation method applied in robot
And device, robot.
Background technique
Wire saws parallel robot is that a kind of new machine of the appearance after serial manipulator and parallel robot is man-machine
Structure, it replaces the rigid body connecting rod in parallel robot with flexible cable, with structure is simple, reconfigurability is strong, inertia is small and movement speed
Degree, the features such as acceleration is big, are directed to kinematics, dynamic analysis and Workspace Analysis of wire saws parallel robot etc. at present
Aspect expands further investigation, in crane, coordinate monitoring, large-scale radio telescope, aircraft wind-tunnel support system, assembly machine
Attempt application in the fields such as device people, medical rehabilitation robot and soft cable traction video camera.
The Active Compliance Control technology of robot be a key technology in emerging intelligence manufacture and flexible assembly from
Difficult point in dynamicization.It integrates numerous subjects such as sensor, computer, machinery, electronics, mechanics and automatic control, reason
It is realized by research and technology and all suffers from many problems anxious to be resolved.Its research achievement not only has very strong theoretical meaning
Justice also helps the breakthrough and innovation of the relevant technologies.
Force snesor need to be installed on the end effector of robot in common industrial robot force-location mix control,
It carries out end and contacts force feedback, while also needing one submissive selection matrix of setting, power control and position can be determined by the matrix
The freedom degree of control is distributed, to realize the Shared control of industrial robot.
And wire saws parallel robot in the related technology is mounted with to open in joint to carry out rigid compensation to rope
Force snesor, while there are also installed tension sensors for carrying out end contact force feedback, thus correlation on end effector
Wire saws parallel robot in technology is assembled with tension sensor, thus higher cost on joint and end effector,
Also it is not easy to the control of robot.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of location regulation method applied in robot and devices, robot, so that
Few wire saws parallel robot in the related technology that solves is assembled with caused by tension sensor on joint and end effector
Higher cost the technical issues of.
According to an aspect of an embodiment of the present invention, a kind of location regulation method applied in robot is provided, is wrapped
It includes: obtaining the measured value of the tension in the joint of the wire saws parallel robot of tension sensor measurement, wherein tension sensor position
In joint；Measured value is converted by predetermined matrices；Using the value after conversion as the end of wire saws parallel robot
The end feedback force of actuator；The position of end effector is adjusted according to end feedback force.
Optionally, adjusting the position of end effector according to end feedback force includes: to determine joint according to end feedback force
Length；According to the position of the length adjustment end effector in joint.
Optionally, determine that the length in joint includes: that the difference of end feedback force and expected force is defeated according to end feedback force
Enter into the first tension force model, obtains position corresponding with difference difference；According to the phase of position difference and end effector
It hopes position, obtains the target position of end effector；The target position of end effector is converted to the length in joint.
Optionally, by target that the length that the target position of end effector is converted to joint includes: with end effector
Position carries out inverse operation and obtains first length in joint；The target position of end effector is converted to the desired value of tension；Root
The length difference in joint is determined according to the desired value of tension and the measured value of tension；Joint is determined according to the first length and length difference
Length.
Optionally, in the case where end feedback force is greater than expected force, end effector is adjusted along the increased direction of tension
Position；In the case that in end, feedback force is less than expected force, along the position of the direction of tension reduction adjustment end effector.
According to an aspect of an embodiment of the present invention, a kind of position regulator applied in robot is provided, is wrapped
It includes: obtaining module, the measured value of the tension in the joint of the wire saws parallel robot for obtaining tension sensor measurement,
In, tension sensor is located in joint；Conversion module, for being converted by predetermined matrices to measured value；Module is adjusted, is used
The end feedback force of value after it will convert as the end effector of wire saws parallel robot, and according to end feedback force
Adjust the position of end effector.
Optionally, adjustment module comprises determining that unit, for determining the length in joint according to end feedback force；Adjustment is single
Member, for the position according to the length adjustment end effector in joint.
Optionally it is determined that unit is also used to for the difference of end feedback force and expected force to be input to the first tension force model
In, obtain position corresponding with difference difference；According to the desired locations of position difference and end effector, end effector is obtained
Target position；And the target position of end effector is converted to the length in joint.
Optionally it is determined that unit, which is also used to carry out inverse operation with the target position of end effector, obtains first length in joint
Degree；The target position of end effector is converted to the desired value of tension；Measured value according to the desired value of tension and tension is true
Determine the length difference in joint；And the length in joint is determined according to the first length and length difference.
Optionally, module is adjusted, is used in the case where end feedback force is greater than expected force, along the increased direction tune of tension
The position of whole end effector；And in the case where end feedback force is less than expected force, end is adjusted along the direction of tension reduction
Hold the position of actuator.
According to an aspect of an embodiment of the present invention, a kind of robot, including device described in any of the above embodiments are provided.
According to an aspect of an embodiment of the present invention, a kind of storage medium is provided, storage medium includes the program of storage,
Wherein, the method for executing any of the above-described when program is run.
According to an aspect of an embodiment of the present invention, a kind of processor is provided, processor is for running program, wherein
Program executes method described in any of the above embodiments when running.
In embodiments of the present invention, end effector is converted to using by the tension in the joint of wire saws parallel robot
End feedback force, according to the mode of the position for the end feedback force adjustment end effector being converted to, i.e. end feedback force is
It is obtained by the tension sensor in joint, thus avoids and tension sensor is installed on end effector, reached and subtracted
The purpose of few cost, and then solve wire saws parallel robot in the related technology and be assembled on joint and end effector
The technical issues of higher cost caused by tension sensor.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow diagram according to an embodiment of the present invention for applying the location regulation method in robot；
Fig. 2 is the structural block diagram for applying the position regulator in robot provided according to embodiments of the present invention；
Fig. 3 is the control block diagram for the joint power that preferred embodiment provides according to the present invention；
Fig. 4 is the pin schematic diagram for the PID controller that preferred embodiment provides according to the present invention；
Fig. 5 is the schematic diagram of the force-location mix control mode for the industrial robot that preferred embodiment provides according to the present invention；
Fig. 6 is the control block diagram for the force-location mix control algorithm that preferred embodiment provides according to the present invention.
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 scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
According to embodiments of the present invention, a kind of embodiment of the method for applying the location regulation method in robot is provided,
It should be noted that step shown in the flowchart of the accompanying drawings can be in the department of computer science of such as a group of computer-executable instructions
It is executed in system, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein
Sequence execute shown or described step.
Fig. 1 is the flow diagram according to an embodiment of the present invention for applying the location regulation method in robot, such as Fig. 1
Shown, this method comprises the following steps:
Step S102 obtains the measured value of the tension in the joint of the wire saws parallel robot of tension sensor measurement,
In, tension sensor is located in joint；
Step S104 converts measured value by predetermined matrices；
Step S106, using the value after conversion as the end feedback force of the end effector of wire saws parallel robot；
Step S108 adjusts the position of end effector according to end feedback force.
Through the above steps, using the end that the tension in the joint of wire saws parallel robot is converted to end effector
Feedback force, according to the mode of the position for the end feedback force adjustment end effector being converted to, i.e. end feedback force is to pass through
The tension sensor in joint obtains, thus avoids and install tension sensor on end effector, reached reduction at
This purpose, and then solve wire saws parallel robot in the related technology and be assembled with tension on joint and end effector
The technical issues of higher cost caused by sensor.
It should be noted that the joint of wire saws parallel robot can be rope, mentioned strain sensor be also used into
The rigid compensation of row rope.
It should be noted that above-mentioned predetermined matrices can be structure matrix, it can be used for carrying out the variable in above-mentioned joint
Mutual conversion between the variable of above-mentioned end actuator.
In one embodiment of the invention, above-mentioned steps S108, which can be showed themselves in that, determines joint according to end feedback force
Length；According to the position of the length adjustment end effector in joint.
It should be noted that determining that the length in joint can be showed themselves in that end feedback force and phase according to end feedback force
It hopes the difference of power be input in the first tension force model, obtains position corresponding with difference difference；According to position difference and end
The desired locations for holding actuator, obtain the target position of end effector；The target position of end effector is converted into joint
Length.
It should be noted that above-mentioned first tension force model can be tension force rule, ratio-can be shown as
Integrated Derivative (PID) controller, but it is not limited to this.
It should be noted that obtaining the target of end effector according to the desired locations of position difference and end effector
Position can show themselves in that the desired locations of the end effector and above-mentioned position difference carry out difference operation, obtain end execution
The target position of device, but it is not limited to this.
It should be noted that can show themselves in that the length that the target position of end effector is converted to joint with end
The target position of actuator carries out inverse operation and obtains first length in joint；The target position of end effector is converted into tension
Desired value；The length difference in joint is determined according to the measured value of the desired value of tension and tension；According to the first length and length
Difference determines the length in joint.
Pass through it should be noted that the desired value that the target position of end effector is converted to tension can be showed themselves in that
The target position is converted to an optimized force by tension optimization algorithm, which is the desired value of mentioned strain.
It should be noted that determining that the length difference in joint can show according to the measured value of the desired value of tension and tension
Are as follows: the first difference that the length in joint is obtained after rigidity compensation model is input to according to the desired value of the tension；By tension
The difference of the measured value of desired value and tension is input to the second difference that the second tension force model obtains the length in joint, will be upper
State the first difference and above-mentioned second difference be input to difference engine after obtain the length difference in above-mentioned joint.
It should be noted that the difference of above-mentioned each amount can be realized by difference engine, but it is not limited to this.
In one embodiment of the invention, in the case where end feedback force is greater than expected force, along the increased side of tension
To the position of adjustment end effector；In the case that feedback force is less than expected force in end, end is adjusted along the direction of tension reduction
Hold the position of actuator.
It should be noted that in order to determine that above-mentioned wire saws parallel robot rope in moving process is in tight always
State needs to do limit processing to the minimum value of mentioned strain, to guarantee that entire mechanism keeps certain position stiffness.
It should be noted that the executing subject of above-mentioned steps can be above-mentioned wire saws parallel robot or wire saws simultaneously
Join the processor in robot, but it is not limited to this.
The embodiment of the invention also provides a kind of position regulator applied in robot, Fig. 2 is according to the present invention
The structural block diagram for applying the position regulator in robot that embodiment provides, as shown in Fig. 2, the device includes:
Module 22 is obtained, the measurement of the tension in the joint of the wire saws parallel robot for obtaining tension sensor measurement
Value, wherein tension sensor is located in joint；
Conversion module 24 is connect with above-mentioned acquisition module 22, for being converted by predetermined matrices to measured value；
Module 26 is adjusted, is connect with above-mentioned conversion module 24, for the value after converting as wire saws parallel robot
End effector end feedback force, and according to end feedback force adjust end effector position.
By above-mentioned apparatus, using the end that the tension in the joint of wire saws parallel robot is converted to end effector
Feedback force, according to the mode of the position for the end feedback force adjustment end effector being converted to, i.e. end feedback force is to pass through
The tension sensor in joint obtains, thus avoids and install tension sensor on end effector, reached reduction at
This purpose, and then solve wire saws parallel robot in the related technology and be assembled with tension on joint and end effector
The technical issues of higher cost caused by sensor.
In one embodiment of the invention, above-mentioned adjustment module 26 may include: determination unit, for anti-according to end
Feedback power determines the length in joint；Adjustment unit is connect with above-mentioned determination unit, for being executed according to the length adjustment end in joint
The position of device.
It should be noted that above-mentioned determination unit is also used to the difference of end feedback force and expected force being input to first
In power Controlling model, position corresponding with difference difference is obtained；According to the desired locations of position difference and end effector, obtain
The target position of end effector；And the target position of end effector is converted to the length in joint.
It should be noted that above-mentioned determination unit is also used to carry out inverse operation with the target position of end effector to be closed
First length of section；The target position of end effector is converted to the desired value of tension；According to the desired value and tension of tension
Measured value determine the length difference in joint；And the length in joint is determined according to the first length and length difference.
In one embodiment of the invention, above-mentioned adjustment module 26, for being greater than the feelings of expected force in end feedback force
Under condition, along the position of the increased direction adjustment end effector of tension；And in the case where end feedback force is less than expected force,
Along the position of the direction of tension reduction adjustment end effector.
It should be noted that above-mentioned apparatus can be located at above-mentioned wire saws parallel robot or wire saws parallel robot
In processor in, but it is not limited to this.
The preferred embodiment of the present invention additionally provides a kind of robot, including the device in embodiment illustrated in fig. 2.
The embodiment of the invention also provides a kind of storage medium, storage medium includes the program of storage, wherein program operation
The method of Shi Zhihang any of the above-described.
The embodiment of the invention also provides a kind of processor, processor is for running program, wherein program executes when running
Method described in any of the above embodiments.
In order to be best understood from the present invention, the present invention is further explained below in conjunction with preferred embodiment.
The preferred embodiment of the present invention provides a kind of Three Degree Of Freedom wire saws parallel robot model and grinds for the model
Study carefully force-location mix control.Wire saws parallel robot is the positive and negative rotation campaign folding and unfolding flexible cable by controlling each motor, Lai Shixian
Control to end effector movement.Since the structure of the robot is different from general robot, flexible cable connects instead of rigidity
Bar, and flexible cable can only bear pulling force cannot pressure, while pulling force is a kind of again by power, so this structure is for robot
Control be one challenge.When system is disturbed, in order to allow system fast and stable to get off, end device is allowed to realize smooth
At this moment transition just needs to carry out Shared control, Shared control here is primarily directed to force-location mix control.
Force-location mix control is one of robot Shared control control mode, and basic thought is: when robot end
When end actuator and circumstances not known are in contact, ending coordinates space can be decomposed into the tangential and power corresponding to position control
Two orthogonal subspaces of the normal direction of control, by carried out respectively on corresponding subspace position control and contact force control with
Achieve the purpose that robot compliant movement.The architectural characteristic of wire saws parallel robot model determines the power position of such robot
The force-location mix control mode of mixed-control mode and industrial robot is different.It below will be respectively from joint control and model
The force-location mix control scheme of wire saws parallel robot model is discussed in detail in submissive two aspects.
Four ropes for having four columns to respectively correspond in wire saws parallel robot model are four joints, are machines
People's end effector device moves basic, therefore needs to study the submissive of joint first when carrying out the force-location mix control of model
Control.The variation of tension and the variation of rope lengths on rope are mainly controlled in joints' compliance control, Fig. 3 is according to this hair
The control block diagram for the joint power that bright preferred embodiment provides, as shown in figure 3, there are a force feedback loop, it can by the feedback
Effectively to adjust the variation of rope lengths, so that the size of tension on rope is adjusted, to reach desired tension and feedback tension
The effect that meets the requirements of difference.
It should be noted that f shown in Fig. 3It is excellentIt may be considered above-mentioned expectation tension, above-mentioned fIt surveysFor mentioned strain sensing
Device is to the measured value of tension, and above-mentioned FCL is tension force rule, wherein in the preferred embodiment, what above-mentioned FCL was utilized is
Pid control algorithm, specific implementation can realize that the composition of the PID controller includes ratio, integral, differential by PID controller
Three units.Fig. 4 is the pin schematic diagram for the PID controller that preferred embodiment provides according to the present invention.
The mathematical model for the pid algorithm that PID controller shown in Fig. 4 is embodied is as follows:
Y (t)=Kp* [e (t)+1/TN* ∫ e (t) dt+TV*de (t)/dt] (1)
G (s)=Y (s)/E (s)=Kp* [1+1/ (TN*s)+TV*s] (2)
Formula (1) is the general mathematic(al) representation of pid algorithm, and formula (2) is the transmission function expression formula in frequency domain.
In PID controller shown in Fig. 4, ACTUAL is the actual value (e (t)) of system input, and setpoint is that user sets
Fixed ideal value, KP, TN, TV respectively represent three parameters of PID, and Reset is the resetting time of integration, these parameters are
The input parameter of PID, Y (Y (t)) are the output parameter of PID, and Y_offset is the offset of output, and Y_min is under output
Limit, Y_max are the upper limit of output, and manual is manual setting mode, and Limits_active is limit setting, and overflow is
Overflow value.
In the joint control scheme of wire saws parallel robot model, by joint power measured by four tension sensors
Make difference as the system of PID with desired tension and input actual value, it would be desirable to which value setpoint is set as the output Y setting of zero, PID
For P-pulse value, as the part input quantity of motor, three parameters Kp, Ki, Kd by adjusting PID obtain desired submissive
Effect, wherein Ki=Kp/TN, Kd=Kp*TV.
In Tuning PID Controller parameter, can according to the parameter of controller and dynamic performance and steady-state performance it
Between relationship, experimentally carry out the parameter of adjusting controller.Experienced commissioning staff can generally obtain quickly compared with
For satisfied debugging result.Sixty-four dollar question is when system performance is unsatisfactory in debugging, it is known that should be adjusted
Which parameter, the parameter should increase or reduce, be adjusted essentially according to following steps.
Determine proportionality coefficient
Proportion adjustment plays primary effect in pid algorithm, it can soon regulating system enter near stable state, is much answering
An additional proportion algorithm can reach control and require in.Therefore, when determining scale parameter Kp, we should ignore integral
With the influence of differential, that is, need integral coefficient Ki, differential coefficient Kd zero setting.Proportional coefficient K p is gradually increased by 0, until
There is overshoot in system；In turn, it is gradually reduced from Proportional coefficient K p when overshoot, until system overshoot phenomenon just disappears, this
When proportionality coefficient be it is optimal, record Proportional coefficient K p at this time.
Determine integral coefficient
After proportionality coefficient determines, there is no the sequencings of hardness for the setting of integral and differential coefficient, because can lack
Few integral or differential are adjusted, and algorithm is simplified to PI or PD algorithm.The method for setting integral coefficient is in existing proportion adjustment
On the basis of, Ki is gradually increased into a larger value since 0, after there is oscillatory occurences, the variation of opposite direction revaluate Ki, when
When system oscillation obviously disappears, integral coefficient Ki this moment is recorded.
Determine differential coefficient
The adjusting of differential coefficient Kd is all first to increase to reduce again, finally takes critical value as both above adjusting method,
The differential coefficient Kd of record this moment.
Fig. 5 is the schematic diagram of the force-location mix control mode for the industrial robot that preferred embodiment provides according to the present invention,
As shown in figure 5, being mainly made of two feedback closed loops, force feedback (Fd, ef, I-S, JT, FCL, Robot, tension conversion in Fig. 5
Indicated circuit) and position feedback (Xd, ex, S, J^-1, PCL, Robot in Fig. 5, normal solution indicated by circuit).In Fig. 5
What S, I-S were indicated is exactly submissive selection matrix, is respectively placed in two control loops, distributes industrial robot difference freedom degree
Control mode.By ideal position (X in Fig. 5d) and feedback position (X) as difference obtain position residual quantity (ex), ideal force (Fd) and it is anti-
It presents power (F) and obtains power residual quantity (e as differenceF), the residual quantity of power and position is then respectively fed to different selection matrixs and is obtained accordingly
Residual quantity matrix, then converted by Jacobian matrix (JT, J^-1), can be that joint is empty by the variables transformations of task space
Between variable, be finally used for again by position control rule (PCL) and the force controlling method control variable that then (FCL) obtains robot
Final control.
Wire saws parallel robot is different from industrial robot, and Fig. 6 is the power position that preferred embodiment provides according to the present invention
The control block diagram of hybrid algo-rithm, as shown in Figure 6.Also there are two feedback loops in the control block diagram, and the two is that power is anti-
It is fed back to road, wherein first circuit is joint force feedback, second circuit is end force feedback.Joint is utilized in two circuits
On the tension sensor installed and structure matrix carry out force feedback, the structure matrix and industrial machine of wire saws parallel robot
The Jacobian matrix of people has identical effect, can be used for the mutual conversion of joint variable and end variable, to can keep away
Exempt from that tension sensor is installed in end.FCL1 and FCL2 in Fig. 6 are tension force rule, are the core of force-location mix control algorithm
The heart.Ideal position X in algorithmdWith ideal force FdIt is that can be set according to application environment obtained by voluntarily planning.Comparison
Former and later two control block diagrams can be found that the latter does not have submissive selection matrix S, this is because to the wire saws of three translation freedoms
Parallel robot can simplify processing, and Z-direction is set as power control in the application, and X-axis and Y direction are set as position control
System, matrix S has just obtained dimensionality reduction, can replace submissive selection matrix with an one-dimensional variable, to realize the power position of robot
The compliant movement of mixing control and end device.
Xd indicates that ideal position, Fd indicate the ideal force of end effector, and f indicates fIt surveysIt is obtained after structure matrix operation
Power (end feedback force), dx are the position difference that the difference of Fd and f obtains after FCL2 is handled, and f excellent is to calculate by tension optimization
Power after method optimization, dq1,dq2The difference for respectively indicating the rope length obtained through FCL1, the difference of the rope length obtained after rigidity compensation
Value, dq dq1With dq2Difference, q0For the rope length obtained through inverse solution, q q0With the difference of dq.
It should be noted that the position of end effector will increase along power when end feedback force is greater than ideal force
Direction change, it is on the contrary then can be to changing inversely, this force-location mix control effect and to draw the experiment of spring have similar
Effect.Also need to ensure that rope is in tight state always in wire saws parallel robot moving process in actual experiment, institute
A limit processing need to be done to the minimum value of tension, entire mechanism is made to keep certain position stiffness.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical 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
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
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 unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (13)
1. a kind of location regulation method applied in robot characterized by comprising
Obtain the measured value of the tension in the joint of the wire saws parallel robot of tension sensor measurement, wherein the tension passes
Sensor is located in the joint；
The measured value is converted by predetermined matrices；
Using the value after conversion as the end feedback force of the end effector of the wire saws parallel robot；
The position of the end effector is adjusted according to the end feedback force.
2. the method according to claim 1, wherein adjusting the end effector according to the end feedback force
Position include:
The length in the joint is determined according to the end feedback force；
According to the position of end effector described in the length adjustment in the joint.
3. according to the method described in claim 2, it is characterized in that, determining the length in the joint according to the end feedback force
Include:
The difference of the end feedback force and expected force is input in the first tension force model, is obtained corresponding with the difference
Position difference；
According to the desired locations of the position difference and the end effector, the target position of the end effector is obtained；
The target position of the end effector is converted to the length in the joint.
4. according to the method described in claim 3, it is characterized in that, the target position of the end effector is converted to described
The length in joint includes:
Inverse operation, which is carried out, with the target position of the end effector obtains first length in the joint；
The target position of the end effector is converted to the desired value of the tension；
The length difference in the joint is determined according to the measured value of the desired value of the tension and the tension；
The length in the joint is determined according to first length and the length difference.
5. the method according to claim 1, wherein
In the case where the end feedback force is greater than expected force, the end effector is adjusted along the increased direction of the tension
Position；
In the case where the end feedback force is less than the expected force, the end is adjusted along the direction of the tension reduction and is held
The position of row device.
6. a kind of position regulator applied in robot characterized by comprising
Module is obtained, the measured value of the tension in the joint of the wire saws parallel robot for obtaining tension sensor measurement,
In, the tension sensor is located in the joint；
Conversion module, for being converted by predetermined matrices to the measured value；
Module is adjusted, the end for the value after converting as the end effector of the wire saws parallel robot is fed back
Power, and adjust according to the end feedback force position of the end effector.
7. device according to claim 6, which is characterized in that the adjustment module includes:
Determination unit, for determining the length in the joint according to the end feedback force；
Adjustment unit, the position for the end effector according to the length adjustment in the joint.
8. device according to claim 7, which is characterized in that the determination unit be also used to by the end feedback force with
The difference of expected force is input in the first tension force model, obtains position corresponding with difference difference；According to institute's rheme
The desired locations for setting difference Yu the end effector obtain the target position of the end effector；And by the end
The target position of actuator is converted to the length in the joint.
9. device according to claim 8, which is characterized in that the determination unit is also used to the end effector
Target position carries out inverse operation and obtains first length in the joint；The target position of the end effector is converted to described
The desired value of tension；The length difference in the joint is determined according to the measured value of the desired value of the tension and the tension；With
And the length in the joint is determined according to first length and the length difference.
10. device according to claim 6, which is characterized in that the adjustment module, for big in the end feedback force
In the case where expected force, the position of the end effector is adjusted along the increased direction of the tension；And in the end
In the case that feedback force is less than the expected force, the position of the end effector is adjusted along the direction of the tension reduction.
11. a kind of robot, which is characterized in that including device described in any one of claim 6 to 10.
12. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein when described program is run
Method described in any one of perform claim requirement 1 to 5.
13. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 5 described in method.
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