CN110065062A - A kind of motion control method of articulated robot - Google Patents
A kind of motion control method of articulated robot Download PDFInfo
- Publication number
- CN110065062A CN110065062A CN201810068880.4A CN201810068880A CN110065062A CN 110065062 A CN110065062 A CN 110065062A CN 201810068880 A CN201810068880 A CN 201810068880A CN 110065062 A CN110065062 A CN 110065062A
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- articulated robot
- leg
- joint
- control method
- motion control
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of motion control method of articulated robot, the motion control method of the articulated robot is the following steps are included: detect the movement velocity of articulated robot, if the movement velocity is greater than preset value；Obtain the posture information of articulated robot, the centroid position coordinate of each connecting rod of articulated robot is obtained from the posture information, the practical yaw moment that articulated robot is calculated according to the centroid position coordinate of each connecting rod, judges whether the practical yaw moment is greater than default foot maximum static friction torque；The practical yaw moment is greater than the default foot maximum static friction torque, then leg articulated driving equipment adjustment leg joint angles become larger, so that articulated robot generates acceleration straight down.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of motion control methods of articulated robot.
Background technique
The anthropomorphic robot occurred earliest in real world should first elect Waseda University in 1973 and add one youth research department of rattan
The early stage robot of exploitation.Although technology be not also it is very mature, early stage, robot can also be led to by visual identity object
It crosses the sense of hearing and speech synthesis and people carries out verbal communication, moreover it is possible to be operated, can be used double by tactile both hands team object
Foot walking.Then there are the appearance of mirable P2, P3, ASIMO again, to the appearance of NAO in 2008, each side of anthropomorphic robot
Surface technology is being continuously updated.
In terms of Humanoid Robot Based on Walking, also there is some other method, such as the side of the planning joint trajectories of S. Kajita
Method is analyzed the position and angle value of ankle-joint and hip joint under each state, these characteristic points in a walking cycle and is retouched
Determine the full curve of joint motions out after stating again.This method is computationally intensive also to become dependent upon external environment model, for certainly
By spending more robots, Dynamic Equation is sometimes even unsolvable；The center model generator of S.Grillner, is base
It in the analysis method of neural network, is initialized by non-oscillatory signal, then generates cyclical signal in self-contained method
Circuit system.This method is not necessarily to carry out dynamic model to robot and external environment, but can not accurately obtain and nerve is connected
The series of parameters value such as weight；The trajectory walking method of M.Ogino is to be obtained by observing mankind's walking manner, only exists
The starting and ending stage of swing just drives free leg.A trajectory walking namely traveling controller, during the motion,
Free leg is by gravity and the coefficient result of inertia force swinging intermediate time.This method is establishing high energy walking model
Aspect has good application.
In the process of walking, body is easy disequilibrium for robot, and the robot with hip joint usually passes through hip joint
Rotation to keep the balance of robot；The body of robot is realized in the swing that robot with swing arm usually passes through both arms
Body balance, but some articulated robots do not have hip joint and swing arm, how to solve robot indoor navigation system route rule
The balance for drawing accurate problem and control articulated robot body in the process of walking, becomes those skilled in the art and urgently solves
Technical problem certainly.
Summary of the invention
The object of the present invention is to provide a kind of motion control methods of articulated robot, can not only solve robot chamber
Interior navigation system route planning accurate problem, moreover it is possible to solve how to control articulated robot balance in the process of walking
Problem.
To achieve the goals above, the present invention provides a kind of motion control method of articulated robot, more passes
Save robot motion control method the following steps are included:
Step S01, indoor environment map is obtained, and indoor environment model is created according to the indoor environment cartographic information；
Step S02, the indoor scene information with obvious characteristic is obtained as road sign, and global route is divided into road sign and road sign
Between markings；
Step S03, the physical location of sniffing robot and road sign determines the position of articulated robot；
Step S04, articulated robot in the process of walking, detects markings by visual detection sensor, and adjust
Deviation between travelling route and normal line；
Step S05, the movement velocity of articulated robot is detected, if the movement velocity is greater than preset value；
Step S06, the posture information for obtaining articulated robot obtains each connecting rod of articulated robot from the posture information
Centroid position coordinate calculates the practical yaw moment of articulated robot according to the centroid position coordinate of each connecting rod, judges institute
State whether practical yaw moment is greater than default foot maximum static friction torque；
Step S07, the described practical yaw moment is greater than the default foot maximum static friction torque, then leg articulated driving equipment
Adjustment leg joint angles become larger, so that articulated robot generates acceleration straight down.
Preferably, the leg link of the articulated robot connects foot by ankle-joint, and the foot installation is strong to be passed
Sensor, the force snesor is for measuring torque suffered by the foot.
Preferably, the leg articulated driving equipment includes controller, motor and retarder, the control letter of the controller
Number output end connects the control signal input of the motor, and the power output end of the motor connects the power of the retarder
Input terminal, the retarder drives the leg articulation, to adjust the angle in leg joint.
Preferably, the leg joint has the rotation axis of both direction, and the retarder controls the leg joint
Rotation axis rotation in both directions, to become larger or reduce the angle in leg joint.
Preferably, the retarder and the leg joint are coaxially disposed.
Preferably, the coordinate origin of the centroid position coordinate of each connecting rod is the contact point of supporting leg and ground.
Preferably, the leg joint is equipped with joint torque sensor, and the joint torque sensor connected legs is closed
Section and leg link, the joint torque sensor is for detecting torque suffered by the joint of leg.
Preferably, in step S04, the visual detection sensor detects markings, including visual detection sensing
Device obtains the one or more image of scenery on markings, carries out edge extracting, image segmentation, image thinning to described image,
Obtain the road sign in image.
Preferably, in step S01, the acquisition indoor environment map, comprising: according to the location information of robot, machine
The initial attitude and indoor arrangement map of people, obtains indoor environment map.
Preferably, in step S02, the markings global route being divided between road sign and road sign, comprising: from institute
The initial position for stating robot is split global route, identifies the scape with obvious characteristic on the indoor environment map
Object, using the scene information of the scenery as road sign, by mark between adjacent road sign at mark on the route divided at every section
Line.
The motion control method of articulated robot provided by the invention has the advantages that
1, indoor environment map is established, establishes the markings for being used to indicate robot physical location on environmental map indoors, is led to
The deviation between the practical travelling route of visual detection sensor correction robot and normal line is crossed, by navigation map and travelling route
Real-time detection combines, and substantially increases the accuracy of indoor navigation, while reducing the computational burden of robot, improves machine
The operational efficiency of device people；
2, when the movement velocity of articulated robot is excessive, whether the practical yaw moment for detecting articulated robot is greater than default foot
Maximum static friction torque, the practical yaw moment of articulated robot is greater than default foot maximum static friction torque, by support
Leg leg joint is controlled, and the center of gravity of articulated robot is reduced so that articulated robot generate in vertical direction one to
Under acceleration, to increase foot static friction torque, to maintain the equalising torque of vertical direction.This method can be used for no hip
In joint or robot without upper limb, the balance of articulated robot in the process of walking can be effectively controlled.
Detailed description of the invention
Fig. 1 is that a kind of process of specific embodiment of the motion control method of articulated robot provided by the invention is shown
It is intended to.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
Fig. 1 is please referred to, Fig. 1 is a kind of specific embodiment party of the motion control method of articulated robot provided by the invention
The flow diagram of formula.
As shown in Figure 1, the present invention provides a kind of motion control method of articulated robot, the articulated robot
Motion control method the following steps are included:
Step S01, indoor environment map is obtained, and indoor environment model is created according to the indoor environment cartographic information；
Step S02, the indoor scene information with obvious characteristic is obtained as road sign, and global route is divided into road sign and road sign
Between markings；
Step S03, the physical location of sniffing robot and road sign determines the position of articulated robot；
Step S04, articulated robot in the process of walking, detects markings by visual detection sensor, and adjust
Deviation between travelling route and normal line；
Step S05, the movement velocity of articulated robot is detected, if the movement velocity is greater than preset value；
Step S06, the posture information for obtaining articulated robot obtains each connecting rod of articulated robot from the posture information
Centroid position coordinate calculates the practical yaw moment of articulated robot according to the centroid position coordinate of each connecting rod, judges institute
State whether practical yaw moment is greater than default foot maximum static friction torque；
Step S07, the described practical yaw moment is greater than the default foot maximum static friction torque, then leg articulated driving equipment
Adjustment leg joint angles become larger, so that articulated robot generates acceleration straight down.
The present invention establishes indoor environment map, establishes the mark for being used to indicate robot physical location on environmental map indoors
Will line corrects the deviation between the practical travelling route of robot and normal line by visual detection sensor, by navigation map with
Travelling route real-time detection combines, and substantially increases the accuracy of indoor navigation, while reducing the computational burden of robot,
Improve the operational efficiency of robot.
The motion control method of articulated robot provided by the invention, when the movement velocity of articulated robot is excessive, inspection
Whether the practical yaw moment for surveying articulated robot is greater than default foot maximum static friction torque, the practical beat of articulated robot
Torque, which is greater than default foot maximum static friction torque, reduces articulated robot by controlling supporting leg leg joint
Center of gravity, so that articulated robot generates a downward acceleration in vertical direction, to increase foot static friction torque, thus
Maintain the equalising torque of vertical direction.This method can be used in no hip joint or robot without upper limb, can effectively control
The balance of articulated robot in the process of walking.
In preferred scheme, the leg link of the articulated robot connects foot, the foot installation by ankle-joint
Force sensor, the force snesor is for measuring torque suffered by the foot.
In preferred scheme, the leg articulated driving equipment includes controller, motor and retarder, the controller
Control signal output connects the control signal input of the motor, and the power output end of the motor connects the retarder
Power intake, the retarder drives the leg articulation, to adjust the angle in leg joint.
In preferred scheme, the leg joint has the rotation axis of both direction, and the retarder controls the leg
The rotation axis rotation of portion joint in both directions, to become larger or reduce the angle in leg joint.
In preferred scheme, the retarder and the leg joint are coaxially disposed.
In preferred scheme, the coordinate origin of the centroid position coordinate of each connecting rod is contact of the supporting leg with ground
Point.
In preferred scheme, the leg joint is equipped with joint torque sensor, the joint torque sensor connection
Leg joint and leg link, the joint torque sensor is for detecting torque suffered by the joint of leg.
In preferred scheme, in step S04, the visual detection sensor detects markings, including vision is visited
The one or more image that sensor obtains scenery on markings is surveyed, edge extracting, image segmentation, image are carried out to described image
Refinement obtains the road sign in image.
In preferred scheme, in step S01, the acquisition indoor environment map, comprising: believed according to the position of robot
Breath, the initial attitude of robot and indoor arrangement map, obtain indoor environment map.
It is described that global route is divided into the markings between road sign and road sign in step S02 in preferred scheme, packet
It includes: global route being split from the initial position of the robot, identify having obviously on the indoor environment map
The scenery of feature will be marked using the scene information of the scenery as road sign on the route divided at every section between adjacent road sign
Know into markings.
Structure, feature and effect of the invention, the above institute are described in detail based on the embodiments shown in the drawings
Only presently preferred embodiments of the present invention is stated, but the present invention does not limit the scope of implementation as shown in the drawings, it is all according to structure of the invention
Think made change or equivalent example modified to equivalent change, when not going beyond the spirit of the description and the drawings,
It should all be within the scope of the present invention.
Claims (10)
1. a kind of motion control method of articulated robot, which is characterized in that the motion control side of the articulated robot
Method the following steps are included:
Step S01, indoor environment map is obtained, and indoor environment model is created according to the indoor environment cartographic information；
Step S02, the indoor scene information with obvious characteristic is obtained as road sign, and global route is divided into road sign and road sign
Between markings；
Step S03, the physical location of sniffing robot and road sign determines the position of articulated robot；
Step S04, articulated robot in the process of walking, detects markings by visual detection sensor, and adjust
Deviation between travelling route and normal line；
Step S05, the movement velocity of articulated robot is detected, if the movement velocity is greater than preset value；
Step S06, the posture information for obtaining articulated robot obtains each connecting rod of articulated robot from the posture information
Centroid position coordinate calculates the practical yaw moment of articulated robot according to the centroid position coordinate of each connecting rod, judges institute
State whether practical yaw moment is greater than default foot maximum static friction torque；
Step S07, the described practical yaw moment is greater than the default foot maximum static friction torque, then leg articulated driving equipment
Adjustment leg joint angles become larger, so that articulated robot generates acceleration straight down.
2. the motion control method of articulated robot according to claim 1, which is characterized in that the articulated robot
Leg link foot is connected by ankle-joint, the foot installs force sensor, and the force snesor is described for measuring
Torque suffered by foot.
3. the motion control method of articulated robot according to claim 2, which is characterized in that drive in the leg joint
Dynamic device includes controller, motor and retarder, and the control signal output of the controller connects the control letter of the motor
Number input terminal, the power output end of the motor connect the power intake of the retarder, and the retarder drives the leg
Portion's articulation, to adjust the angle in leg joint.
4. the motion control method of articulated robot according to claim 3, which is characterized in that the leg joint tool
There are two the rotation axis in direction, the retarder controls the rotation axis rotation of the leg joint in both directions, to become
Angle that is big or reducing leg joint.
5. the motion control method of articulated robot according to claim 4, which is characterized in that the retarder and institute
State the coaxial arrangement of leg joint.
6. the motion control method of articulated robot according to claim 5, which is characterized in that the matter of each connecting rod
The coordinate origin of heart position coordinates is the contact point of supporting leg and ground.
7. the motion control method of articulated robot according to claim 1, which is characterized in that on the leg joint
Equipped with joint torque sensor, joint torque sensor connected legs joint and leg link, the joint torque sensing
Device is for detecting torque suffered by the joint of leg.
8. the motion control method of articulated robot according to claim 1, which is characterized in that described in step S04
Visual detection sensor detects markings, and the one or more of scenery on markings are obtained including visual detection sensor
Image carries out edge extracting, image segmentation, image thinning to described image, obtains the road sign in image.
9. the motion control method of articulated robot according to claim 1, which is characterized in that described in step S01
Obtain indoor environment map, comprising: according to the location information of robot, the initial attitude of robot and indoor arrangement map, obtain
To indoor environment map.
10. navigation control method in robot chamber according to claim 1, which is characterized in that described to incite somebody to action in step S02
Global route is divided into the markings between road sign and road sign, comprising: from the initial position of the robot to global route into
Row segmentation, identifies the scenery with obvious characteristic on the indoor environment map, using the scene information of the scenery as road sign,
By mark between adjacent road sign at markings on the route divided at every section.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810068880.4A CN110065062A (en) | 2018-01-24 | 2018-01-24 | A kind of motion control method of articulated robot |
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| CN201810068880.4A CN110065062A (en) | 2018-01-24 | 2018-01-24 | A kind of motion control method of articulated robot |
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Cited By (2)
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| CN113467246A (en) * | 2021-07-16 | 2021-10-01 | 浙江大学 | Yaw moment compensation method for biped robot |
| CN116491935A (en) * | 2023-06-29 | 2023-07-28 | 深圳市微克科技有限公司 | Exercise health monitoring method, system and medium of intelligent wearable equipment |
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