CN110175409B - Gravity feedback compensation method - Google Patents
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Abstract
The invention relates to the technical field of virtual reality, and discloses a gravity feedback compensation method, which comprises the following steps: a world coordinate system { O } is arranged at the center point of the fixed platform, and a movable coordinate system { O' }isarranged at the center point of the floating platform; when the parallel mechanism reaches a gravity balance state, the floating platform reaches a stress balance state, and the stress of the floating platform is analyzed; calculating the moment generated on the joint by the resultant force of the force on the passive rod and the force distributed to the active rod; calculating the moment applied to the active joint by the motor; and calculating the input current of the motor. The gravity feedback compensation method adopts a Newton-Euler method to analyze the stress on each rod piece and the moment on each joint in the force feedback equipment mechanism, thereby establishing the relationship between the equipment dead weight and the motor moment of the force feedback equipment at any position and any posture in a motion space, leading the force feedback equipment to reach a dynamic balance state and improving the transparency of the force feedback equipment.
Description
Technical Field
The invention relates to the technical field of virtual technology, in particular to a gravity feedback compensation method.
Background
The Virtual Reality (VR) technology is a virtual environment simulating reality constructed in a computer through a series of input and output devices, and a user can roam in the virtual environment through the input devices and interact with objects in the virtual environment; and the output equipment can feed back the visual sensation, the touch sensation and other five senses in the virtual environment to the user, so that the user can achieve an immersive experience.
The force/touch interaction is based on the unique interaction mode with a bidirectional information communication channel of a human body, so that the force feedback device is an important interaction tool in virtual reality force/touch interaction. An excellent force feedback device must have the characteristics of high transparency, high rigidity, high control bandwidth, low inertia, low friction, and the like, wherein the transparency is the perception of the presence of the force feedback device by a user when interacting with a virtual reality environment. In the virtual reality interaction process, the more transparent the force feedback equipment, the more difficult the user can feel the existence of the force feedback equipment, and the better the experience of being personally on the scene. Among the factors affecting the transparency of the force feedback device, one of the main factors is derived from the self weight of the device, and therefore, gravity compensation of the force feedback device is a key method for improving the transparency of the force feedback device.
In the prior art, passive gravity compensation and active gravity compensation are commonly used as gravity compensation methods. The passive gravity compensation is to offset the moment generated by the self weight of the equipment on the joint by using energy storage devices such as a balancing weight, a spring and the like. Active gravity compensation is that the motor outputs reverse torque to balance the torque generated by the self weight of the equipment on the joint, so that the equipment reaches a balanced state.
In the passive gravity compensation method, the method of balancing the self weight of the equipment by the balancing weight can reduce the influence of the self weight of the equipment on an operator, but increases the inertia of the equipment, reduces the dynamic performance of the equipment, and the weight of the balancing weight is constant, so that complete gravity compensation cannot be realized for force feedback in any pose. The method for compensating the gravity force by the spring has the advantages that the spring is light in weight, and the weight and the inertia of the force feedback equipment are not increased basically, so that the operation performance of the force feedback equipment is influenced. However, several methods of spring gravity compensation have certain disadvantages. The patent No. 201610015837.2 discloses an optimal spring gravity compensation method for force feedback devices, which is designed to use a simple spring as a gravity compensation machine, but no matter how the mounting position, free length and stiffness of the spring are optimized, in practical engineering, a linear spring is used to replace a nonlinear spring, so that complete gravity compensation cannot be realized at any position of the working space of the force feedback devices, and the spring is easy to interfere with the mechanism of the force feedback devices, thereby further limiting the working space of the force feedback devices. Patent No. 201610028353.1 proposes a zero free length spring gravity compensation method based on force feedback equipment, which includes a fixed pulley and a steel wire rope, in addition to a spring, the spring and the fixed pulley are mounted on a fixed platform, one end of the steel wire rope is connected with the spring, and the other end of the steel wire rope is connected with a driven wheel of a speed reduction mechanism of the force feedback equipment after bypassing the steel wire rope. This method eliminates the interference of the spring with the force feedback device mechanism, but in practical engineering, since the fixed pulley radius and the fixed position length of the pulley cannot be zero, the theoretically complete realization of gravity compensation still produces compensation deviation in practical engineering. Patent No. 201711049846.4 proposes a cam tension spring mechanism for gravity compensation of a mechanical arm, wherein a disc cam is mounted at a joint end at the tail end of the mechanical arm, one end of a steel wire rope is fixed on the edge of the disc cam, and the other end of the steel wire rope is connected with a tension spring. However, when the force feedback device is in rapid motion, the steel wire rope connecting the cam and the spring is not always kept on the same plane, which causes the spring and the steel wire rope to generate a tension gap, introduces a delay amount, easily causes the spring and the steel wire rope to slide, and also reduces the stability of the force feedback system.
In active compensation, the existing force feedback equipment often adopts a virtual displacement method to establish a gravity compensation model based on an angle of energy conservation, but the compensation torque value calculated by the method is easy to generate sudden change in certain positions in a motion space of a parallel mechanism (Delta mechanism), so that gravity compensation is invalid.
Disclosure of Invention
The invention aims to provide a gravity feedback compensation method, and aims to solve the problem that in the prior art, gravity compensation failure is easy to occur in force feedback of virtual reality equipment, so that the transparency of the force feedback equipment is low.
The gravity feedback compensation method is realized in the way, and is used for a parallel mechanism, wherein the parallel mechanism comprises a fixed platform, three groups of branched chains and a floating platform, and each branched chain comprises a driving rod and a driven rod group;
the driven rod group comprises four connecting rods in a parallelogram shape, each end point is provided with a rotating hinge, one short edge is hinged with one end of the driving rod, and the other short edge is hinged with the floating platform; one end of the driving rod is hinged to the fixed platform; the gravity feedback compensation method comprises the following steps:
a world coordinate system { O } is arranged at the center point of the fixed platform, and a movable coordinate system { O' } is arranged at the center point of the floating platform; when the parallel mechanism reaches a gravity balance state, the floating platform reaches a stress balance state, and the stress of the floating platform is analyzed; calculating the moment generated on the joint by the resultant force of the force on the passive rod and the force distributed to the active rod; calculating the moment applied to the active joint by the motor; calculating an input current of the motor.
Further, the X axis of the world coordinate system { O } is horizontally leftward, the Y axis is vertically upward, and the Z axis is perpendicular to the fixed platform and points to the floating platform; the X 'axis of the moving coordinate system (O') is horizontally leftward, the Y 'axis is vertically upward, and the Z' axis is perpendicular to the floating platform and outward; the included angles between the connecting line of the central point of the fixed platform and the hinged point of the driving rod and the X axis are eta respectivelyi(i ═ 1, 2, 3); the length of the driving rod is LaWeight is G1The included angle between the straight line and the horizontal direction is thetai(i ═ 1, 2, 3); the length of the driving rod is LbWeight is G2The weight of the floating platform is G3(ii) a The hinge point of the driving rod and the fixed platform is Ai(i ═ 1, 2, 3), and the hinge point with the passive rod is Ci(i is 1, 2, 3), thenThe hinged point of the passive rod and the floating platform is Bi(i ═ 1, 2, 3); 1/2 of the weight of the passive rod is distributed to the floating platform, 1/2 is distributed to one end of the active rod; when the floating platform is subjected to stress analysis, the positive direction of the acting force of the passive rod on the floating platform is defined as BiCiDirection; the floating platform achieves a stress balance state to establish an equation set:
A1f1+A2f2+A3f3＝0
C1f1+C2f2+C3f3＝0
Solving the system of equations yields:
wherein f isi(i is 1, 2, 3) is the force on the rod i, the direction is along the straight line of the rod, and the positive number represents BiCiDirection, negative number denotes CiBiDirection, through point Bi，CiCan find the vector
The force vector on each passive rod can be obtained
Further, the resultant force of the force on the passive lever and the force distributed on the active lever is
The resultant force has an included angle with the plane of the active rod, and the resultant force
Only in the plane OAiCiThe above components will produce moment effect on the active joint; set plane OAiCiHas a unit normal vector of
Then
Wherein
Is a plane OAiCiThe normal vector of (a) is,
resultant force
In-plane OAiCiThe component of normal direction being force
And unit normal vector
By dot multiplication of
Then the resultant force is known
In-plane OAiCiComponent of
The moment generated by the force on the passive rod on the active joint is known to be
Further, the active stateGravity of the rod
In-plane OAiCiHas a component of
The gravity of the driving lever
In-plane OAiCiComponent of
The gravity of the active lever can be known
The sum of the moments generated on the active joint is
Wherein point PiIs the position (i ═ 1, 2, 3) where the center of gravity of the active lever is located.
Further, the moment applied to the active joint by the motor is obtained. A moment balance equation is established at the active joint,
wherein the torque applied to the active joint by the motor is determined
Further, according to moment
The torque constant tau of the motor is combined to obtain the current value which should be input by the corresponding motor for balancing the self weight of the equipment
Compared with the prior art, the gravity feedback compensation method adopts a Newton-Euler method to analyze the stress on each rod piece and the moment on each joint in the force feedback equipment mechanism, thereby establishing the relationship between the equipment dead weight and the motor moment under any position and posture of the force feedback equipment in a motion space, outputting the appointed current through the motor to obtain the appointed moment, further balancing the moment generated on the joint by the equipment dead weight on line in real time, leading the force feedback equipment to reach a dynamic balance state, and improving the transparency of the force feedback equipment.
Drawings
FIG. 1 is a schematic diagram of a parallel mechanism according to an embodiment of the present invention
FIG. 2 is a schematic diagram of an angle between a branched chain and an X-axis of a fixed coordinate system { O }, in an embodiment of the present invention;
FIG. 3 is a simplified diagram of a parallelogram mechanism of a branched passive bar set according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The implementation of the present embodiment is described in detail below with reference to specific drawings.
As shown in fig. 1 to 3, the present embodiment provides a method for active gravity compensation of a force feedback device of a parallel mechanism (Delta mechanism). The method adopts a Newton-Euler method to analyze the stress on each rod piece and the moment on each joint in the force feedback equipment mechanism, thereby establishing the relationship between the equipment dead weight and the motor moment of the force feedback equipment at any position and any posture in a motion space, outputting a specified current through a motor to obtain the specified moment, further balancing the moment generated by the equipment dead weight on the joint in real time on line, leading the force feedback equipment to reach a dynamic balance state, and improving the transparency of the force feedback equipment.
FIG. 1 is a schematic diagram of a force feedback device model of a parallel mechanism (Delta mechanism)The Delta mechanism is modeled as a horizontal configuration, i.e., the floating platform moves in space in front of the fixed platform, while other orientations, such as vertical, are used. In the Delta mechanism force feedback equipment model, a fixed platform and a floating platform of a Delta mechanism are connected through three completely consistent branched chains, each branched chain is provided with a driving rod and a driven rod, one end of the driving rod is connected with the fixed platform through a rotating hinge, the other end of the driving rod is connected with the driven rod through a rotating hinge, the driven rod is a parallelogram mechanism, four vertexes of the parallelogram are rotating hinges, and the other end of the driven rod is connected with the floating platform through a rotating link. A world coordinate system { O } is arranged at the center point of the fixed platform, the X axis of the world coordinate system is horizontally leftward, the Y axis of the world coordinate system is vertically upward, and the Z axis of the world coordinate system is perpendicular to the direction of the fixed platform and points to the direction of the floating platform. A movable coordinate system (O ') is arranged at the center point of the floating platform, the X' axis of the movable coordinate system is horizontally leftward, the Y 'axis of the movable coordinate system is vertically upward, and the Z' axis of the movable coordinate system is perpendicular to the floating platform and outward. As shown in FIG. 2, the connecting line between the center point of the fixed platform and the hinge point of the active rod has an included angle eta with the X-axisi(i ═ 1, 2, 3). The included angle between the straight line of the driving rod and the horizontal direction is thetai(i ═ 1, 2, 3). The length of the driving rod is LaWeight is G1The length of the driven rod is LbWeight is G2The weight of the floating platform is G3The hinge point of the driving rod and the fixed platform is Ai(i ═ 1, 2, 3), and the hinge point of the driving rod and the driven rod is Ci(i ═ 1, 2 and 3), and the hinged point of the passive rod and the floating platform is Bi(i ═ 1, 2, 3). By weight of driven bar
Is distributed to the floating platform, and the floating platform,
to one end of the active lever; when the floating platform is subjected to stress analysis, the positive direction of the acting force of the passive rod on the floating platform is defined as BiCiDirection; FIG. 3 is a simplified diagram of a branched passive rod parallelogram mechanism, in which two groups of edges are parallel at any time due to the parallelogram of the branched passive rodAre parallel to each other, and therefore, may be assumed to be in parallelogram B'iB″iC″iC′iThe middle point of the two short sides is connected with a rod BiCiThe length of the rod is equal to the length of the long side of the parallelogram, the weight of the length is the weight of the whole parallelogram, and the gravity center of the length is just the gravity center of the parallelogram.
First, according to the spatial model coordinate system,
and (5) carrying out stress analysis on the floating platform. The floating platform is under the action of gravity and the action force of the three passive rods, and when the mechanism reaches a gravity balance state, the floating platform reaches a stress balance state. The stress balance equation in three directions can be established:
force balance equation in X direction:
force balance equation in the Y direction:
force balance equation of direction:
in combination with the above three equations, a system of equations can be established:
A1f1+A2f2+A3f3＝0
C1f1+C2f2+C3f3＝0，order to
Solving the system of equations yields:
wherein f isi(i is 1, 2, 3) is the force on the rod i, the direction is along the straight line of the rod, and the positive number represents BiCiDirection, negative number denotes CiBiAnd (4) direction. Using point Bi，CiCan find the vector
The force vector on each passive rod can be obtained
And calculating the moment generated on the active joint by the resultant force of the force on the passive rod and the force distributed to the active rod. The resultant of the force on the passive rod and the force on the active rod is
The resultant force has an included angle with the plane of the active rod
Only in the plane OAiCiThe component of (a) will produce a moment effect on the active joint. Set plane OAiCiHas a unit normal vector of
Then
Wherein
Is a plane OAiCiThe normal vector of (a) is,
on the basis of the coordinates of the model,
resultant force
In-plane OAiCiThe component of normal direction being force
And unit normal vector
By dot multiplication of
Then the resultant force is known
In-plane OAiCiComponent of
The moment generated on the active joint by the force on the passive rod can be known as
And solving the moment generated on the driving joint by the gravity of the driving rod. Gravity of the driving lever
In-plane OAiCiHas a component of
The gravity of the driving lever
In-plane OAiCiComponent of
The gravity of the driving lever can be known
The sum of the moments generated on the active joint is
Wherein point PiThe position (i is 1, 2, 3) of the center of gravity of the active lever;
and solving the moment applied to the active joint by the motor. A moment balance equation is established at the active joint,
wherein the torque applied to the active joint by the motor is determined
And solving the input current of the motor. Based on the torque obtained
The torque constant tau of the motor is combined to obtain the current value which should be input by the corresponding motor for balancing the self weight of the equipment
Compared with the conventional passive gravity compensation or active compensation adopting virtual displacement, the method for performing active gravity compensation by using the Newton-Euler method can compensate the moment generated by the self weight of the force feedback device at the joint of the device when the force feedback device is at any position and posture in the motion space of the force feedback device in real time on line, and increases the transparency of the force feedback device. Compared with passive gravity compensation, the method provided by the invention only needs the motor to provide extra torque to compensate gravity, and does not need extra mechanisms and parts, so that mechanical interference generated between the newly added part and the existing part is avoided, and the inertia of equipment is not increased; compared with an active compensation method adopting virtual displacement, the method can not cause sudden change of gravity compensation moment at a part of the motion space to cause compensation failure.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The gravity feedback compensation method is used for a parallel mechanism and is characterized in that the parallel mechanism comprises a fixed platform, three groups of branched chains and a floating platform, wherein each branched chain comprises a driving rod and a driven rod group;
the driven rod group comprises four connecting rods in a parallelogram shape, a rotating hinge is arranged at each end point, one short edge is hinged with one end of the driving rod, and the other short edge is hinged with the floating platform
One end of the driving rod is hinged to the fixed platform;
the gravity feedback compensation method comprises the following steps:
a world coordinate system { O } is arranged at the center point of the fixed platform, and a movable coordinate system { O' } is arranged at the center point of the floating platform;
when the parallel mechanism reaches a gravity balance state, the floating platform reaches a stress balance state, and the stress of the floating platform is analyzed;
calculating the moment generated on the joint by the resultant force of the force on the passive rod and the force distributed to the active rod;
calculating the moment applied to the active joint by the motor;
calculating an input current of the motor;
wherein, the X axis of the world coordinate system { O } is horizontally leftward, the Y axis is vertically upward, and the Z axis is perpendicular to the fixed platform and points to the floating platform;
the X 'axis of the moving coordinate system (O') is horizontally leftward, the Y 'axis is vertically upward, and the Z' axis is perpendicular to the floating platform and outward;
the included angles between the connecting line of the central point of the fixed platform and the hinged point of the driving rod and the X axis are eta respectivelyi(i＝1，2，3)；
The length of the driving rod is LaWeight is G1The included angle between the straight line and the horizontal direction is thetai(i＝1，2，3)；
The length of the passive rod is LbWeight is G2The weight of the floating platform is G3；
The hinge point of the driving rod and the fixed platform is Ai(i ═ 1, 2, 3), and the hinge point with the passive rod is Ci(i ═ 1, 2, 3), and the hinged point of the passive rod and the floating platform is Bi(i＝1，2，3)；
1/2 of the weight of the passive rod is distributed to the floating platform, 1/2 is distributed to one end of the active rod;
when the floating platform is subjected to stress analysis, the positive direction of the acting force of the passive rod on the floating platform is defined as BiCiDirection;
the floating platform achieves a stress balance state to establish an equation set:
A1f1+A2f2+A3f3＝0
C1f1+C2f2+C3f3＝0
Solving the system of equations yields:
wherein f isi(i-1, 2, 3) is a rod memberi is the force in the direction along the straight line of the rod, and the positive number represents BiCiDirection, negative number denotes CiBiDirection, through point Bi，CiCan find the vector
The force vector on each passive rod can be obtained
2. The gravity feedback compensation method of claim 1, wherein a resultant force of the force on the passive rod and the force distributed on the active rod is
The resultant force has an included angle with the plane of the active rod, and the resultant force
Only in the plane OAiCiThe above components will produce moment effect on the active joint;
set plane OAiCiHas a unit normal vector of
Then
Wherein
Is a plane OAiCiThe normal vector of (a) is,
resultant force
In-plane OAiCiThe component of normal direction being force
And unit normal vector
By dot multiplication of
Then the resultant force is known
In-plane OAiCiComponent of
The moment generated by the force on the passive rod on the active joint is known to be
3. The gravity feedback compensation method of claim 2, wherein the gravity of the active lever
In-plane OAiCiHas a component of
The gravity of the driving lever
In-plane OAiCiComponent of
The gravity of the active lever can be known
The moment generated on the active joint is
Wherein point PiIs the position (i ═ 1, 2, 3) where the center of gravity of the active lever is located.
4. The gravity feedback compensation method according to claim 3, wherein the moment applied to the active joint by the motor is obtained, a moment balance equation is established at the active joint,
wherein
The torque applied to the active joint by the motor can be determined
5. Gravity feedback compensation method according to claim 4, wherein the moment is based
The torque constant tau of the motor is combined to obtain the current value which should be input by the corresponding motor for balancing the self weight of the equipment
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| CN111216129B (en) * | 2020-01-07 | 2023-03-21 | 华南理工大学 | Active-passive combined series-parallel force feedback equipment gravity compensation method |
| CN113043279B (en) * | 2021-04-15 | 2022-08-02 | 诺创智能医疗科技(杭州)有限公司 | Control method, controller, system, electronic device and medium for surgical robot |
| CN113081290B (en) * | 2021-04-15 | 2022-06-24 | 诺创智能医疗科技(杭州)有限公司 | Control method, controller, system, electronic device and medium for surgical robot |
| WO2023169306A1 (en) * | 2022-03-07 | 2023-09-14 | 诺创智能医疗科技(杭州)有限公司 | Driving force acquisition method and apparatus for main manipulator, and storage medium |
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