CN110315571A - A kind of software actuator control method of robotic asssembly posture correction - Google Patents
A kind of software actuator control method of robotic asssembly posture correction Download PDFInfo
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- CN110315571A CN110315571A CN201910468268.0A CN201910468268A CN110315571A CN 110315571 A CN110315571 A CN 110315571A CN 201910468268 A CN201910468268 A CN 201910468268A CN 110315571 A CN110315571 A CN 110315571A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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Abstract
A kind of software actuator control method of robotic asssembly posture correction deflects the deformation of the method expression software actuator of direction vector and deflection angle using a kind of combination for the pneumatic software actuator of multi-chamber that can be deflected to any direction；Assembly posture correction control process is divided into assembly posture perception and assembly two stages of pose adjustment: assembly posture perception stage and assembly pose adjustment stage by the characteristics of according to pneumatic software actuator pressure control and flexible deformation.The present invention realizes the assembly posture perception and assembly posture correction during the non-rigid part robotic asssembly of isomery.
Description
Technical field
The present invention relates to a kind of software actuator control method, especially a kind of software of robotic asssembly posture correction is caused
Dynamic device control method.
Background technique
Part non-rigid for the isomery being widely present in the products such as low-voltage electrical apparatus, plastic toy and 3C, this kind of zero
Mated condition in the assembling process of part between contact force and part is complicated, in the Automated assembly of such part, tradition
Rigid tip actuator performed by the movement of assembly as clamping-positioning-installation, it will usually since the manufacture of part misses
The reasons such as poor, position error and assembly execution system stiffness are excessive cause damage parts.It is filled in current robot automation
With in field, in order to guarantee effective assembly of the non-rigid part of such isomery, rigid tip clamper is mostly used to carry out part folder
It holds.In robot end joint installing force feedback transducer, component assembly posture perception is carried out by assembly contact force feedback, so
Afterwards according to the component assembly posture perceived, controls the people that puts together machines and assembly posture is adjusted.This kind of robotic asssembly appearance
State is rectified a deviation, and control method needs are additional to install force snesor, and needs to run to control in robot and increase specifically assembly in program
Posture correction algorithm, that is, increase cost, reduce posture method for correcting error for the adaptability of different robots, and reduce machine
The efficiency of the operation of device people's Automated assembly.
Compared to rigid clamping device, there is multiple degrees of freedom and right using the pneumatic software actuator of rubber material manufacture
The high feature of complicated power effect environmental suitability, so that pneumatic software actuator is good to having applied to assembly posture correction
Potentiality.But the shape control of elastic pneumatic software only controls the nyctitropic aximal deformation value of single shape at present, not
Suitable for assembly posture correction when multiform change direction, small deformation amount the case where.
Summary of the invention
Not strong in order to overcome the shortcomings of to have assembly posture correction control method hardware cost height, adaptability, the present invention mentions
The software actuator control method for having gone out a kind of robotic asssembly posture correction, realizes the non-rigid part robotic asssembly mistake of isomery
Assembly posture perception and assembly posture correction in journey.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of software actuator control method of robotic asssembly posture correction, for the multi-cavity that can be deflected to any direction
The pneumatic software actuator in room deflects the change of the method expression software actuator of direction vector and deflection angle using a kind of combination
Shape situation；The characteristics of according to pneumatic software actuator pressure control and flexible deformation, by assembly posture correction control process point
For assembly posture perception and assemble two stages of pose adjustment:
In the assembly posture perception stage, pneumatic soft robot is considered as a Bending Deformation sensor, according to each chamber
The available soft body deformation of atmospheric pressure value deflection direction vector, according to the atmospheric pressure value of each chamber feedback and ideal gas behavior
The volume change of equation calculation soft body deformation process, and then current volume is calculated according to the continual curvature criterion of elastic material deformation
Bending angle under variation；
In the assembly pose adjustment stage, multi-chamber software is considered as air bending actuator, according to the Yeoh sheet of elastomer
Structure model and the relationship of the principle of virtual work available air pressure acting and bending angle, the air pressure by controlling each chamber make software
It is bent to specified direction with specified angle, to realize assembly posture correction.
Further, for a software actuator with n chamber, software actuator control method includes following step
It is rapid:
Step 1: the bending direction vector of each chamber of software actuator is determined
Select the bottom section of software actuator as projection reference surface, choosing software actuator bottom centre point is original
Point, establishes plane coordinate system on projection reference surface, keeps each chamber control pressure of pneumatic software actuator equal, then increases
The control pressure of i-th (1~n) chamber of software actuator makes software actuator generate bending, and pneumatic actuator axis is being thrown
Unit vector on shadow datum level projecting directionBending direction vector as the i-th chamber；
Step 2: each chamber pressure situation of change of acquisition standard assembling process
During robot completes standard assembly, each chamber of nk group software actuator is acquired at interval of same time
Barometric information Pi,j, wherein i=1~n represents the variant chamber of software actuator, and j=1~k is represented to be adopted when executing assembly movement
Collect obtained each chamber pressure value serial number；
Step 3: assembling deviation situation is judged
When robot executes fittage, it is spaced time acquisition the i-th chamber of software actuator identical with step 1 not
Air pressure value of feedback P ' in the same timei,j, compare Pi,jWith P 'i,jDifference, if
|Pi,j-P’i,j|>δ (1)
Then think that error occurs in assembling process, records current each chamber pressure value P 'iAnd it is dynamic to notify that robot stops assembly
Home is returned to, wherein δ is set allowable error range；
Step 4: there is software posture perception when rigging error
When assembling process generates error, software actuator generates bending under external force, and bending direction is outer
Forced direction acts on the external force on software actuator with each chamber pressure to software system according to the interaction of power at this time
The resultant force of dynamic device is reversed；According to the air pressure of each chamber in the case of each chamber flex direction vector and bending determined in step 1
Value P 'i, each chamber pressure is to the bending direction vector of software actuator resultant force under available error condition
Then bending direction of the software actuator under error condition and this direction vector are on the contrary, i.e.
Software actuator Bending Deformation process work in the case of rigging error is assumed with Simplified analysis, according to ideal gas
Body state equation, the relationship between gas volume V and air pressure P are
Wherein n is gaseous matter amount, and R is gas constant, and T is temperature, then according to the sky before software actuator Bending Deformation
Cavity volume, air pressure, atmospheric pressure value and formula (4) after Bending Deformation obtain the software actuator air cavity volume after deformation occurs
Vm；
Further, the bending angle θ and software actuator being bent according to the cross sectional shape of software actuator after deformation
Volume VmRelationship
θ=f (Vm) (5)
The bending angle that the software actuator bending direction and formula (5) then provided according to formula (3) provides determines assembly
Software actuator when error assembles posture；
Step 5: software actuator assembles pose adjustment
According to the assembly appearance in the contact force of component assembly process, fits kind analysis and step (4) when assembling deviation
State perception, obtains the correct assembly posture under error current situation, i.e., the deflection side of software actuator when correctly being assembled
To vectorAnd deflection angle θc；
By each chamber pressure expressed in formula (2) to the bending direction vector of software actuator resultant force, then have
Wherein Pin,iGas pressure intensity is inputted for each air cavity；
Based in step 4 hypothesis and formula (5) obtain software actuator bending angle be θcWhen each air cavity volume
Vm,i=gi(θc) (i=1~n) (7)
Wherein n is software actuator air cavity number, gi() is bending angle θcWith each air cavity volume Vm,iBetween function close
System；
During software actuator assembles pose adjustment, compressed gas work done is entirely used for overcoming external constraint power
And rubber material internal stress work done establishes balance expression according to the principle of virtual work
Wherein dVc,iFor air cavity volume change before and after pose adjustment, VR, iFor each air cavity rubber material volume, WouTo overcome
External constraint work done, W is rubber material energy density function, using second order Yeoh constitutive model strain energy density letter
Number, then
Wherein, C10, C20For material parameter, λ is actuator shaft to principal elongation ratio；
Simultaneous formula (6)~(9) substitute into each gas needed for each section known quantity acquires the correction control of software actuator posture
Chamber inputs gas pressure intensity Pin,i, reaching desirable value by control input gas pressure intensity can be adjusted pneumatic software actuator to correctly
Posture is assembled, and return step three re-executes assembly movement.
In 4th step, for the software actuator Bending Deformation process in the case of rigging error, make the following assumptions with
Simplified analysis:
4.1) pneumatic software actuator is without being radially expanded, i.e. section exterior contour size constancy；
4.2) the rubber material even variation of pneumatic software actuator air cavity outer wall；
4.3) do not consider to strain the mechanics influence that limiting layer generates overall deformation process；
4.4) overall volume of elastic matrix remains unchanged before and after deformation；
4.5) the pneumatic software actuator of multi-chamber is in bending deformation process mean curvature even variation.
Major technique design of the invention are as follows: use a kind of method of projection by the bending direction table of pneumatic software actuator
It is shown as the action direction of each air cavity air pressure resultant force, realizes that robot is automatic using each air cavity air pressure feedback of pneumatic software actuator
The assembly posture perception for changing assembling process, occurs that pneumatic software in a specific way by the pressure control to software actuator
Bending Deformation is to achieve the purpose that assemble posture correction adjustment.
Beneficial effects of the present invention are mainly manifested in: proposing a kind of software cause applied to the correction of robotic asssembly posture
Dynamic device control method can reduce hardware cost, improve the non-rigid part machine of isomery compared to others assembly gesture recognition correction
The efficiency and applicability of device people assembly.
Detailed description of the invention
Fig. 1 is the flow chart of the software actuator control method of robotic asssembly posture correction.
Fig. 2 is software pneumatic actuator application example.
Fig. 3 is the Section A-A figure of Fig. 2, wherein 1 is end effector bottom plate, and 2 be movable decorative pearl on top of an official cap mounting rod, and 3 be the decorative pearl on top of an official cap
Mounting rod, 4 be the pneumatic software device of three chamber cylindricals, and 5 be clamping device mounting rod, and 6 be the fixed decorative pearl on top of an official cap, and 7 be to hold out against cylinder, 8
It is decorative pearl on top of an official cap spring for cylinder mounting plate, 9,10 be clamping device fixed plate, and 11 be clamping device.
Fig. 4 is that software pneumatic actuator deflects schematic diagram.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig.1~Fig. 4, a kind of software actuator control method of robotic asssembly posture correction, for energy Xiang Renyi
The pneumatic software actuator of multi-chamber of direction deflection is indicated using a kind of method that combination deflects direction vector and deflection angle
The deformation of software actuator.The characteristics of according to pneumatic software actuator pressure control and flexible deformation, posture will be assembled
Correction control process is divided into assembly posture perception and assembly two stages of pose adjustment.In the assembly posture perception stage, by gas
Dynamic soft robot is considered as a Bending Deformation sensor, according to the deflection side of the available soft body deformation of the atmospheric pressure value of each chamber
To vector, the volume change of soft body deformation process is calculated according to the atmospheric pressure value of each chamber feedback and The Ideal-Gas Equation,
And then the bending angle under current volume variation is calculated according to the continual curvature criterion of elastic material deformation.In assembly pose adjustment rank
Section, is considered as air bending actuator for multi-chamber software, can be obtained according to the Yeoh constitutive model and the principle of virtual work of elastomer
To the relationship of air pressure acting and bending angle, the air pressure by controlling each chamber can make software to specified direction with specified
Angle bending, to realize assembly posture correction.
It holds the rigid soft composite machine people end for applying three chamber software pneumatic actuators (part 4 in attached drawing 2) with one
Row device be object the invention will be further described, software actuator control method the following steps are included:
Step 1: the bending direction vector of each chamber of software actuator is determined
Select the bottom section of software actuator as projection reference surface, choosing software actuator bottom centre point is original
Point, establishes plane coordinate system on projection reference surface.Keep each chamber control pressure of pneumatic software actuator equal, then increases
The control pressure of a certain chamber of software actuator makes software actuator generate bending (as shown in Figure 3), since three air cavity is soft
Each air cavity of body pneumatic actuator is to be alternatively arranged with 120 °, unit vector of each air cavity on projection reference surfaceRespectively(as shown in Figure 3).
Step 2: each chamber pressure situation of change of acquisition standard assembling process
During robot completes standard assembly, each chamber of nk group software actuator is acquired at interval of same time
Barometric information Pi,j.Wherein i=1~3 represent the variant chamber of software actuator, and j=1~k is represented to be adopted when executing assembly movement
Collect obtained each chamber pressure value serial number.
Step 3: assembling deviation situation is judged
When robot executes fittage, it is spaced time acquisition the i-th chamber of software actuator identical with step 1 not
Air pressure value of feedback P ' in the same timei,j, compare Pi,jWith P 'i,jDifference, if
|Pi,j-P’I,j|>0.1Pa (1)
Then think that error occurs in assembling process, records current each chamber pressure value P 'iAnd it is dynamic to notify that robot stops assembly
Return to home.
Step 4: there is software posture perception when rigging error
When assembling process generates error, software actuator generates bending (as shown in Figure 3) under external force, bending
Direction is external force direction, according to the interaction of power, acts on the external force on software actuator and each chamber gas at this time
It presses reversed to the resultant force of software brake.According to each in the case of each chamber flex direction vector and bending determined in step 1
The atmospheric pressure value P of chamberi, each chamber pressure is to the bending direction vector of software actuator resultant force under available error condition
Then bending direction of the software actuator under error condition and this direction vector are on the contrary, i.e.
For the software actuator Bending Deformation process in the case of rigging error, can make the following assumptions with Simplified analysis:
4.1) pneumatic software actuator is without being radially expanded, i.e. section exterior contour size constancy；
4.2) the rubber material even variation of pneumatic software actuator air cavity outer wall；
4.3) do not consider to strain the mechanics influence that limiting layer generates overall deformation process；
4.4) overall volume of elastic matrix remains unchanged before and after deformation；
4.5) the pneumatic software actuator of multi-chamber is in bending deformation process mean curvature even variation.
Based on assumed above, according to The Ideal-Gas Equation, the relationship between gas volume V and air pressure P is
Wherein n is gaseous matter amount, and R is gas constant, and T is temperature.Before then can be according to software actuator Bending Deformation
Cavity volume, air pressure, atmospheric pressure value and formula (4) after Bending Deformation obtain the software actuator air cavity after deformation occurs
Product Vm.Further, based on it is assumed above 4.1), 4.4), 4.5) according to the cross sectional shape of software actuator be bent deformation it
Bending angle θ and software actuator volume V afterwardsmRelationship
θ=f (Vm) (5)
It can then be determined according to the bending angle that the software actuator bending direction and formula (5) that formula (3) provide provide
Software actuator when rigging error assembles posture.
Step 5: software actuator assembles pose adjustment
According to the assembly appearance in the contact force of component assembly process, fits kind analysis and step (4) when assembling deviation
State perception, the correct assembly posture under available error current situation, i.e., software actuator when correctly being assembled it is inclined
Turn direction vectorAnd deflection angle θc。
By each chamber pressure expressed in formula (2) to the bending direction vector of software actuator resultant force, then have
Wherein Pin,iGas pressure intensity is inputted for each air cavity.
Based on the hypothesis 4.1 in step 4)~4.5) and the available software actuator bending angle of formula (5) be θc
When each air cavity volume
Vm,i=gi(θc) (i=1~3) (7)
Wherein gi() is bending angle θcWith each air cavity volume Vm,iBetween functional relation；
During software actuator assembles pose adjustment, compressed gas work done is entirely used for overcoming external constraint power
And rubber material internal stress work done establishes balance expression according to the principle of virtual work
Wherein dVc,iFor air cavity volume change before and after pose adjustment, VR, iFor each air cavity rubber material volume, WouTo overcome
External constraint work done, W is rubber material energy density function, using second order Yeoh constitutive model strain energy density letter
Number, then
Wherein, C10, C20C is taken by rubber material for material parameter10=0.11MPa, C20=0.02MPa, λ are actuator shaft
To principal elongation ratio.
The three air cavitys pneumatic actuator is connected on clamp mounting rod in applied example, and the clamp peace being connected
It fills bar and is constrained (as shown in Figure 2) by spring force, thus have during pose adjustment
Wherein, m is spring number, ki, liRespectively each spring constant and pose adjustment for holding out against spring when deformation
Amount, G and h are respectively to be connected in the weight of object on software actuator and its displacement during pose adjustment.
Simultaneous formula (6)~(10), substitution each section known quantity acquire each needed for the correction control of software actuator posture
Air cavity inputs gas pressure intensity Pin,i, reaching desirable value by control input gas pressure intensity can be adjusted pneumatic software actuator to just
Really assembly posture.
Claims (3)
1. a kind of software actuator control method of robotic asssembly posture correction, which is characterized in that for can be to any direction
The pneumatic software actuator of the multi-chamber of deflection indicates software using a kind of method that combination deflects direction vector and deflection angle
The deformation of actuator；The characteristics of according to pneumatic software actuator pressure control and flexible deformation, by assembly posture correction
Control process is divided into assembly posture perception and assembly two stages of pose adjustment:
In the assembly posture perception stage, pneumatic soft robot is considered as a Bending Deformation sensor, according to the gas of each chamber
Pressure is worth the deflection direction vector of available soft body deformation, according to the atmospheric pressure value of each chamber feedback and The Ideal-Gas Equation
The volume change of soft body deformation process is calculated, and then current volume variation is calculated according to the continual curvature criterion of elastic material deformation
Under bending angle；
In the assembly pose adjustment stage, multi-chamber software is considered as air bending actuator, according to the Yeoh of elastomer this structure mould
Type and the relationship of the principle of virtual work available air pressure acting and bending angle, the air pressure by controlling each chamber make software to finger
Fixed direction is bent with specified angle, to realize assembly posture correction.
2. the software actuator control method of robotic asssembly posture correction as described in claim 1, which is characterized in that for
One software actuator with n chamber, software actuator control method the following steps are included:
Step 1: the bending direction vector of each chamber of software actuator is determined
Select the bottom section of software actuator as projection reference surface, selection software actuator bottom centre point is origin,
Plane coordinate system is established on projection reference surface, is kept each chamber control pressure of pneumatic software actuator equal, is then increased software
The control pressure of i-th (1~n) chamber of actuator makes software actuator generate bending, by pneumatic actuator axis in projection base
Unit vector on quasi- face projecting directionBending direction vector as the i-th chamber；
Step 2: each chamber pressure situation of change of acquisition standard assembling process
During robot completes standard assembly, at interval of the gas of same time acquisition each chamber of nk group software actuator
Press data Pi,j, wherein i=1~n represents the variant chamber of software actuator, and j=1~k is represented to be acquired when executing assembly movement
Each chamber pressure value serial number arrived；
Step 3: assembling deviation situation is judged
When robot executes fittage, when being spaced time acquisition the i-th chamber of software actuator difference identical with step 1
The air pressure value of feedback P ' at quarteri,j, compare Pi,jWith P 'i,jDifference, if
|Pi,j-P’i,j|>δ (1)
Then think that error occurs in assembling process, records current each chamber pressure value P 'iAnd robot is notified to stop assembly movement and retract
To home, wherein δ is set allowable error range；
Step 4: there is software posture perception when rigging error
When assembling process generates error, software actuator generates bending under external force, and bending direction is outer masterpiece
The external force on software actuator is acted on each chamber pressure to software brake according to the interaction of power at this time with direction
Resultant force it is reversed；According to the atmospheric pressure value of each chamber in the case of each chamber flex direction vector and bending determined in step 1
P’i, each chamber pressure is to the bending direction vector of software actuator resultant force under available error condition
Wherein n is actuator pneumatic cavity number of chambers mesh,For the bending direction vector of the i-th chamber,
Then bending direction of the software actuator under error condition and this direction vector are on the contrary, i.e.
Software actuator Bending Deformation process work in the case of rigging error is assumed with Simplified analysis, according to perfect gas shape
State equation, the relationship between gas volume V and air pressure P are
Wherein n is gaseous matter amount, and R is gas constant, and T is temperature, then according to the cavity body before software actuator Bending Deformation
It accumulates, air pressure, the atmospheric pressure value and formula (4) after Bending Deformation obtain the software actuator air cavity volume V after deformation occursm；
Further, the bending angle θ and software actuator volume V being bent according to the cross sectional shape of software actuator after deformationm
Relationship
θ=f (Vm) (5)
The bending angle that the software actuator bending direction and formula (5) then provided according to formula (3) provides determines rigging error
When software actuator assemble posture；
Step 5: software actuator assembles pose adjustment
According to the assembly posture sense in the contact force of component assembly process, fits kind analysis and step (4) when assembling deviation
Know, obtain the correct assembly posture under error current situation, i.e., the deflection direction of software actuator when correctly being assembled to
AmountAnd deflection angle θc；
By each chamber pressure expressed in formula (2) to the bending direction vector of software actuator resultant force, then have
Wherein Pin,iGas pressure intensity is inputted for each air cavity, n is actuator pneumatic cavity number of chambers mesh,For the i-th chamber bending direction to
Amount；
Based in step 4 hypothesis and formula (5) obtain software actuator bending angle be θcWhen each air cavity volume Vm,i
Vm,i=gi(θc) (i=1~n) (7)
Wherein n is software actuator air cavity number, gi() is bending angle θcWith each air cavity volume Vm,iBetween functional relation；
During software actuator assembles pose adjustment, compressed gas work done be entirely used for overcoming external constraint power and
Rubber material internal stress work done establishes balance expression according to the principle of virtual work
Wherein dVc,iFor air cavity volume change before and after pose adjustment, VR, iFor each air cavity rubber material volume, WouTo overcome outside
Work done is constrained, W is rubber material energy density function, using second order Yeoh constitutive model strain energy density function, then
Wherein, C10, C20For material parameter, λ is actuator shaft to principal elongation ratio；
It is defeated to substitute into each air cavity needed for each section known quantity acquires the correction control of software actuator posture for simultaneous formula (6)~(9)
Enter gas pressure intensity Pin,i, reaching desirable value by control input gas pressure intensity can be adjusted pneumatic software actuator to correct assembly
Posture, and return step three re-executes assembly movement.
3. the software actuator control method of robotic asssembly posture correction as claimed in claim 2, which is characterized in that described
In 4th step, for the software actuator Bending Deformation process in the case of rigging error, make the following assumptions with Simplified analysis:
4.1) pneumatic software actuator is without being radially expanded, i.e. section exterior contour size constancy；
4.2) the rubber material even variation of pneumatic software actuator air cavity outer wall；
4.3) do not consider to strain the mechanics influence that limiting layer generates overall deformation process；
4.4) overall volume of elastic matrix remains unchanged before and after deformation；
4.5) the pneumatic software actuator of multi-chamber is in bending deformation process mean curvature even variation.
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