CN110340885A - A kind of industrial robot collision checking method based on energy deviation observer - Google Patents

A kind of industrial robot collision checking method based on energy deviation observer Download PDF

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Publication number
CN110340885A
CN110340885A CN201910424990.4A CN201910424990A CN110340885A CN 110340885 A CN110340885 A CN 110340885A CN 201910424990 A CN201910424990 A CN 201910424990A CN 110340885 A CN110340885 A CN 110340885A
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joint
industrial robot
collision
energy
robot
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CN110340885B (en
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张得礼
陆济民
王珉
陈文亮
金霞
鲍益东
逯轩
王建政
王昊
王耀武
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • 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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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

The present invention proposes a kind of industrial robot collision checking method based on energy deviation observer, calculate the gross energy in each joint in industrial robot operational process, and then set the collision detection operator and Tuning function in each joint, obtain energy deviation observer, the collision torque and impact force in each joint are acquired by energy deviation observer again, by comparing collide torque and the size of torque threshold or compared with impact force judge whether industrial robot collides with the size of colliding force threshold.Method of the invention is without adding additional sensor, it can be achieved with real-time detection industrial robot and external collision and industrial robot driven to make fast reaction, the damage that may cause is avoided, while improving by feedforward compensation rapidity and accuracy that system detects impact force.

Description

A kind of industrial robot collision checking method based on energy deviation observer
Technical field
The invention belongs to Industrial Robot Technology field, especially a kind of industrial robot based on energy deviation observer Collision checking method.
Background technique
Industrial robot is Multi-freedom-degreemanipulator manipulator or installations towards industrial circle.Industrial robot welding, It is very widely used in the industrial productions such as grinding and polishing, spraying, carrying, assembly.In recent years, applying model with industrial robot Enclose it is increasingly wider, especially multi-robot Cooperation and man-machine collaboration using more and more, people want robot safety Ask higher and higher.The industrial robot initially developed is worked by good motion profile prepared in advance, in order to prevent machine Device people collides with external environment in process of production, is often equipped with protective fence, makes it closed for robot to be isolated It works in space.It is more and more wider however as robot application range, especially multi-robot Cooperation, man-machine collaboration application increasing More, many production tasks require robot to cooperate with staff or other robot completion.Thus, how in open environment The interior safety guaranteed in robot production process, becomes most important problem.
To guarantee safety, control system needs the contact force between real-time detection robot and external environment, when touching When hitting, control system needs rapidly detect collision, and by the guarantee of corresponding control strategy make it is timely, reasonable instead It answers, is unlikely to cause serious damage.Currently, generally use addition external sensor method come detect robot whether with outside Boundary's environment collides.Such as: (1) use vision-based detection；(2) installation wrist force sensor collides to detect；(3) installation joint is turned round Square sensor collides to detect；(4) installation perception skin collides to detect.
For the method for installation sensor detection robot and external environment collision, control system is all increased bar none The complexity of system improves the cost of robot, and the installation of some sensors must will examine at the beginning of the design of robot Worry is entered.
Summary of the invention
Technical problem solved by the invention is to provide a kind of industrial robot collision based on energy deviation observer Detection method, real-time detection external impact simultaneously make fast reaction, realize control system and do not need additionally to add sensor just It can detect robot and the collision that external environment occurs, to avoid the damage that may cause, and be improved by feedforward compensation The rapidity and accuracy that system detects impact force.
The technical solution for realizing the aim of the invention is as follows:
A kind of industrial robot collision checking method based on energy deviation observer, comprising the following steps:
Step 1: calculating the gross energy E of the joint i in industrial robot operational processi；
Step 2: according to the gross energy E of industrial robot joint iiSet the collision detection operator σ at the i of jointEi:
Wherein, KE1> 0 is gain, KE2> 0 is gain, τtoliMotor output at joint of robot i after occurring for collision Output torque, τeiFor the collision torque at the i of joint,For the partial derivative of the rotational angle of joint i；
Set Tuning function ueAs feed-forward regulation, for reducingIt has just been touched in industrial robot with external environment Concussion when hitting；
Step 3: according to collision detection operator and Tuning function, obtaining energy deviation observer σEi:
Wherein, KE3> 0 is gain；
Step 4: the collision torque τ at the i of joint is acquired according to energy deviation observerei:
And τe∈R6×1,
And then acquire impact force F of the industrial robot in cartesian spacee:
And Fe∈R6×1；
Step 5: setting collision force threshold Fthon> 0, and Fthon∈R6×1, setting collision torque threshold τthon> 0, and τthon ∈R6×1；
When what is be calculated in real time | Fe| > FthonWhen, then it is assumed that industrial robot is collided；If collision occurs in work Industry robot singular position, when what is be calculated in real time | τe| > τthonWhen, then it is assumed that industrial robot is collided, otherwise Think that industrial robot does not collide.
Further, the industrial robot collision checking method of the invention based on energy deviation observer, step 1 are fallen into a trap Calculate the gross energy E of the joint i in industrial robot operational processiSpecific steps include:
Step 1-1: the kinetic energy E of the joint i in industrial robot operational process is calculatedki；
Step 1-2: the potential energy E of the joint i in industrial robot operational process is calculatedpi；
Step 1-3: joint i gross energy EiAre as follows: Ei=Eki+Epi。
Further, the industrial robot collision checking method of the invention based on energy deviation observer, in step 1-1 Calculate the kinetic energy E of joint ikiSpecifically:
1) some coordinate in basis coordinates system on the i of joint are as follows:
Wherein, iR is coordinate of the point in coordinate system { i },For coordinate system { i } and basis coordinates The changes in coordinates matrix of system；
2) speed of the point is calculated are as follows:
Wherein,Speed of the point r in coordinate system { i }；
3) to velocity squared and mark is asked to obtain:
4) joint iiAt r, quality be dm kinetic energy of particle are as follows:
5) kinetic energy of joint i are as follows:
Wherein, JiFor the pseudo- inertial matrix of joint i.
Further, the industrial robot collision checking method of the invention based on energy deviation observer, in step 1-2 Calculate the potential energy E of joint ipiSpecifically:
Wherein, miFor the gross mass of joint i；G is acceleration of gravity.
Further, the industrial robot collision checking method of the invention based on energy deviation observer is adjusted in step 2 Integral function ueSpecifically:
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1, the industrial robot collision checking method of the invention based on energy deviation observer is without adding additional biography Sensor can be achieved with real-time detection industrial robot and external collision and industrial robot driven to make fast reaction, reduces The complexity of industrial robot control system, reduces the cost of robot；
2, the industrial robot collision checking method of the invention based on energy deviation observer can be in open environment The safety of robot in the process of running is inside effectively ensured；
3, the industrial robot collision checking method of the invention based on energy deviation observer is suitable for each stage Industrial robot, it is not necessary that the design of sensor is just added at the beginning of Robot Design, the robot being devised can also make With this collision checking method.
Detailed description of the invention
Fig. 1 is industrial robot coordinate schematic diagram of the invention；
Fig. 2 is the collision detection control block diagram of the invention based on energy deviation observer；
Fig. 3 is active collision detection experiment schematic diagram of the invention；
Fig. 4 is active collision detection experiment flow figure of the invention；
Fig. 5 is actual collision power and detection crash force curve of the invention.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
A kind of industrial robot collision checking method based on energy deviation observer, comprising the following steps:
Step 1: calculating the gross energy E of the joint i in industrial robot operational processi, it specifically includes:
Step 1-1: the kinetic energy E of the joint i in industrial robot operational process is calculatedki:
1) a little it is to the homogeneous coordinates in coordinate system { i } on hypothesis joint of robot iiR, to basis coordinates system { 0 } Homogeneous coordinates are0R, then some coordinate in basis coordinates system on the i of joint as shown in Figure 1 are as follows:
Wherein, iR is coordinate of the point in coordinate system { i },For coordinate system { i } and basis coordinates The changes in coordinates matrix of system；
2) speed of the point is calculated are as follows:
Wherein,Speed of the point r in coordinate system { i }；
3) to velocity squared and mark is asked to obtain:
4) joint iiAt r, quality be dm kinetic energy of particle are as follows:
5) kinetic energy of joint i are as follows:
Wherein, JiFor the pseudo- inertial matrix of joint i.
Step 1-2: the potential energy E of the joint i in industrial robot operational process is calculatedpi:
Wherein, miFor the gross mass of joint i；G is acceleration of gravity.
Step 1-3: joint i gross energy EiAre as follows:
Step 2: according to the gross energy E of industrial robot joint iiSet the collision detection operator σ at the i of jointEi:
Wherein, KE1> 0 is gain, KE2> 0 is gain, τtoliMotor output at joint of robot i after occurring for collision Output torque, τeiFor the collision torque at the i of joint,For the partial derivative of the rotational angle of joint i；
Above formula derivation is unfolded:
Transmission function can be obtained by carrying out laplace transform again:
From the above equation, we can see that σEiIt is equivalent to pairIntroduce a second-order system, observation σEiIt can followBecome Change, after stabilizationBy KE1, KE2It is adjusted to suitable yield value, can suppressConcussion influence.But It is, only with collision detection operator σEiImpact force is detected, can generate biggish delay, influences the rapidity of detection, therefore is set Integral function of setting the tone ueAs feed-forward regulation, for reducingConcussion when industrial robot and external environment just collide:
Step 3: according to collision detection operator and Tuning function, obtaining energy deviation observer σEi:
Wherein, KE3> 0 is gain；
Transmission function can be obtained by carrying out laplace transform to above formula:
In order to make system that there is rapidity, and can reduceIt has collided just at first in robot and external environment Concussion, in the controls be added Tuning function ue, Tuning function ueEffect be to second-order system carry out feed-forward regulation, change The performance of kind system.Tuning function ueIt is equivalent to a PD adjuster, the overshoot of second-order system can be reduced, is improved quick Property, the dynamic deviation for the amount of being conditioned is smaller, and it is also little to stablize deviation.Appropriate yield value of choosing can be such that collision detection algorithm reaches Rapidity and accuracy requirement.
Collision detection control block diagram based on energy deviation observer is as shown in Fig. 2, its input is each joint electricity of robot The reality output torque of machine and the Position And Velocity information in each joint, export the collision torque being subject to for each joint and joint velocity Product.It follows that the collision detection based on energy deviation observer is equivalent to pairA second-order system is introduced, and It joined a PD adjuster in the forward path of system.The observation σ of collision detectionEiIt will followVariation, in stable state WhenBy KE1, KE2, KE3It is adjusted to suitable yield value, can not only be inhibitedConcussion, and can be effective Improve the rapidity to collision detection.
Step 4: the collision torque τ at the i of joint is acquired according to energy deviation observerei:
And τe∈R6×1,
And then acquire impact force F of the industrial robot in cartesian spacee:
And Fe∈R6×1；
Step 5: setting collision force threshold Fthon> 0, and Fthon∈R6×1, setting collision torque threshold τthon> 0, and τthon ∈R6×1；
When what is be calculated in real time | Fe| > FthonWhen, then it is assumed that industrial robot is collided；If collision occurs in work Industry robot singular position, when what is be calculated in real time | τe| > τthonWhen, then it is assumed that industrial robot is collided, otherwise Think that industrial robot does not collide.
Embodiment 1
S1. the present embodiment is carried out specifically with the ER30 model industrial robot of Ai Sidun robot engineering Co., Ltd It is bright.Combine the specific DH parameter of ER30 industrial robot first, energy when each joint motions of calculating robot:
The DH parameter of ER30 industrial robot is as follows:
S2. design energy deviation observer.
Firstly, defining the collision detection operator σ at ER30 industrial robot joint iEi:
In formula: τeiTo collide the caused collision torque at the i of joint；σEiForObservation；KE1> 0, KE2> 0 For gain；τtolThe output torque that motor exports at joint of robot i after occurring for collision.
Secondly, the collision detection algorithm Tuning function of design ER30 industrial robot are as follows:
Using Tuning function as the feed-forward regulation of ER30 industrial robot collision detection algorithm, following energy deviation can be obtained and seen Survey device:
S3. the cartesian space impact force of ER30 industrial robot is solved.
Impact force, moment vector Fe∈R6×1:
When ER30 industrial robot is when singular point collides, due toIt is not a non-singular matrix, can not directly asks Obtain impact force Fe.At this moment, it changes the original sentence to disconnectedWhether the critical value of collision torque is greater than, to judge whether robot collides.
S4. setting collision force threshold, collision torque threshold, detection collision.
One collision force threshold F of settingthon> 0, (Fthon∈R6×1), when | Fe| > FthonWhen, then it is believed that robot occurs Collision.When collision occurs in robot singular position, torque threshold τ is collided in setting onethon> 0, (τthon∈R6×1), when | τe| > τthonWhen, then it is believed that robot is collided.
As shown in figure 3, robot is allowed to move along the y-axis direction in cartesian space with the tip speed of 1m/s.In machine An object for collision is placed in the track of people's movement.Although end force snesor can directly detect impact force, only It is merely for comparing the impact force detected by collision detection algorithm.
The experiment flow of active collision detection experiment is as shown in Figure 4, comprising:
(1) object for collision is placed in the track of robot motion；
(2) operation robot is moved to y-axis direction；
(3) robot collides with object；
(4) when the impact force that upper computer control system detects is greater than threshold value, it is considered as and collides, stop robot Movement；
(5) the collision force signal and sensor force signal in acquisition process experimentation, does comparative analysis.
Collision detection experimental result is as follows:
Since collision occurs in y-axis direction, so force signal and the control system detection that six-dimension force sensor is fed back are touched Hit power all and be the component in y-axis direction.From figure 5 it can be seen that the F that force snesor is fed back in t ≈ 1.3syThere are mutation, explanation Robot is collided with object.After the delay of about 0.05s, on the impact force that collision detection algorithm detects is rapid It rises, when it is more than collision threshold, control system controls robot stop motion.Due to the emergency stop of robot, robot body Certain concussion is produced, so that impact force has certain fluctuation during 1.5~1.7s.After robot stabilized, colliding part 200N or so is maintained with the contact force of knocked object.
Analysis can obtain: there are about the delays of 0.05s for the impact force detected by collision detection algorithm, meet active collision detection Rapidity requirement.When robot is out of service, and after tending towards stability, pass through the stable state for the impact force that collision detection algorithm resolves Error is about 10N, meets the accuracy requirement of active collision detection.There are also larger surpluses for collision threshold in figure, can be further Reduce, to reduce impact force, shortens detection time.It is possible thereby to illustrate that the collision detection algorithm is effectively, to use the collision Detection algorithm can preferably guarantee safety.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art For member, without departing from the principle of the present invention, several improvement can also be made, these improvement should be regarded as guarantor of the invention Protect range.

Claims (5)

1. a kind of industrial robot collision checking method based on energy deviation observer, which comprises the following steps:
Step 1: calculating the gross energy E of the joint i in industrial robot operational processi；
Step 2: according to the gross energy E of industrial robot joint iiSet the collision detection operator σ at the i of jointEi:
Wherein, KE1> 0 is gain, KE2> 0 is gain, τtoliThe output that motor exports at joint of robot i after occurring for collision Torque, τeiFor the collision torque at the i of joint,For the partial derivative of the rotational angle of joint i；
Set Tuning function ueAs feed-forward regulation, for reducingWhen industrial robot and external environment just collide Concussion；
Step 3: according to collision detection operator and Tuning function, obtaining energy deviation observer σEi:
Wherein, KE3> 0 is gain；
Step 4: the collision torque τ at the i of joint is acquired according to energy deviation observerei:
And τe∈R6×1,
And then acquire impact force F of the industrial robot in cartesian spacee:
And Fe∈R6×1；
Step 5: setting collision force threshold Fthon> 0, and Fthon∈R6×1, setting collision torque threshold τthon> 0, and τthon∈R6 ×1；
When what is be calculated in real time | Fe| > FthonWhen, then it is assumed that industrial robot is collided；If collision occurs in industrial machine Device people's singular position, when what is be calculated in real time | τe| > τthonWhen, then it is assumed that industrial robot is collided, otherwise it is assumed that Industrial robot does not collide.
2. the industrial robot collision checking method according to claim 1 based on energy deviation observer, feature exist In the gross energy E of the joint i in step 1 in calculating industrial robot operational processiSpecific steps include:
Step 1-1: the kinetic energy E of the joint i in industrial robot operational process is calculatedki；
Step 1-2: the potential energy E of the joint i in industrial robot operational process is calculatedpi；
Step 1-3: joint i gross energy EiAre as follows: Ei=Eki+Epi。
3. the industrial robot collision checking method according to claim 2 based on energy deviation observer, feature exist In the kinetic energy E of calculating joint i in step 1-1kiSpecifically:
1) some coordinate in basis coordinates system on the i of joint are as follows:
Wherein, iR is coordinate of the point in coordinate system { i },For coordinate system { i } and basis coordinates system Changes in coordinates matrix；
2) speed of the point is calculated are as follows:
Wherein,Speed of the point r in coordinate system { i }；
3) to velocity squared and mark is asked to obtain:
4) joint iiAt r, quality be dm kinetic energy of particle are as follows:
5) kinetic energy of joint i are as follows:
Wherein, JiFor the pseudo- inertial matrix of joint i.
4. the industrial robot collision checking method according to claim 2 based on energy deviation observer, feature exist In the potential energy E of calculating joint i in step 1-2piSpecifically:
Wherein, miFor the gross mass of joint i；G is acceleration of gravity.
5. the industrial robot collision checking method according to claim 1 based on energy deviation observer, feature exist In Tuning function u in step 2eSpecifically:
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