CN110509274B - Robot safety control system - Google Patents
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- CN110509274B CN110509274B CN201910787698.9A CN201910787698A CN110509274B CN 110509274 B CN110509274 B CN 110509274B CN 201910787698 A CN201910787698 A CN 201910787698A CN 110509274 B CN110509274 B CN 110509274B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
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Abstract
The invention provides a robot safety control system, which comprises a joint controller and a position feedback module, and is characterized by also comprising: the robot inverse dynamics feedforward module: according to a robot dynamic model, calculating an expected torque according to the input expected joint position, and superposing a calculation result on an instruction torque output by the joint controller; a saturation amplitude limiting module: and carrying out amplitude limiting on the command torque calculated by the joint controller, and overlapping the result after amplitude limiting with the calculation result of the inverse dynamics feedforward module to jointly act on the controlled joint. The invention realizes that the contact force of the robot body and the environmental object when the robot body contacts and collides can be effectively reduced on the basis of not losing the following dynamic characteristic and precision of the joint position in the motion state.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot safety control system.
Background
At present, a robot joint generally performs closed-loop control on the joint position through a servo control system, and a conventional control algorithm comprises control algorithms such as a PID (proportion integration differentiation), a position ring and a speed ring (inner ring and outer ring) and the like, and the algorithms always improve the system rigidity as much as possible through parameter design, so that the dynamic performance, the anti-interference characteristic and the positioning accuracy of the system are improved as much as possible.
Meanwhile, in the robot field at the present stage, a certain safety function is often needed when the robot interacts with the environment, so that the contact force generated by the contact between the robot and the environment is effectively limited, and the environment and the safety of the robot body are ensured.
However, in the process of designing the joint controller, increasing the system stiffness and thus improving the anti-interference characteristic of the system is completely opposite to limiting the contact force between the robot and the environment:
on the basis of the design idea of the control algorithm, when the robot is in contact with the environment or collides with the environment in the motion process, the current robot joint is far away from the target position due to the contact force, and the joint controller immediately responds and calculates the corresponding motor output torque so that the robot joint is as close to the target position as possible, and the contact force between the robot and the environment is increased. Under the condition, if the specific treatment is not carried out on the link, the lifting speed and the peak value of the contact force between the robot and the environment are increased along with the improvement of the rigidity of the joint controller, and when the contact force exceeds the safety limiting force of the environment or the robot body, the environment or the robot body is damaged;
meanwhile, when the robot is in a static state, because the rigidity of the joint control system is extremely high, when the external environment actively contacts or collides with the robot, the contact force between the robot and the environment is still large; even if a human-computer interaction safety function similar to collision detection is introduced, the contact force peak value of the robot and the environment cannot be effectively limited due to the fact that the rigidity of the system is larger by the robot control algorithms.
Disclosure of Invention
In view of the above-mentioned defects of the conventional robot joint control algorithm, the present invention provides a control algorithm capable of effectively limiting the contact force generated by the robot contacting or colliding with the outside on the basis of ensuring the dynamic performance and precision of the robot in the normal working state.
The traditional robot joint closed-loop control algorithm or system is mainly structurally shown in figure 1, input parameters are joint position instructions, namely expected joint positions, control objects are robot joints, and a joint controller calculates instruction torque according to the difference between the expected joint positions and joint real-time positions fed back and acts on the controlled joints. The joint controller mainly comprises two algorithms of PID and inner and outer rings (position ring + speed ring).
On the basis of the traditional closed-loop control system, the invention improves the system aiming at the requirements of robot safety control and the defects of the traditional control algorithm.
Thus, the invention provides a robot safety control system: the robot joint control system comprises a joint controller and a position feedback module, wherein input parameters are expected joint positions, and a control object is a robot joint; the joint controller calculates a joint control command torque according to the difference between the input expected joint position and the fed-back joint real-time position;
characterized in that the system further comprises:
the robot inverse dynamics feedforward module: calculating an expected torque according to the input expected joint position according to a robot dynamic model, and superposing a calculation result on an instruction torque output by the joint controller;
a saturation amplitude limiting module: and carrying out amplitude limiting on the command torque calculated by the joint controller, and overlapping the result after amplitude limiting with the calculation result of the inverse dynamics feedforward module to jointly act on the controlled joint.
Further, the system adopts joint control algorithms with different rigidities in the static and moving states of the robot, and specifically comprises the following steps:
in the static state of the robot, a static control algorithm with lower rigidity and damping is adopted;
and under the motion state of the robot, a motion control algorithm with higher rigidity and damping is adopted.
Further, when the joint controller adopts a PID controller, the static control algorithm of lower stiffness and damping specifically includes:
the integral gain ki of the PID controller is 0;
the proportional gain Kp and the differential gain Kd are Kp _ l with lower rigidity and Kd _ l with lower damping;
and selecting the Kp _ l and Kd _ l according to the expected stiffness and damping of the robot joint.
Further, when the joint controller adopts a PID controller, the motion control algorithm with higher rigidity and damping specifically includes:
the PID controller integral gain ki is greater than 0;
the proportional gain Kp and the differential gain Kd are Kp for greater stiffness and Kd for greater damping.
Further, the system adopts a gradual change mode to complete the switching between the static control algorithm and the motion control algorithm.
Further, when the joint controller adopts a PID controller, the specific method of switching from the stationary control algorithm to the motion control algorithm is as follows:
respectively increasing the proportional gain and the differential gain of the PID controller from a low-rigidity parameter Kp _ l and a low-damping parameter Kd _ l to Kp with larger rigidity and Kd with larger damping by adopting a slope function;
releasing the Offset value in the container to 0 by adopting a ramp function, and synchronously storing the Offset value in the PID controller integrator;
the PID controller parameter integral gain is increased from 0 to Ki (Ki > 0) using a ramp function.
Further, when the joint controller adopts a PID controller, the specific method for switching from the motion control algorithm to the stationary control algorithm is as follows:
reducing the integral gain of the PID controller from Ki (Ki is more than 0) to 0 by adopting a slope function;
releasing the value stored in an integrator in the PID controller to 0 by adopting a ramp function, and synchronously storing the value into an Offset value in a container;
and (3) reducing the proportional gain and the differential gain of the PID controller from Kp with larger rigidity and Kd with larger damping to Kp _ l with lower rigidity and Kd _ l with lower damping respectively by adopting a slope function.
Further, the system continuously detects whether the robot is in contact with or collides with the surrounding environment during the moving and static processes of the robot, and executes a safety control strategy when the contact or collision is detected.
Further, the method for judging whether the robot contacts or collides with the surrounding environment comprises the following steps: when the robot follows the error signal, i.e. the position error, or the derivative of the following error signal, i.e. the velocity error, exceeds a certain threshold value, it is considered that the robot is in contact or in collision with the surrounding environment.
Further, the security control policies include, but are not limited to: the robot joint moves to decelerate immediately and move reversely at the maximum acceleration of the robot joint, the robot is suspended and stopped, and power failure protection is carried out on the robot.
Further, when the robot deviates from the current position too much due to external force in a static state of the robot, safety protection operations such as enabling the robot to pop up a band-type brake to cut off a power supply are carried out on the robot, and the robot is initialized again.
Therefore, the invention realizes that the contact force when the robot body contacts and collides with an environmental object under the design working condition can be effectively reduced under the motion state of the robot on the basis of not losing the following dynamic characteristic and precision of the joint position by introducing the inverse dynamics feedforward link of the robot joint and the output saturation amplitude limit of the traditional joint controller. Meanwhile, the working parameters of the joint controller in different states are limited, so that the robot can work in a low-rigidity and low-damping flexible mode in a static state, and the contact force generated when an environmental object actively contacts or collides with the robot body is further reduced; in addition, the detection of touch and the execution of a safety response strategy obviously reduce the time length of the continuous contact between the robot and the environment; through the comprehensive strategy, the safety of the robot body and the environmental object when the robot body touches is effectively ensured on the premise that the following dynamic performance and precision of the joint position are not lost.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description, serve to explain the principles of the invention.
Description of the reference numerals:
FIG. 1-Structure of a conventional joint closed loop control system;
FIG. 2-System component Structure of the exemplary embodiment;
FIG. 3-comparison of control effects before and after introduction of inverse dynamics feedforward link (error free dynamics modeling);
FIG. 4-effect of dynamics modeling error on control effect;
FIG. 5-comparison of the effect of saturation clipping on output torque and contact torque when touch occurs;
FIG. 6-a work flow diagram of an exemplary embodiment.
Detailed Description
Reference will now be made in detail to various exemplary embodiments of the invention, the detailed description should not be construed as limiting the invention but as a more detailed description of certain aspects, features and embodiments of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the specific embodiments of the present disclosure without departing from the scope or spirit of the disclosure. Other embodiments will be apparent to those skilled in the art from consideration of the specification. The specification and examples are exemplary only.
Fig. 2-6 show the composition, workflow and resulting effects of an exemplary embodiment of the present invention.
Fig. 2 shows a block diagram of a preferred embodiment of the robot safety control system according to the present disclosure. As shown, the system input parameter is a joint position command, i.e. a desired joint position; the control object is a robot joint and comprises a motor and a robot connecting rod; a joint controller in the system calculates command torque for controlling the joint according to the difference between an input joint position command and the fed back real-time position of the joint. Compared with the traditional robot joint control system, the robot safety control system of the embodiment further comprises:
the robot inverse dynamics feedforward module is obtained by performing dynamics modeling on the robot and is used for calculating expected torque according to an expected joint position, and the calculation result is superposed on the command torque output by the joint controller;
and the saturation amplitude limiting module is used for carrying out amplitude limiting on the command torque calculated by the joint controller, and the result after amplitude limiting is superposed with the calculation result of the inverse dynamics feedforward module to jointly act on the controlled joint.
The joint controller in the figure can adopt a PID algorithm, and can also adopt an inner ring and outer ring (position ring/speed ring) structure algorithm. In the embodiment, a PID algorithm is adopted, and such a joint controller is called a PID controller. When the inner and outer ring algorithm is adopted, the integral composition structure of the system is not influenced.
Fig. 3 shows the improvement of the control effect of the reverse dynamics feedforward link introduced in this embodiment (assuming that a rigid link is position-controlled, the mass is 5kg, the center of gravity is about 0.3m from the axis of the motor, the inertia is 6.8kg · m, and the position of the rigid link is controlled by using a PID controller, assuming that all rigid parameters are known and that the dynamics modeling is error-free).
It can be seen that if the dynamics modeling completely conforms to the real control object, the control error can be completely eliminated by introducing inverse dynamics feedforward, and the PID controller does not need to output any torque. However, in actual conditions, a completely accurate dynamic modeling cannot be obtained. The control effect pair in consideration of the error of the kinetic modeling parameters for inverse kinetic feedforward is shown in FIG. 4 (taking the moment of inertia of the rigid link for kinetic modeling 7 kg. M; mass 4.9kg; link length 0.3 m).
It can be seen that the existence of the modeling error can make the actual control process unable to satisfy the zero following error and the zero PID output, but compared with the control effect in the absence of the dynamic feedforward in fig. 3, the dynamic tracking performance can be greatly improved and the calculation output of the PID controller can be saved.
Fig. 5 shows the PID controller output torque and the robot-to-environment contact torque when contact or collision occurs after the saturation limiting link is introduced (assuming that there is an environmental object at a position corresponding to 2.5 radians of the joint position to block the movement of the joint of the robot, and the contact stiffness between the robot and the environmental object is 100 Nm/radian). It can be seen that when the robot is in contact with the environment, the contact torque of the robot with the environment decreases as the limit on the saturation amplitude of the output of the PID controller decreases.
In the invention, the magnitude of the dynamic modeling error determines the magnitude of the saturation limit amplitude output by the joint controller. However, considering all working conditions in the service cycle of the robot, a larger limit amplitude is often required to ensure that the control performance and accuracy are not reduced due to the existence of saturation limit under the normal operation working condition of the robot.
In this embodiment, the peak value of the PID calculated output torque caused by the dynamic modeling error is about 0.7Nm, so that the output saturation amplitude of the PID controller is set to be 1Nm for the working conditions.
Preferably, the embodiment adopts algorithms with different rigidities in different motion states of the robot to reduce the magnitude of the contact force when the robot touches an environmental object in a static state.
The method specifically comprises the following steps:
in the static state of the robot, a static control algorithm with lower rigidity and damping is adopted;
and under the motion state of the robot, a motion control algorithm with higher rigidity and damping is adopted.
Preferably, the low-stiffness low-damping static control algorithm adopted in the embodiment includes: the integral gain ki of the PID controller is 0, and the proportional gain Kp and the derivative gain Kd are Kp _ l with lower stiffness and Kd _ l with lower damping than the dynamic control parameter.
The robot joint can work in a flexible mode in a static state, and the calculated moment output by the joint controller is reduced when the robot is subjected to the action of an external force to generate a position error, so that the contact force generated when the robot is in contact with or collides with an environmental object is extremely small.
And selecting the Kp _ l and Kd _ l according to the expected stiffness and damping of the robot joint.
Accordingly, the motion control algorithm adopted in this embodiment specifically includes:
the integral gain ki of the PID controller is larger than 0;
the proportional gain Kp and the differential gain Kd are Kp for greater stiffness and Kd for greater damping.
As a preferred scheme, the present embodiment uses a gradual change manner to complete the switching between the static control algorithm and the motion control algorithm. This is to avoid abrupt changes in the torque command sent to the joints by the joint controller when the robot switches states.
The specific method for switching from the static control algorithm to the motion control algorithm is as follows:
increasing proportional gain and differential gain of the PID controller from a low-rigidity parameter Kp _ l and a low-damping parameter Kd _ l to parameters Kp and Kd with larger damping and rigidity by adopting a slope function respectively;
releasing the Offset value in the container to 0 by adopting a ramp function, and synchronously storing the Offset value in the PID controller integrator;
the PID controller parameter integral gain is increased from 0 to Ki (Ki > 0) by using a ramp function. Kp, kd and Ki are all working parameters of a PID controller in a motion control algorithm.
Because the robot often needs to respond to the motion command as soon as possible, the slope of the corresponding ramp function needs to be set to be larger in the switching process from static to dynamic, or the robot is switched by judging the state of the robot in advance.
Accordingly, the specific method for switching from the motion control algorithm to the stationary control algorithm adopted in the present embodiment is as follows:
reducing the integral gain Ki of the PID controller from Ki to 0 by adopting a slope function;
releasing the value stored in an integrator in the PID controller to 0 by adopting a function, and synchronously storing the value into an Offset value in a container;
and reducing the proportional gain Kp and the differential gain Kd of the PID controller to a low stiffness parameter Kp _ l and a low damping parameter Kd _ l from Kp and Kd respectively by adopting a slope function.
The slope of the ramp function here still needs to be designed according to the switching time of the actual requirement.
The specific switching method adopts a ramp function in this embodiment, and those skilled in the art should understand that the similar switching method can be adopted and is not limited to this.
Preferably, in this embodiment, during the moving and stationary processes of the robot, whether the robot contacts or collides with the surrounding environment is continuously detected, and when the contact or collision is detected, the safety control strategy is triggered to be executed. For undetected touches or collisions, the degree of touch is very slight and the system does not process it.
Preferably, the method for determining contact or collision between the robot and the surrounding environment in this embodiment is: when the robot follows the error signal, i.e. the position error, or the derivative of the following error signal, i.e. the velocity error, exceeds a certain threshold value, it is considered that the robot is in contact or colliding with the surroundings.
Preferably, in this embodiment, when a touch is detected, the safety control strategy is adopted such that the robot joint immediately decelerates and moves in the reverse direction at the maximum acceleration of the robot joint. Thereby the robot body leaves to contact with the environmental object as soon as possible. Although the mode can not reduce the magnitude of the peak value of the contact force generated when the robot contacts or collides with the environment under the unconventional working condition, the time length of the continuous contact between the robot and the environment can be effectively reduced. The available security control strategies may also be pausing the robot, stopping the robot, power down protecting the robot, etc., and other ways with similar effects.
The joint controller of this embodiment adopts a PID algorithm that is commonly applied, and for a control algorithm of an inner ring and an outer ring structure, the composition structure and the overall idea of the system of the present invention are not affected, specifically, to parameter design and algorithm switching in a stationary control algorithm and a motion control algorithm, the inner ring and the outer ring controller can be correspondingly designed according to an equivalent conversion relationship between parameters in the inner ring and the outer ring (position ring + velocity ring) controller and parameters in the PID controller, and by combining the parameter design and algorithm switching method in the stationary control algorithm and the motion control algorithm in the PID control algorithm.
In summary, fig. 6 shows an operation flow of the safety control system according to this embodiment, which includes:
in the static state of the robot, the robot joint keeps a static control algorithm;
when the robot receives a motion instruction, the robot joint is switched to a motion control algorithm and kept;
in the motion control process, the system of the embodiment performs corresponding calculation according to the structure shown in fig. 2, and continuously outputs a torque command to the controlled joint, so that the joint position reaches a desired position finally;
after all the motion instructions are completed, the robot joint is switched to a static control algorithm and is kept;
in the process, whether the robot is in contact with or collides with the surrounding environment or not is continuously detected, and when the contact or collision is detected, a safety control strategy is executed.
The foregoing is merely an illustrative embodiment of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principle of the present invention should fall within the protection scope of the present invention.
Claims (8)
1. A robot safety control system comprises a joint controller and a position feedback module, wherein an input parameter is an expected joint position, and a control object is a robot joint; the joint controller calculates a joint control command torque according to the difference between the input expected joint position and the fed-back joint real-time position;
characterized in that the system further comprises:
the robot inverse dynamics feedforward module: calculating an expected torque according to the input expected joint position according to a robot dynamic model, and superposing a calculation result on an instruction torque output by the joint controller;
a saturation amplitude limiting module: limiting the command torque calculated by the joint controller, and overlapping the result after limiting with the calculation result of the inverse dynamics feedforward module to jointly act on the controlled joint;
the system adopts joint control algorithms with different rigidities in the static and moving states of the robot, and specifically comprises the following steps:
in the static state of the robot, a static control algorithm with lower rigidity and damping is adopted;
under the motion state of the robot, a motion control algorithm with higher rigidity and damping is adopted;
the system completes the switching between the static control algorithm and the motion control algorithm in a gradual change mode;
when the joint controller adopts a PID controller, the specific method for switching from the static control algorithm to the motion control algorithm is as follows:
respectively increasing the proportional gain and the differential gain of the PID controller from a low-rigidity parameter Kp _ l and a low-damping parameter Kd _ l to Kp with larger rigidity and Kd with larger damping by adopting a slope function;
releasing the Offset value in the container to 0 by adopting a ramp function, and synchronously storing the Offset value in the PID controller integrator;
the PID controller parameter integral gain is increased from 0 to Ki (Ki > 0) using a ramp function.
2. A robot safety control system according to claim 1, wherein when the joint controller is a PID controller, the lower stiffness and damping stationary control algorithm specifically comprises:
the integral gain ki of the PID controller is 0;
the proportional gain Kp and the differential gain Kd are Kp _ l with lower rigidity and Kd _ l with lower damping;
and the sizes of the Kp _ l and the Kd _ l are selected according to the expected rigidity and damping of the robot joint.
3. The robot safety control system according to claim 1, wherein when the joint controller is a PID controller, the motion control algorithm with large stiffness and damping specifically comprises:
the integral gain ki of the PID controller is larger than 0;
the proportional gain Kp and the differential gain Kd are Kp for greater stiffness and Kd for greater damping.
4. The robot safety control system according to claim 1, wherein when the joint controller is a PID controller, the specific method for switching from the motion control algorithm to the stationary control algorithm is:
reducing the integral gain of the PID controller from Ki (Ki > 0) to 0 by adopting a ramp function;
releasing the value stored in an integrator in the PID controller to 0 by adopting a ramp function, and synchronously storing the value into an Offset value in a container;
and (3) reducing the proportional gain and the differential gain of the PID controller from Kp with larger rigidity and Kd with larger damping to Kp _ l with lower rigidity and Kd _ l with lower damping respectively by adopting a slope function.
5. The robot safety control system according to claim 1, wherein the system continuously detects whether the robot is in contact or collision with the surrounding environment during the movement and the standstill of the robot, and executes the safety control strategy when the contact or collision is detected.
6. The robot safety control system according to claim 5, wherein the method of judging contact or collision of the robot with the surrounding environment is: when the robot follows the error signal, i.e. the position error, or the derivative of the following error signal, i.e. the velocity error, exceeds a certain threshold value, it is considered that the robot is in contact or in collision with the surrounding environment.
7. The robot safety control system of claim 5, wherein the safety control strategies include, but are not limited to: the robot joint moves to decelerate immediately and moves reversely with the maximum acceleration of the robot joint, the robot is suspended, the robot is stopped, and the power failure protection is carried out on the robot.
8. The robot safety control system according to claim 1, wherein when the robot is deviated from the current position too much by an external force in a stationary state of the robot, a lower enable pop-up band-type brake is performed to the robot to cut off the power supply safety protection operation, and the robot is initialized again.
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