CN110587603A - Pose self-induction joint module motion control system based on multi-sensor data fusion - Google Patents
Pose self-induction joint module motion control system based on multi-sensor data fusion Download PDFInfo
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Abstract
本发明公开了基于多传感器数据融合的位姿自感应关节模组运动控制系统，由控制器模块、功率驱动模块、检测反馈模块和执行模块组成，控制器模块与功率驱动模块连接，功率驱动模块与执行模块连接，执行模块通过检测反馈模块和控制器模块连接。本发明提出的多传感器数据融合的位姿自感应关节模组运动控制系统，能够实现对各个关节的空间位姿进行解算，从而在控制过程中可以对关节的位姿进行实时的补偿，提高整体的控制精度。本发明将多个传感器的信息进行融合处理，实现柔性控制、增加执行器的冗余度，对执行器的使用安全有了更进一步的改进。
The invention discloses a position and posture self-sensing joint module motion control system based on multi-sensor data fusion, which is composed of a controller module, a power drive module, a detection feedback module and an execution module, the controller module is connected with the power drive module, and the power drive module It is connected with the execution module, and the execution module is connected with the controller module through the detection feedback module. The pose self-sensing joint module motion control system of multi-sensor data fusion proposed by the present invention can realize the calculation of the spatial pose of each joint, so that the pose of the joint can be compensated in real time during the control process, improving Overall control accuracy. The invention fuses the information of multiple sensors, realizes flexible control, increases the redundancy of the actuator, and further improves the safety of the actuator.
Description
技术领域technical field
本发明属于机器人关节运动控制领域，具体是指涉及一种基于多传感器数据融合的位姿自感应关节模组运动控制系统。The invention belongs to the field of robot joint motion control, and in particular relates to a position and posture self-sensing joint module motion control system based on multi-sensor data fusion.
背景技术Background technique
随着智能制造技术的快速发展，机器人在国内外的需求量也越来越高，传统的工业机器人因体积大、搬运困难、示教复杂、安全性问题，不能很好的实现人机协作。因此小型化、模块化、可重构，安全性高的协作机器人逐步成为了机器人行业的热点。其中协作机器人关节模组是整个协作机器人系统的核心单元，直接决定着整机的运动学、动力学与控制性能，是下一代协作机器人系统的研发重点。With the rapid development of intelligent manufacturing technology, the demand for robots at home and abroad is also increasing. Traditional industrial robots cannot achieve human-machine collaboration well due to their large size, difficult handling, complicated teaching, and safety issues. Therefore, miniaturized, modular, reconfigurable, and highly secure collaborative robots have gradually become a hot spot in the robot industry. Among them, the joint module of the collaborative robot is the core unit of the entire collaborative robot system, which directly determines the kinematics, dynamics and control performance of the whole machine, and is the focus of the research and development of the next-generation collaborative robot system.
现有的协作机器人关节模组，主要考虑的还是单个机器人模组的控制性能，主要实现关节模组的位置和力矩控制等。因此在集成为关节臂时，并不能知道各个关节在机器人自身重量以及负载作用下偏离理论位置的情况，也就很难对其误差进行修正，可能出现空间定位不准问题，严重影响协作机器人的使用性能。对于协作机器人末端执行位姿精度检测则需要借助第三方检测设备来完成，使用复杂且会增大体积，严重影响协作机器人的优势。The existing collaborative robot joint modules mainly consider the control performance of a single robot module, and mainly realize the position and torque control of the joint module. Therefore, when integrated into an articulated arm, it is impossible to know the deviation of each joint from the theoretical position under the robot's own weight and load, and it is difficult to correct its error, which may cause inaccurate spatial positioning, which seriously affects the collaborative robot. Use performance. For the detection of pose accuracy at the end of the collaborative robot, it needs to be completed with the help of third-party detection equipment, which is complicated to use and will increase the volume, which seriously affects the advantages of the collaborative robot.
发明内容Contents of the invention
为使协作机器人具有执行器末端位姿修正功能，本发明提出了一种基于多传感器数据融合的位姿自感应关节模组运动控制系统，能够实现由此关节模组集成的协作机器人空间位置的实时监测及反馈补偿。In order to make the collaborative robot have the function of modifying the end pose of the actuator, the present invention proposes a pose self-sensing joint module motion control system based on multi-sensor data fusion, which can realize the spatial position control of the collaborative robot integrated with the joint module. Real-time monitoring and feedback compensation.
为了实现上述问题，本发明提供如下解决方案：In order to achieve the above problems, the present invention provides the following solutions:
基于多传感器数据融合的位姿自感应关节模组运动控制系统，由控制器模块、功率驱动模块、检测反馈模块和执行模块组成，控制器模块与功率驱动模块连接，功率驱动模块与执行模块连接，执行模块通过检测反馈模块和控制器模块连接。本发明也提供了一种适用于本运动控制系统的关节模组结构，将运动控制系统系统集成在关节模组内使用，此关节模组包括谐波减速器、力矩电机、增量式编码器、轴承、绝对式编码器、检测反馈电路板、驱动电路板、控制电路板和外壳等关键部件。The position and posture self-sensing joint module motion control system based on multi-sensor data fusion is composed of a controller module, a power drive module, a detection feedback module and an execution module. The controller module is connected to the power drive module, and the power drive module is connected to the execution module. , the execution module is connected with the controller module through the detection feedback module. The present invention also provides a joint module structure suitable for the motion control system, which integrates the motion control system into the joint module for use, and the joint module includes a harmonic reducer, a torque motor, and an incremental encoder , bearings, absolute encoders, detection feedback circuit boards, drive circuit boards, control circuit boards and housings and other key components.
所述基于多传感器数据融合的位姿自感应关节模组运动控制系统，其特征是：所述控制器模块包括控制芯片、外部电路和通信电路等，外围电路和通信电路都与控制芯片连接，外围电路和通信电路用以提供电能以及相应的外围接口。控制器模块用以接收所述检测反馈模块的信号，判断执行模块的运行状态，以及解算所在的空间位姿，并且向所述功率驱动模块发送控制信号，补偿实际位姿与理论位姿的差值。The pose self-sensing joint module motion control system based on multi-sensor data fusion is characterized in that: the controller module includes a control chip, an external circuit and a communication circuit, and the peripheral circuit and the communication circuit are connected to the control chip, Peripheral circuits and communication circuits are used to provide power and corresponding peripheral interfaces. The controller module is used to receive the signal from the detection feedback module, judge the running state of the execution module, and calculate the space pose where it is located, and send a control signal to the power drive module to compensate the difference between the actual pose and the theoretical pose difference.
所述功率驱动模块包括隔离电路、功率驱动电路和三相逆变电路，隔离电路接收控制模块信号经过隔离之后传输给功率驱动电路，经过功率放大之后的信号传输给三相逆变电路产生驱动控制信号，驱动力矩电机旋转。The power drive module includes an isolation circuit, a power drive circuit and a three-phase inverter circuit. The isolation circuit receives the signal from the control module and transmits it to the power drive circuit after isolation, and the signal after power amplification is transmitted to the three-phase inverter circuit to generate drive control. signal to drive the torque motor to rotate.
所述检测反馈模块由增量式编码器、绝对式编码器和检测电路板组成，所述检测电路板包含电流传感器、电压传感器、九轴传感器、温度传感器和扭矩传感器，将检测电路板上的传感器都集成在一起，有效的减小了所占用空间；增量式编码器用于获取所述关节电机的速度和电角度信息，绝对式编码器用于采集所述执行器位置信息，电流传感器用于采集所述执行器电机的相电流信息，电压传感器用于采集所述执行器电机的母线电压信息，九轴传感器用于采集关节电机空间位姿信息，温度传感器用于采集执行器模块的温度信息，扭矩传感器用于采集所述执行器模块所受的扭矩信息；The detection feedback module is composed of an incremental encoder, an absolute encoder and a detection circuit board, and the detection circuit board includes a current sensor, a voltage sensor, a nine-axis sensor, a temperature sensor and a torque sensor, and will detect The sensors are integrated together, which effectively reduces the occupied space; the incremental encoder is used to obtain the speed and electrical angle information of the joint motor, the absolute encoder is used to collect the position information of the actuator, and the current sensor is used for The phase current information of the actuator motor is collected, the voltage sensor is used to collect the bus voltage information of the actuator motor, the nine-axis sensor is used to collect the space pose information of the joint motor, and the temperature sensor is used to collect the temperature information of the actuator module , the torque sensor is used to collect the torque information received by the actuator module;
所述执行器模块包括所述谐波减速器、无框电机、轴承等主要部件，谐波减速器通过联轴器与无框力矩电机连接，轴承等部件起到定位支撑的作用。执行器模块所述控制器模块发出的运动信息。The actuator module includes the main components such as the harmonic reducer, frameless motor, bearings, etc. The harmonic reducer is connected to the frameless torque motor through a coupling, and the bearings and other components play the role of positioning support. The actuator module sends motion information from the controller module.
所述基于多传感器数据融合的位姿自感应关节模组运动控制系统，其特征是：所述九轴传感器为自校准九轴数据融合的惯性测量元件(IMU)(包含加速度计(三轴)，陀螺仪(三轴)，磁力计(三轴))，与其他检测电路集成在同一块电路板上，这样减小了电路板和整体空间，将集成电路板安装在所述执行器后端盖附近，减少电机磁场对其的干扰。The pose self-sensing joint module motion control system based on multi-sensor data fusion is characterized in that: the nine-axis sensor is an inertial measurement unit (IMU) for self-calibration nine-axis data fusion (including an accelerometer (three axes) , gyroscope (three-axis), magnetometer (three-axis)), and other detection circuits are integrated on the same circuit board, which reduces the circuit board and the overall space, and installs the integrated circuit board on the rear end of the actuator Near the cover to reduce the interference of the motor magnetic field.
所述基于多传感器数据融合的位姿自感应关节模组运动控制系统，其特征是：所述控制器模块的控制芯片为DSP，所述九轴传感器，在每次上电使用时首先进行噪声、尺寸偏差、轴偏差的校准；在运行过程中将获取到的角速度、加速度和磁力值信息实时传输给控制芯片，在控制芯片中进行后续的处理。The pose self-sensing joint module motion control system based on multi-sensor data fusion is characterized in that: the control chip of the controller module is a DSP, and the nine-axis sensor is firstly noised every time it is powered on and used. , Calibration of size deviation and axis deviation; during the operation, the obtained angular velocity, acceleration and magnetic force value information is transmitted to the control chip in real time, and subsequent processing is carried out in the control chip.
所述基于多传感器数据融合的位姿自感应关节模组运动控制系统，其特征是：控制芯片将采集到的传感器信息进行融合处理；加速度/磁力计具有高频噪声，它们的瞬时值不够精确，解算出来的姿态会震荡；陀螺仪具有低频噪声每个时刻的得到的角速度是比较精确的，使用积分就能得到旋转角度(姿态)，但是积分会累积误差，会出现漂移现象。加速度/磁力计和陀螺仪在频域上的特性互补，可以融合这三种传感器的数据，提高精度和系统的动态特性因此可以采用四元数Quaternion进行姿态解算。同时采集绝对编码器的信息，解算出执行器关节的空间位置，将这两个传感器的位置信息进行融合处理，就能更加精确的确定末端执行器空间位姿，进而可以对整个机械臂的空间位姿进行全闭环实时反馈补偿控制，实现机械臂在负载的情况下的实时位姿补偿。常用的九轴数据融合算法包括高低通互补滤波、扩展卡尔曼滤波EKF、Mahony滤波等，根据实际情况中不同用途可以进行选择。The pose self-sensing joint module motion control system based on multi-sensor data fusion is characterized in that: the control chip performs fusion processing on the collected sensor information; the acceleration/magnetometer has high-frequency noise, and their instantaneous values are not accurate enough , the calculated attitude will oscillate; the gyroscope has low-frequency noise, and the angular velocity obtained at each moment is relatively accurate. The rotation angle (attitude) can be obtained by using the integral, but the integral will accumulate errors and drift will occur. The characteristics of the accelerometer/magnetometer and the gyroscope in the frequency domain are complementary, and the data of these three sensors can be fused to improve the accuracy and the dynamic characteristics of the system. Therefore, the quaternion can be used for attitude calculation. At the same time, the information of the absolute encoder is collected, the spatial position of the actuator joint is calculated, and the position information of the two sensors is fused, so that the spatial pose of the end effector can be more accurately determined, and then the space of the entire robotic arm can be calculated. The pose is fully closed-loop real-time feedback compensation control to realize real-time pose compensation of the robotic arm under load. Commonly used nine-axis data fusion algorithms include high-low pass complementary filtering, extended Kalman filtering EKF, Mahony filtering, etc., which can be selected according to different uses in actual situations.
所述基于多传感器数据融合的位姿自感应关节模组运动控制系统，其特征是：所述检测反馈模块的扭矩传感器与电流传感器以及加速度信息进行融合，共同用于判断所述执行器模块所受就扭矩，可以实现协作机器人的柔性控制。The pose self-sensing joint module motion control system based on multi-sensor data fusion is characterized in that: the torque sensor of the detection feedback module is fused with the current sensor and acceleration information, and is jointly used to judge the position of the actuator module. By receiving the torque, the flexible control of the collaborative robot can be realized.
与现有技术相比，本发明具有以下优点：本发明提出的多传感器数据融合的位姿自感应关节模组运动控制系统，能够实现对各个关节的空间位姿进行解算，从而在控制过程中可以对关节的位姿进行实时的补偿，提高整体的控制精度。同时，本发明将多个传感器的信息进行融合处理，实现柔性控制、增加执行器的冗余度，对执行器的使用安全有了更进一步的改进。Compared with the prior art, the present invention has the following advantages: the pose self-sensing joint module motion control system of multi-sensor data fusion proposed by the present invention can realize the calculation of the spatial pose of each joint, so that in the control process In this method, the joint pose can be compensated in real time to improve the overall control accuracy. At the same time, the present invention fuses the information of multiple sensors, realizes flexible control, increases the redundancy of the actuator, and further improves the safety of the actuator.
附图说明Description of drawings
图1是本发明基于多传感器数据融合的位姿自感应关节模组运动控制系统框图；Fig. 1 is the block diagram of the pose self-sensing joint module motion control system based on multi-sensor data fusion in the present invention;
图2是本发明基于多传感器数据融合的位姿自感应关节模组结构示意图；Fig. 2 is a schematic structural diagram of the pose self-sensing joint module based on multi-sensor data fusion in the present invention;
图中，控制器模块1、功率驱动模块2、检测反馈模块3、执行器模块4、谐波减速器5、力矩电机6、增量式编码器7、轴承8、绝对式编码器9、检测电路板10、驱动电路板11、控制电路板12、壳体13。In the figure, controller module 1, power drive module 2, detection feedback module 3, actuator module 4, harmonic reducer 5, torque motor 6, incremental encoder 7, bearing 8, absolute encoder 9, detection A circuit board 10 , a drive circuit board 11 , a control circuit board 12 , and a casing 13 .
图3是本发明多传感器数据融算法流程图；Fig. 3 is a flow chart of the multi-sensor data fusion algorithm of the present invention;
具体实施方式Detailed ways
下面结合附图和具体实施方式对本发明做进一步阐明和说明。The present invention will be further clarified and illustrated below in conjunction with the accompanying drawings and specific embodiments.
如图1所示本发明公开了一种基于多传感器数据融合的位姿自感应关节模组运动控制系统，由控制器模块1、功率驱动模块2、检测反馈模块3、执行模块4组成，同时也公开了适用本运动控制系统的关节模组结构示意图，主要包括谐波减速器5、力矩电机6、增量式编码器7、轴承8、绝对式编码器9、检测反馈电路板10、驱动电路板11、控制电路板12、外壳13等关键部件。As shown in Fig. 1, the present invention discloses a pose self-sensing joint module motion control system based on multi-sensor data fusion, which is composed of a controller module 1, a power drive module 2, a detection feedback module 3, and an execution module 4. Also disclosed is a schematic structural diagram of the joint module applicable to the motion control system, which mainly includes a harmonic reducer 5, a torque motor 6, an incremental encoder 7, a bearing 8, an absolute encoder 9, a detection feedback circuit board 10, a drive Circuit board 11, control circuit board 12, shell 13 and other key components.
在本发明的一个具体实例中，所述控制器模块1主要由所述控制电路板12组成，包括控制芯片、外部电路、通信接口电路等，主要负责接收所述检测反馈模块3的信号，判断所述执行器模块4的运行状态，以及解算所在的空间位姿，并且向所述功率驱动模块2发送控制信号。所述功率驱动模块2主要由所述驱动电路板11组成，主要包括隔离电路、功率驱动模块、三相逆变电路，主要负责接收驱动控制信号，产生驱动电路，驱动电机。所述检测反馈模块3由所述增量式编码器7、绝对式编码器9、检测电路板10组成，其中所述的增量式编码器7用于采集所述关节电机的速度和电角度信息，所述绝对式编码器9用于采集所述执行器位置信息，所述检测电路板10包含电流传感器、电压传感器、九轴传感器、温度传感器、扭矩传感器；所述电流传感器用于采集所述执行器电机的相电流信息，所述的电压传感器用于采集所述执行器电机的母线电压信息，所述的九轴传感器用于采集关节电机空间位姿信息，所述的温度传感器用于采集执行器模块的温度信息，所述的扭矩传感器用于采集所述执行器模块所受的扭矩信息。所述执行器模块4由所述谐波减速器5、无框电机6、输入输出轴、轴承等主要元器件，执行所述控制器模块发出的运动信息。In a specific example of the present invention, the controller module 1 is mainly composed of the control circuit board 12, including a control chip, an external circuit, a communication interface circuit, etc., and is mainly responsible for receiving the signal of the detection feedback module 3, and judging The operating state of the actuator module 4 and the spatial pose of the actuator module 4 are calculated, and a control signal is sent to the power drive module 2 . The power drive module 2 is mainly composed of the drive circuit board 11, which mainly includes an isolation circuit, a power drive module, and a three-phase inverter circuit, and is mainly responsible for receiving drive control signals, generating a drive circuit, and driving the motor. The detection feedback module 3 is composed of the incremental encoder 7, an absolute encoder 9, and a detection circuit board 10, wherein the incremental encoder 7 is used to collect the speed and electrical angle of the joint motor Information, the absolute encoder 9 is used to collect the actuator position information, the detection circuit board 10 includes a current sensor, a voltage sensor, a nine-axis sensor, a temperature sensor, a torque sensor; the current sensor is used to collect the The phase current information of the actuator motor, the voltage sensor is used to collect the bus voltage information of the actuator motor, the nine-axis sensor is used to collect the space pose information of the joint motor, and the temperature sensor is used for The temperature information of the actuator module is collected, and the torque sensor is used to collect the torque information received by the actuator module. The actuator module 4 is composed of main components such as the harmonic reducer 5 , frameless motor 6 , input and output shafts, bearings, etc., to execute the motion information sent by the controller module.
在本发明的一个具体实例中，所述检测反馈模块3中九轴传感器为自校准九轴数据融合的惯性测量元件(IMU)(包含加速度计(三轴)，陀螺仪(三轴)，磁力计(三轴))，与其他检测电路集成在同一块电路板上，这样减小了电路板和整体空间，更用在高度集成的执行器模块，并所述集成电路板安装在所述执行器后端盖附近，减少电机磁场对其的干扰。In a specific example of the present invention, the nine-axis sensor in the detection feedback module 3 is an inertial measurement unit (IMU) for self-calibration nine-axis data fusion (including accelerometer (three axes), gyroscope (three axes), magnetic Meter (three-axis)), and other detection circuits are integrated on the same circuit board, which reduces the circuit board and the overall space, and is more used in highly integrated actuator modules, and the integrated circuit board is installed on the executive near the rear end cover of the motor to reduce the interference of the motor magnetic field.
在本发明的一个具体实例中，所述控制器模块1的控制芯片为DSP，所述九轴传感器IMU，在每次上电使用时首先进行噪声、尺寸偏差、轴偏差的校准；在运行过程中将获取到的角速度、加速度和磁力值信息通过串口与主控芯片连接，在控制芯片中进行后续的处理。In a specific example of the present invention, the control chip of the controller module 1 is a DSP, and the nine-axis sensor IMU first performs calibration of noise, size deviation, and axis deviation when powered on each time; The acquired angular velocity, acceleration and magnetic force value information is connected to the main control chip through the serial port, and the subsequent processing is carried out in the control chip.
在本发明的一个具体实例中，所述控制器模块1的控制芯片将采集到的传感器信息进行融合处理；加速度/磁力计具有高频噪声，它们的瞬时值不够精确，解算出来的姿态会震荡；陀螺仪具有低频噪声每个时刻的得到的角速度是比较精确的，使用积分就能得到旋转角度(姿态)，但是积分会累积误差，会出现漂移现象。加速度/磁力计和陀螺仪在频域上的特性互补，可以融合这三种传感器的数据，提高精度和系统的动态特性，采用四元数Quaternion进行姿态解算。同时采集绝对编码器的信息，解算出执行器关节的空间位置，使用扩展卡尔曼滤波数据融合算法，解算出执行器模块的位姿，进而可以对整个机械臂的空间位姿进行全闭环实时反馈补偿控制，实现机械臂在负载的情况下的实时位姿补偿。In a specific example of the present invention, the control chip of the controller module 1 performs fusion processing on the collected sensor information; the accelerometer/magnetometer has high-frequency noise, and their instantaneous values are not accurate enough, and the calculated attitude will be Oscillation; the gyroscope has low-frequency noise, and the angular velocity obtained at each moment is relatively accurate. The rotation angle (attitude) can be obtained by using the integral, but the integral will accumulate errors and drift will occur. The characteristics of the accelerometer/magnetometer and the gyroscope in the frequency domain are complementary, and the data of these three sensors can be fused to improve the accuracy and the dynamic characteristics of the system. Quaternion is used for attitude calculation. At the same time, the information of the absolute encoder is collected to calculate the spatial position of the actuator joint, and the extended Kalman filter data fusion algorithm is used to calculate the pose of the actuator module, and then the full-closed-loop real-time feedback of the spatial pose of the entire robotic arm can be performed. Compensation control realizes real-time pose compensation of the manipulator under load.
使用中采用低通互补滤波算法解算出执行器模块的位姿信息，同时再通过融合编码器的位置信息与九轴传感器的位姿信息，就能更加精确的确定末端执行器空间位姿，进而可以对整个机械臂的空间位姿进行全闭环实时反馈补偿控制，实现机械臂在负载的情况下的实时位姿补偿。In use, the low-pass complementary filtering algorithm is used to solve the pose information of the actuator module, and at the same time, by fusing the position information of the encoder and the pose information of the nine-axis sensor, the spatial pose of the end effector can be determined more accurately, and then The full-closed-loop real-time feedback compensation control can be performed on the spatial pose of the entire robotic arm to realize real-time pose compensation of the robotic arm under load.
在本发明的一个具体实例中，所述检测反馈模块3的扭矩传感器与电流传感器以及加速度信息进行融合，共同用于判断所述执行器模块所受扭矩，可以实现协作机器人的柔性控制和碰撞检测。In a specific example of the present invention, the torque sensor of the detection and feedback module 3 is fused with the current sensor and acceleration information, and is jointly used to judge the torque received by the actuator module, which can realize the flexible control and collision detection of the collaborative robot .
以上所述的实施示例只是本发明的一种较佳的方案，然其并非用于限制本发明。有关技术领域的普通技术人员，在不脱离本发明的精神和范围的情况下，还可以做出各种变化和变型。因此在不脱离本发明构思的前提下，凡采用等同替换或等效变换的方式所获得的技术方案，均落在本发明的保护范围内。The implementation example described above is only a preferred solution of the present invention, but it is not intended to limit the present invention. Various changes and modifications can be made by those skilled in the relevant technical fields without departing from the spirit and scope of the present invention. Therefore, on the premise of not departing from the concept of the present invention, all technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.
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