CN110977990A - Mechanical arm dragging teaching method based on terminal six-dimensional force sensor - Google Patents
Mechanical arm dragging teaching method based on terminal six-dimensional force sensor Download PDFInfo
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- CN110977990A CN110977990A CN201911395722.0A CN201911395722A CN110977990A CN 110977990 A CN110977990 A CN 110977990A CN 201911395722 A CN201911395722 A CN 201911395722A CN 110977990 A CN110977990 A CN 110977990A
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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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
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention relates to a mechanical arm dragging teaching method based on a tail end six-dimensional force sensor, which comprises the following steps: converting signals acquired by a six-dimensional force sensor at the tail end of the mechanical arm into external force and performing load compensation and zero compensation; filtering the compensated external force; and converting the external force into a joint angle according to an admittance control principle, and sending the joint angle to a mechanical arm servo system so as to enable the mechanical arm to move. The dragging teaching method adopted by the invention can enable an operator to easily drag the tail end of the mechanical arm to quickly and accurately teach, and has the advantages of good flexibility, simplicity, high efficiency and wide application range.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm dragging teaching method based on a tail end six-dimensional force sensor.
Background
The use of series multi-joint mechanical arms in modern automated production is more popular and mainly divided into industrial mechanical arms and cooperative mechanical arms. In order to improve the teaching efficiency of the mechanical arm, a dragging teaching method based on a terminal six-dimensional force sensor is proposed to simplify the teaching process.
At present, a control method adopted by dragging teaching based on a terminal six-dimensional force sensor is to convert processed external force into speed according to certain gain or increased force damping, and control the motion of a mechanical arm in a servo system in a speed control mode, although the dragging teaching function based on the terminal six-dimensional force sensor can be realized, the control strategy has two defects: the first point is that the control strategy needs to modify the control mode of the servo system into a speed control mode and cannot adapt to mechanical arm systems developed by other manufacturers; the second point is that when the control gain is too large, the mechanical arm is easy to vibrate in the dragging process, so that the teaching effect is poor, and certain danger exists in the operation process.
In addition, a filter used for filtering the signals of the six-dimensional force sensor is a Kalman filter, and although the filter has a good effect in signal estimation, the filter does not have an IIR low-pass filter and has a good effect in noise filtering.
Disclosure of Invention
The invention aims to overcome the problems in the prior art, provides a mechanical arm dragging teaching method based on a tail end six-dimensional force sensor, enables an operator to easily drag the tail end of a mechanical arm to quickly and accurately teach, is good in flexibility, simple and efficient, can be suitable for mechanical arm systems of most manufacturers in the market by using a position ring of a mechanical arm servo system to control, and is wide in application range.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
a mechanical arm dragging teaching method based on a terminal six-dimensional force sensor comprises the following steps:
step 1) converting a signal acquired by a six-dimensional force sensor at the tail end of a mechanical arm into an external force, and performing load compensation and zero compensation;
step 2) filtering the compensated external force;
and 3) converting the external force into a joint angle according to an admittance control principle, and sending the joint angle to the mechanical arm servo system so as to enable the mechanical arm to move.
Further, the signals collected by the six-dimensional force sensor comprise 3 signals along the directions of the X axis, the Y axis and the Z axis of the six-dimensional force sensor coordinate system and 3 signals around the X axis, the Y axis and the Z axis of the six-dimensional force sensor coordinate system.
Further, in the step 1), the load compensation and the zero point compensation specifically include the following steps:
step 1.1) converting signals acquired by a six-dimensional force sensor into force and moment;
step 1.2) calculating the tail end load mass and the mass center parameter of the mechanical arm according to the force and the moment under different postures, wherein the expression is as follows:
in the formula: x, y and z respectively represent the coordinates of the load in a six-dimensional force sensor coordinate system;
、
、
respectively representing the forces acting on the six-dimensional force sensor coordinate system in the X-axis direction, the Y-axis direction and the Z-axis direction;
、
、
respectively representing the moments of the load acting on an X axis, a Y axis and a Z axis of a six-dimensional force sensor coordinate system;
step 1.3) carrying out load compensation on the converted force and moment to obtain the force and moment after load compensation;
and step 1.4) carrying out zero point compensation on the force and the moment after the load compensation to obtain the force and the moment after the zero point compensation.
Further, in the step 2), the filtering specifically includes the following steps:
step 2.1) filtering the compensated force and moment by adopting an IIR low-pass filter to obtain the force and moment after low-pass filtering;
and 2.2) smoothing the force and the moment after the low-pass filtering by adopting a weighted sliding window filter to obtain the force and the moment after the smoothing.
Further, in the step 3), the specific steps of converting the external force into the joint angle according to the admittance control principle are as follows:
step 3.1) comparing the force and the moment after the smoothing treatment with a preset threshold value, and judging whether the mechanical arm starts to move;
and 3.2) respectively converting the force and the moment into the moving speed of the tail end six-dimensional force sensor along the directions of an X axis, a Y axis and a Z axis of a six-dimensional force sensor coordinate system and the rotating angular speed around the X axis, the Y axis and the Z axis of the six-dimensional force sensor coordinate system according to an admittance control principle, wherein the expression of the admittance control model is as follows:
in the formula: m, B, K respectively representing an inertia parameter matrix, a damping parameter matrix and a rigidity parameter matrix;
、
、
respectively representing a terminal acceleration matrix, an acceleration matrix and a speed matrix; f represents an external force matrix consisting of forces and moments;
step 3.3) calculating the tail end pose of the mechanical arm by using a kinematics forward solution according to the joint angle fed back by the current mechanical arm;
step 3.4) calculating the pose of the mechanical arm at the next moment according to the pose of the tail end of the mechanical arm and the speed and the angular speed of the current tail end sensor;
and 3.5) calculating each joint angle of the mechanical arm by using a kinematic inverse solution according to the pose of the mechanical arm at the next moment.
Further, in the step 3), the manner of sending the joint angle to the robot servo system is as follows: and sending the calculated joint angles to a mechanical arm servo system, and controlling the joint motors of the mechanical arm to move by the mechanical arm servo system through calculating joint currents through the joint angles.
The invention has the beneficial effects that:
1. according to the invention, the external force information obtained by adopting the IIR low-pass filtering method is high in accuracy, the external force information obtained by adopting the weighted sliding window filtering method is good in smoothness, and the stability of the dragging teaching control is improved;
2. the invention adopts the admittance control principle to convert force information into position information, realizes portable and vibration-free dragging teaching by adjusting M, B, K three parameters, and is more beneficial to teaching of operators on point positions or tracks;
3. the dragging teaching method is based on the position ring of the mechanical arm servo system, is suitable for most mechanical arm systems in the market, and has a wide application range.
Drawings
FIG. 1 is an overall flow chart of a robot arm dragging teaching method based on a six-dimensional force sensor according to the present invention;
FIG. 2 is a frame diagram of a robot arm dragging teaching method control system based on a six-dimensional force sensor according to an embodiment of the present invention;
FIG. 3 is a flowchart of an algorithm of a robot arm dragging teaching method based on a six-dimensional force sensor in the embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1 and 2, a robot arm dragging teaching method based on a terminal six-dimensional force sensor comprises the following steps:
step 1) converting a signal acquired by a six-dimensional force sensor at the tail end of a mechanical arm into an external force, and performing load compensation and zero compensation;
step 2) filtering the compensated external force;
and 3) converting the external force into a joint angle according to an admittance control principle, and sending the joint angle to the mechanical arm servo system so as to enable the mechanical arm to move.
The signals collected by the six-dimensional force sensor comprise 3 signals along the directions of an X axis, a Y axis and a Z axis of a six-dimensional force sensor coordinate system and 3 signals around the X axis, the Y axis and the Z axis of the six-dimensional force sensor coordinate system; in this embodiment, the signal collected by the six-dimensional force sensor is the ten-thousandth ratio of the rated torque, and the expression is:
in the formula:
representing a matrix of signals acquired by the six-dimensional sensor,
representing a matrix consisting of rated forces and rated moments; f denotes an external force matrix consisting of forces and moments.
As shown in fig. 3, in step 1), the specific steps of load compensation and zero point compensation are as follows:
step 1.1) in the embodiment, firstly, a six-dimensional force sensor is arranged at the tail end of a six-axis cooperative mechanical arm, a handle is arranged at the tail end of the six-axis cooperative mechanical arm, so that an operator can conveniently carry out dragging teaching, and then signals collected by the six-dimensional force sensor are converted into force and moment;
step 1.2) calculating the tail end load mass and the mass center parameter of the mechanical arm according to the force and the moment under different postures, wherein the expression is as follows:
in the formula: x, y and z respectively represent the coordinates of the load in a six-dimensional force sensor coordinate system;
、
、
respectively representing the forces acting on the six-dimensional force sensor coordinate system in the X-axis direction, the Y-axis direction and the Z-axis direction;
、
、
respectively representing the moments of the load acting on an X axis, a Y axis and a Z axis of a six-dimensional force sensor coordinate system;
step 1.3) carrying out load compensation on the converted force and moment to obtain the force and moment after load compensation so as to eliminate the influence of load gravity on the six-dimensional force sensor;
step 1.4) recording the force and the moment after the load compensation as zero drift of the six-dimensional force sensor, and performing zero compensation on the force and the moment after the load compensation to obtain the force and the moment after the zero compensation so as to eliminate the influence of the zero drift of the six-dimensional force sensor on the six-dimensional force sensor, wherein in the embodiment, the compensation expression is as follows:
in the formula:
a matrix representing external forces applied by an operator to the six-dimensional force sensor;
a gravity matrix representing the application of a load to the six-dimensional force sensor;
indicating the cause of the six-dimensional force sensor itselfThe zero drift matrix of (2); f denotes an external force matrix consisting of forces and moments.
In the step 2), the filtering process specifically includes the following steps:
step 2.1) in the embodiment, when an operator applies force to the handle at the tail end of the mechanical arm, the force and the moment after zero point compensation change along with the force and the moment, and an IIR low-pass filter is adopted to filter the force and the moment after compensation to obtain the force and the moment after low-pass filtering;
and 2.2) smoothing the force and the moment after the low-pass filtering by adopting a weighted sliding window filter to obtain the force and the moment after the smoothing.
In the step 3), the specific steps of converting the external force into the joint angle according to the admittance control principle are as follows:
step 3.1) comparing the force and the moment after the smoothing processing with a preset threshold value, and judging whether the mechanical arm starts to move, in the embodiment, when judging, if the force and the moment after the smoothing processing are lower than the preset threshold value, setting the terminal speed and the angular speed to be zero, and skipping to the step 3.3), otherwise, continuing to execute the step 3.2);
and 3.2) respectively converting the force and the moment into the moving speed of the tail end six-dimensional force sensor along the directions of an X axis, a Y axis and a Z axis of a six-dimensional force sensor coordinate system and the rotating angular speed around the X axis, the Y axis and the Z axis of the six-dimensional force sensor coordinate system according to an admittance control principle, wherein the expression of the admittance control model is as follows:
in the formula: m, B, K respectively representing an inertia parameter matrix, a damping parameter matrix and a rigidity parameter matrix;
、
、
respectively representing a terminal acceleration matrix, an acceleration matrix and a speed matrix; f represents an external force matrix consisting of forces and moments;
step 3.3) calculating the tail end pose of the mechanical arm by using a kinematics forward solution according to the joint angle fed back by the current six-axis cooperative mechanical arm;
step 3.4) calculating the pose of the mechanical arm at the next moment according to the pose of the tail end of the six-axis cooperative mechanical arm and the speed and the angular speed of the current tail end sensor;
and 3.5) calculating each joint angle of the mechanical arm by using a kinematic inverse solution according to the pose of the six-axis cooperative mechanical arm at the next moment.
In the step 3), the mode of sending the joint angle to the mechanical arm servo system is as follows: and sending the calculated joint angles to a mechanical arm servo system, and controlling the joint motors of the mechanical arm to move by the mechanical arm servo system through calculating joint currents through the joint angles.
Principle of the invention
According to the mechanical arm dragging teaching method based on the terminal six-dimensional force sensor, the compensated external force is processed through the IIR low-pass filter and the weighted sliding window filter, so that the accuracy and the smoothness of the external force are improved, and the stability of dragging teaching is improved; by adjusting stiffness parameters
The force used by an operator for dragging the mechanical arm can be reduced; by adjusting inertial parameters
And damping parameters
Can eliminate the stiffness parameter
The vibration problem caused by the method enables the dragging teaching to be more flexible and portable; through mechanical arm servo systemThe position ring is controlled, the mechanical arm system is suitable for most manufacturers in the market, and the application range is wide.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A mechanical arm dragging teaching method based on a tail end six-dimensional force sensor is characterized by comprising the following steps:
step 1) converting a signal acquired by a six-dimensional force sensor at the tail end of a mechanical arm into an external force, and performing load compensation and zero compensation;
step 2) filtering the compensated external force;
and 3) converting the external force into a joint angle according to an admittance control principle, and sending the joint angle to the mechanical arm servo system so as to enable the mechanical arm to move.
2. The method for teaching robot arm dragging based on an end six-dimensional force sensor according to claim 1, wherein the signals collected by the six-dimensional force sensor comprise 3 signals along the X-axis, Y-axis and Z-axis directions of the six-dimensional force sensor coordinate system and 3 signals around the X-axis, Y-axis and Z-axis directions of the six-dimensional force sensor coordinate system.
3. The method for teaching robot arm dragging based on the six-dimensional end force sensor according to claim 2, wherein in the step 1), the specific steps of load compensation and zero point compensation are as follows:
step 1.1) converting signals acquired by a six-dimensional force sensor into force and moment;
step 1.2) calculating the tail end load mass and the mass center parameter of the mechanical arm according to the force and the moment under different postures, wherein the expression is as follows:
in the formula: x, y and z respectively represent the coordinates of the load in a six-dimensional force sensor coordinate system;
、
、
respectively representing the forces acting on the six-dimensional force sensor coordinate system in the X-axis direction, the Y-axis direction and the Z-axis direction;
、
、
respectively representing the moments of the load acting on an X axis, a Y axis and a Z axis of a six-dimensional force sensor coordinate system;
step 1.3) carrying out load compensation on the converted force and moment to obtain the force and moment after load compensation;
and step 1.4) carrying out zero point compensation on the force and the moment after the load compensation to obtain the force and the moment after the zero point compensation.
4. A mechanical arm dragging teaching method based on a terminal six-dimensional force sensor according to claim 3, wherein in the step 2), the filtering processing specifically comprises the following steps:
step 2.1) filtering the compensated force and moment by adopting an IIR low-pass filter to obtain the force and moment after low-pass filtering;
and 2.2) smoothing the force and the moment after the low-pass filtering by adopting a weighted sliding window filter to obtain the force and the moment after the smoothing.
5. The mechanical arm dragging teaching method based on the terminal six-dimensional force sensor according to claim 4, wherein in the step 3), the specific steps of converting the external force into the joint angle according to the admittance control principle are as follows:
step 3.1) comparing the force and the moment after the smoothing treatment with a preset threshold value, and judging whether the mechanical arm starts to move;
and 3.2) respectively converting the force and the moment into the moving speed of the tail end six-dimensional force sensor along the directions of an X axis, a Y axis and a Z axis of a six-dimensional force sensor coordinate system and the rotating angular speed around the X axis, the Y axis and the Z axis of the six-dimensional force sensor coordinate system according to an admittance control principle, wherein the expression of the admittance control model is as follows:
in the formula: m, B, K respectively representing an inertia parameter matrix, a damping parameter matrix and a rigidity parameter matrix;
、
、
respectively representing a terminal acceleration matrix, an acceleration matrix and a speed matrix; f represents an external force matrix consisting of forces and moments;
step 3.3) calculating the tail end pose of the mechanical arm by using a kinematics forward solution according to the joint angle fed back by the current mechanical arm;
step 3.4) calculating the pose of the mechanical arm at the next moment according to the pose of the tail end of the mechanical arm and the speed and the angular speed of the current tail end sensor;
and 3.5) calculating each joint angle of the mechanical arm by using a kinematic inverse solution according to the pose of the mechanical arm at the next moment.
6. The mechanical arm dragging teaching method based on the end six-dimensional force sensor according to claim 1 or 5, wherein in the step 3), the manner of sending the joint angle to the mechanical arm servo system is as follows: and sending the calculated joint angles to a mechanical arm servo system, and controlling the joint motors of the mechanical arm to move by the mechanical arm servo system through calculating joint currents through the joint angles.
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| CN111730592A (en) * | 2020-05-18 | 2020-10-02 | 深圳市优必选科技股份有限公司 | Output compensation method and device for force-torque sensor and storage medium |
| CN113059593A (en) * | 2021-03-25 | 2021-07-02 | 上海智能制造功能平台有限公司 | Robot safety protection device and method |
| CN113305843A (en) * | 2021-05-28 | 2021-08-27 | 深圳亿嘉和科技研发有限公司 | Zero-force control method for mechanical arm |
| CN113510698A (en) * | 2021-04-26 | 2021-10-19 | 深圳市优必选科技股份有限公司 | Mechanical arm control method and device, mechanical arm and readable storage medium |
| CN113601509A (en) * | 2021-08-16 | 2021-11-05 | 安徽元古纪智能科技有限公司 | Multi-degree-of-freedom mechanical arm flexible control method and system |
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| CN113927603A (en) * | 2021-11-15 | 2022-01-14 | 武汉联影智融医疗科技有限公司 | Mechanical arm dragging control method and device, computer equipment and storage medium |
| CN114310974A (en) * | 2021-12-08 | 2022-04-12 | 清华大学 | Robot teleoperation method and device based on six-dimensional force signals |
| CN115946120A (en) * | 2023-01-09 | 2023-04-11 | 上海艾利特机器人有限公司 | Mechanical arm control method, device, equipment and medium |
| CN116442240A (en) * | 2023-05-26 | 2023-07-18 | 中山大学 | Robot zero-force control method and device based on high-pass filtering decoupling |
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| CN113601509A (en) * | 2021-08-16 | 2021-11-05 | 安徽元古纪智能科技有限公司 | Multi-degree-of-freedom mechanical arm flexible control method and system |
| CN113799134B (en) * | 2021-09-27 | 2022-07-29 | 深圳市优必选科技股份有限公司 | Robot control method, device, robot and readable storage medium |
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| CN113927603A (en) * | 2021-11-15 | 2022-01-14 | 武汉联影智融医疗科技有限公司 | Mechanical arm dragging control method and device, computer equipment and storage medium |
| CN114310974A (en) * | 2021-12-08 | 2022-04-12 | 清华大学 | Robot teleoperation method and device based on six-dimensional force signals |
| CN114310974B (en) * | 2021-12-08 | 2023-08-25 | 清华大学 | Robot teleoperation method and device based on six-dimensional force signals |
| CN115946120A (en) * | 2023-01-09 | 2023-04-11 | 上海艾利特机器人有限公司 | Mechanical arm control method, device, equipment and medium |
| CN115946120B (en) * | 2023-01-09 | 2024-02-13 | 上海艾利特机器人有限公司 | Mechanical arm control method, device, equipment and medium |
| CN116442240A (en) * | 2023-05-26 | 2023-07-18 | 中山大学 | Robot zero-force control method and device based on high-pass filtering decoupling |
| CN116442240B (en) * | 2023-05-26 | 2023-11-14 | 中山大学 | Robot zero-force control method and device based on high-pass filtering decoupling |
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