CN111421543B - Control method, device and system of mechanical arm and storage medium - Google Patents
Control method, device and system of mechanical arm and storage medium Download PDFInfo
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- CN111421543B CN111421543B CN202010265911.2A CN202010265911A CN111421543B CN 111421543 B CN111421543 B CN 111421543B CN 202010265911 A CN202010265911 A CN 202010265911A CN 111421543 B CN111421543 B CN 111421543B
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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
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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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Abstract
The application is suitable for the technical field of robots, and provides a control method of a mechanical arm, which comprises the following steps: the main controller determines target operation parameters of each joint of the mechanical arm from a current posture to a target posture according to the path planning of the mechanical arm; the main controller determines a target PID parameter corresponding to the target operation parameter of each joint according to the corresponding relation between a preset operation parameter and a preset PID parameter, and sends the target PID parameter of each joint to a joint controller of the joint; and each joint controller controls the corresponding joint to move to a target posture according to the received target PID parameter. Target PID parameters with different gains are adopted under the condition of different required torques by determining target operation parameters, such as required torque, and determining corresponding target PID parameters according to the target operation parameters; the PID parameters which are more matched with the required torque are adopted to control the motion of each joint, so that the operation of the joints is more stable.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a control method, device and system of a mechanical arm and a storage medium.
Background
With the industry upgrade of the manufacturing industry and the rapid rise of the emerging industry, smart manufacturing and flexible production have become a development trend. To meet the demand for such factory automation, smart arm machines are increasingly used. In these practical applications, more and more requirements are put on the actuating mechanism and the servo driver of the mechanical arm, for example, how to adjust the PID control parameters to make the servo driver operate more smoothly.
Disclosure of Invention
The embodiment of the application provides a control method, a control device, a control system and a storage medium of a mechanical arm, which can solve at least part of the problems.
In a first aspect, an embodiment of the present application provides a method for controlling a robot arm, including:
the main controller determines target operation parameters of each joint of the mechanical arm from a current posture to a target posture according to the path planning of the mechanical arm;
the main controller determines a target PID parameter corresponding to the target operation parameter of each joint according to the corresponding relation between a preset operation parameter and a preset PID parameter, and sends the target PID parameter of each joint to a joint controller of the joint;
and each joint controller controls the corresponding joint to move to a target posture according to the received target PID parameter.
It can be understood that target PID parameters with different gains are adopted under the condition of different required torques by determining target operation parameters, such as required torque, and determining corresponding target PID parameters according to the target operation parameters; because the PID parameters which are more matched with the required torque are adopted to control the motion of each joint, the operation of the joints is more stable.
In a second aspect, an embodiment of the present application provides a control apparatus for a robot arm, including:
the operation parameter determination module is used for determining target operation parameters of each joint of the mechanical arm from the current posture to the target posture by the main controller according to the path planning of the mechanical arm;
the PID parameter determining module is used for determining a target PID parameter corresponding to the target operation parameter of each joint according to the corresponding relation between a preset operation parameter and a preset PID parameter by the main controller, and sending the target PID parameter of each joint to the joint controller of the joint;
and each joint controller controls the corresponding joint to operate to a target posture according to the received target PID parameter.
In a third aspect, an embodiment of the present application provides a control system for a robot arm, including a robot arm and a main controller, where the robot arm includes one or more joints, and a joint controller corresponding to each joint;
the main controller is used for determining target operation parameters of each joint of the mechanical arm from the current posture to the target posture according to the path planning of the mechanical arm;
the main controller is also used for determining a target PID parameter corresponding to the target operation parameter of each joint according to the corresponding relation between the preset operation parameter and the preset PID parameter, and sending the target PID parameter of each joint to the joint controller of the joint;
and each joint controller is used for controlling the corresponding joint to move to a target posture according to the received target PID parameter.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, including: the computer readable storage medium stores a computer program which, when executed by a processor, performs the method steps of the first aspect described above.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on an electronic device, causes the electronic device to perform the method steps of the first aspect.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic view of a control system for a robotic arm according to an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating a control method for a robot arm according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart diagram illustrating a method for controlling a robotic arm according to another embodiment of the present disclosure;
FIG. 4 is a schematic diagram of obtaining feedback parameters according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a control device of a robot arm according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
In the control process of the mechanical arm, PID parameters need to be adjusted so as to meet the requirement on the stability of mechanical arm control. However, in the operation process of the mechanical arm, under different load conditions, a set of PID parameters cannot be well adapted to the working requirements of different load working conditions, for example, a set of PID parameters applied to a low-load working condition is prone to causing the shaking of the servo motor under a large-load working condition. The embodiment of the application provides a control method of a mechanical arm, multiple sets of PID parameters are provided according to different working conditions, a set of appropriate PID parameters are selected to be used for controlling each joint according to the required torque of the mechanical arm reaching each joint of a target posture, and therefore the control parameters can be matched with actual working conditions, and the stability of mechanical arm control is improved.
Fig. 1 illustrates a control system of a robot arm according to an embodiment of the present disclosure. The system comprises: a main controller 10, a robot arm 20; the robot arm 20 includes one or more joints 21, and a joint controller 22 corresponding to each joint 21.
The joints 20 are driven by a servo motor, and the joints 20 are connected by a connecting rod 23.
Wherein each joint controller 22 is connected to the joint 20 by a cable.
Wherein the main controller 10 and the respective joint controllers 22 communicate via an industrial ethernet. The industrial ethernet network includes, but is not limited to, networks employing the following communication protocols: ethernet, profinet and Modbus.
The main controller 10 is configured to determine a target operation parameter for each joint of the mechanical arm to operate from a current posture to a target posture according to the path planning of the mechanical arm; the main controller 10 is further configured to determine a target PID parameter corresponding to the target operation parameter of each joint according to a corresponding relationship between a preset operation parameter and a preset PID parameter, and send the target PID parameter of each joint to the joint controller of the joint; and each joint controller 22 is used for controlling the corresponding joint to move to the target posture according to the received target PID parameter.
Fig. 2 illustrates a control method of a robot arm according to an embodiment of the present application, which is applied to the control system of the robot arm illustrated in fig. 1 and can be implemented by software and/or hardware of the main controller and each joint controller. As shown in fig. 2, the method includes steps S110 to S130. The specific realization principle of each step is as follows:
and S110, determining target operation parameters of each joint of the mechanical arm from the current posture to the target posture by the main controller according to the path planning of the mechanical arm.
In some embodiments, the target operating parameter is a required torque of each joint, i.e., a torque that the joint needs to actually output.
In some embodiments, the main controller determines target operation parameters for each joint of the mechanical arm to operate from a current posture to a target posture according to a motion path set by a user. Without limitation, the current pose and the target pose are determined by the cartesian space coordinates of the respective joints. Without limitation, the current posture and the target posture are determined by cartesian space coordinates of the terminal working point of the robot, and accordingly, the target posture of each joint can be calculated by an inverse kinematics method.
In some embodiments, given the pose parameters of the current pose of the robotic arm and the pose of the target, the pose parameters include, but are not limited to, displacement, velocity, and acceleration; a dynamic model can be established through parameters such as the rod length, the mass, the inertia and the mass center of each joint of the actual mechanical arm, and the required torque required to be provided by each joint of the mechanical arm in a target state is obtained.
Without limitation, the displacement theta and the speed can be measured
And acceleration
In a known case, the required torque τ is found by a dynamical model expressed by the following state space equation:
wherein M (theta) is an n multiplied by n quality matrix of the operation arm,
is the centrifugal force and the Coriolis vector of n × 1, and G (Θ) is the gravity vector of n × 1.
And S120, determining a target PID parameter corresponding to the target operation parameter of each joint by the main controller according to the corresponding relation between the preset operation parameter and the preset PID parameter, and sending the target PID parameter of each joint to the joint controller of the joint.
Wherein the PID parameter includes but is not limited to d-axis current loop parameter idQ-axis current loop parameter iqA position loop parameter and a velocity loop parameter.
In some embodiments, two sets of PID parameters are preset for the case where the required torque is large and the case where the required torque is small. One skilled in the art can preset multiple sets of PID parameters to adapt to various different torque demand situations under the teaching of the embodiments of the present application.
In some embodiments, the preset operation parameter is a product of a maximum output torque of the servo motor and a preset coefficient, and the preset coefficient is not limited to 0.7; for a servo motor, the speed of the motor is inversely proportional to the torque which can be output, and the torque which can be output is smaller when the speed is larger, and the torque which can be output is larger when the speed is smaller; the corresponding relation between the speed and the torque is obtained through simulation and actual test, and a model is established. The input of the model is the motor rotating speed, and the output of the model is the maximum outputtable torque which can be output.
In some embodiments, determining the target PID parameter corresponding to the target operating parameter of each joint according to the corresponding relationship between the preset operating parameter and a preset PID parameter includes: comparing the required torque with the preset operation parameters, and determining the interval, determined by the preset operation parameters, in which the required torque falls; and determining a target PID parameter according to the corresponding relation between the interval and the PID parameter.
In some embodiments, the correspondence between the preset operating parameters and the PID parameters is obtained through testing. If the operating parameter is larger than the preset operating parameter, the first PID parameter is adopted, and if the operating parameter is smaller than or equal to the preset coefficient, the second PID parameter is adopted. It should be noted that the first PID parameter is a high-gain PID parameter, the second PID parameter is a low-gain PID parameter, and the gain here is the integrated gain of the PID parameters.
In some embodiments, the target PID parameter is determined by comparing the torque demand at the preset speed to a preset operating parameter. Without limitation, at a preset speed, the required torque is multiplied by a preset operating parameter and compared, if the required torque is greater than the preset operating parameter, the first PID data with high gain is used, otherwise the second PID parameter with low gain is used.
It should be understood that, those skilled in the art can set different preset coefficients according to actual situations, and establish a corresponding relationship between a plurality of preset operating parameters and a plurality of sets of PID parameters. For example, 4 intervals can be divided by 3 sequentially arranged preset operation parameters, each interval corresponds to one group of PID parameters, and the gain sequence of each group of PID parameters is consistent with the sequence of the preset operation parameters. Correspondingly, the required torque is compared with a plurality of preset operation parameters, and the PID parameter corresponding to the interval is selected as the target PID parameter by judging the interval in which the required torque falls.
And S130, controlling the corresponding joints to move to a target posture by each joint controller according to the received target PID parameters.
In some embodiments, after receiving the target PID parameter, each joint controller controls its corresponding joint to move to a target posture according to the target PID parameter, for example, each joint moves to a target position set by a user, or an end working point of the robot moves to a target position.
In some embodiments, each joint controller controls its corresponding joint to move to a target posture according to the received target PID parameter, including: and for each joint, the corresponding joint controller controls the corresponding joint to operate to a target posture after delaying the waiting time corresponding to the joint according to the received target PID parameter. In one non-limiting example, the robotic arm has 3 joints, a first joint, a second joint, and a third joint; the waiting time corresponding to each joint is 0.1 second, 0.12 second and 0.17 second; after receiving the target PID parameters of the corresponding joints, each joint controller starts a timer timing task, wherein the time length of the timer is the waiting time length; and when the timing task of the timer is overtime, each joint controller starts to adopt the target PID parameter to control the corresponding joint to move to the target posture. It can be understood that, in the control system controlled by the mechanical arm, because the main controller and each joint controller communicate through the industrial ethernet, the time for each joint controller to receive the target PID parameter is not consistent, if each joint controller applies the PID parameter after receiving the target PID parameter, it is likely that the difference of the control parameters of each joint is relatively large, thereby causing the uncoordinated movement or collision of the joint; by setting the waiting time of each joint and applying the target PID parameters after the waiting time of each joint, the degree of cooperation of each joint can be improved, so that the uncoordinated movement or collision of the joints is avoided, and the operation efficiency of the mechanical arm is improved.
In some embodiments, in order to obtain the waiting time in the above implementation, before each joint controller controls its corresponding joint to move to the target posture according to the received target PID parameter, the method further includes: the main controller sends a synchronization message to each joint controller; each joint controller feeds back a synchronous response message to the main controller after receiving the synchronous message; and the master controller determines the waiting time corresponding to each joint according to the time when the master controller sends the synchronous message and the time when the master controller receives the synchronous response message. In a non-limiting example, taking a joint controller as an example, a master controller sends a synchronization message to the joint controller, where the synchronization message includes a synchronization data packet, and the master controller records a time for sending the synchronization data packet; after receiving the synchronous data packet, the joint controller adds confirmation information, such as the ID of the joint controller, into the synchronous data packet, and sends the modified synchronous data packet to the main controller in the form of synchronous response message; the master controller records the time of receiving the synchronous data packet after determining that the synchronous data packet is correctly received; and the master controller determines the waiting time corresponding to each joint according to the time difference between the time when the master controller sends the synchronous message and the time when the master controller receives the synchronous response message. It should be understood that the scheme for acquiring the waiting time can be realized in different forms by those skilled in the art under the teaching of the embodiment of the present application.
It can be understood that target PID parameters with different gains are adopted under the condition of different required torques by determining target operation parameters, such as required torque, and determining corresponding target PID parameters according to the target operation parameters; because the PID parameters which are more matched with the required torque are adopted to control the motion of each joint, the operation of the joints is more stable.
On the basis of the above embodiment of the control method of the robot arm shown in fig. 2, in step S130, after each joint controller controls its corresponding joint to move to the target attitude according to the received target PID parameter, as shown in fig. 3, steps S140 to S160 are further included. The specific realization principle of each step is as follows:
and S140, determining the feedback parameters of the corresponding joints by each joint controller.
In some embodiments, each joint controller determines feedback parameters for its corresponding joint, including: each joint controller obtains feedback parameters by detecting given and following reactions of the stator currents of the servo motors of the corresponding joints. Without limitation, as shown in fig. 4, the servo motor 211 for driving the joint 21 to move receives a stator current given by the joint controller 22 and feeds back the stator current thereof through a sensor; the joint controller determines a feedback parameter based on the given and following response of the servo motor stator current. The feedback parameter may be a difference between the given current and the feedback current, or a percentage of the difference to the given current.
And S150, each joint controller sends the feedback parameters to the main controller.
As shown in FIG. 4, in some embodiments, each of the joint controllers 22 communicates with the master controller 10 via an industrial Ethernet network and sends feedback parameters to the master controller 10.
And S160, the main controller adjusts the target PID parameters according to the received feedback parameters.
In some embodiments, after receiving the feedback parameter sent by the joint controller, the main controller judges whether the target PID parameter is under-regulation or over-regulation according to the feedback parameter, and adjusts the target PID parameter according to the feedback parameter; specifically, if the target PID parameter undershoot is determined according to the feedback parameter, for example, the stator output current is less than 5% of the given current, the main controller increases the proportional gain of the target PID parameter according to a preset step length and reduces the integration time; and if the target PID parameter is determined to be overshot according to the feedback parameter, for example, the output current of the stator is more than or equal to 5% of the given current, the main controller reduces the proportional gain of the target PID parameter according to a preset step length and increases the integration time. The preset step size may be obtained empirically or by a limited number of experiments by those skilled in the art.
It can be understood that whether overshoot or undershoot is determined through given and following reactions of stator currents of the motor, whether a target PID parameter is appropriate can be found in time, and the target PID parameter is adjusted accordingly, so that the control effect when the group of PID parameters are applied again is stable, and the performance of the mechanical arm provided by the application is more and more stable along with the increase of the use time or the increase of the use times.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Corresponding to the control method of the robot arm shown in fig. 2, fig. 5 shows a control device of a robot arm according to an embodiment of the present application, including:
the operation parameter determining module M110 is used for determining target operation parameters of each joint of the mechanical arm from the current posture to the target posture by the main controller according to the path planning of the mechanical arm;
a PID parameter determining module M120, configured to determine, by the master controller, a target PID parameter corresponding to the target operation parameter of each joint according to a correspondence between a preset operation parameter and a preset PID parameter, and send the target PID parameter of each joint to a joint controller of the joint;
and the control module M130 controls the corresponding joints to operate to the target postures according to the received target PID parameters.
It is understood that various embodiments and combinations of the embodiments in the above embodiments and their advantages are also applicable to this embodiment, and are not described herein again.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device is used for realizing a main controller or each joint controller in the embodiment of the application. As shown in fig. 6, the electronic device D10 of this embodiment includes: at least one processor D100 (only one is shown in fig. 6), a memory D101, and a computer program D102 stored in the memory D101 and operable on the at least one processor D100, wherein the processor D100 implements the steps of any of the method embodiments described above when executing the computer program D102. Alternatively, the processor D100 implements the functions of the modules/units in the above-mentioned device embodiments when executing the computer program D102.
Fig. 6 is merely an example of the electronic device D10, and does not constitute a limitation of the electronic device D10, and may include more or fewer components than those shown, or some components in combination, or different components, such as input output devices, network access devices, etc.
Processor D100 may be a Central Processing Unit (CPU), and Processor D100 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable Logic Controller (PLC), a discrete Gate or transistor Logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage D101 may be an internal storage unit of the electronic device D10 in some embodiments, such as a hard disk or a memory of the electronic device D10. In other embodiments, the memory D101 may also be an external storage device of the electronic device D10, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the electronic device D10. Further, the memory D101 may also include both an internal storage unit and an external storage device of the electronic device D10. The memory D101 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer programs. The memory D101 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
Embodiments of the present application provide a computer program product, which when running on an electronic device, enables a mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (9)
1. A method for controlling a robot arm, comprising:
the main controller determines target operation parameters of each joint of the mechanical arm from a current posture to a target posture according to the path planning of the mechanical arm;
the main controller determines a target PID parameter corresponding to the target operation parameter of each joint in a plurality of preset PID parameters according to the corresponding relation between the preset operation parameters and the preset PID parameters, and sends the target PID parameter of each joint to a joint controller of the joint;
each joint controller controls the corresponding joint to operate to a target posture according to the received target PID parameter;
the target operating parameter is a required torque; correspondingly, determining the target PID parameter corresponding to the target operation parameter of each joint according to the corresponding relationship between the preset operation parameter and the preset PID parameter includes: comparing the required torque with the preset operation parameters, and determining the interval, determined by the preset operation parameters, in which the required torque falls; and determining a target PID parameter according to the corresponding relation between the interval and the PID parameter.
2. The control method according to claim 1, wherein each joint controller controls its corresponding joint to move to a target attitude according to the received target PID parameter, including:
and for each joint, the corresponding joint controller controls the corresponding joint to operate to the target posture after delaying the waiting time corresponding to the joint according to the received target PID parameter.
3. The control method according to claim 1 or 2, wherein each joint controller controls the corresponding joint to move to the target attitude according to the received target PID parameter, further comprising:
the master controller sends a synchronization message to each joint controller;
each joint controller feeds back a synchronous response message to the main controller after receiving the synchronous message;
and the master controller determines the waiting time corresponding to each joint according to the time when the master controller sends the synchronous message and the time when the master controller receives the synchronous response message.
4. The control method according to claim 1, wherein after each joint controller controls the corresponding joint to move to the target attitude according to the received target PID parameter, the method further comprises:
each joint controller determines the feedback parameters of the corresponding joint;
each joint controller sends the feedback parameters to the main controller;
and the main controller adjusts the target PID parameters according to the received feedback parameters.
5. The control method of claim 4, wherein each joint controller determines a feedback parameter for its corresponding joint, comprising:
each joint controller obtains feedback parameters by detecting given and following reactions of the stator currents of the servo motors of the corresponding joints.
6. The control method of claim 4 or 5, wherein the master controller adjusting the target PID parameter based on the received feedback parameter comprises:
if the target PID parameter is determined to be in undertone according to the feedback parameter, the main controller increases the proportional gain of the target PID parameter and reduces the integral time according to a preset step length;
and if the overshoot of the target PID parameter is determined according to the feedback parameter, the main controller reduces the proportional gain of the target PID parameter according to a preset step length and increases the integral time.
7. A control device for a robot arm, comprising:
the operation parameter determination module is used for determining target operation parameters of each joint of the mechanical arm from the current posture to the target posture by the main controller according to the path planning of the mechanical arm;
the PID parameter determining module is used for determining a target PID parameter corresponding to the target operation parameter of each joint in a plurality of preset groups of PID parameters according to the corresponding relation between the preset operation parameters and the preset PID parameters by the main controller, and sending the target PID parameter of each joint to the joint controller of the joint;
the control module is used for controlling the corresponding joints to operate to a target posture by each joint controller according to the received target PID parameters;
the target operating parameter is a required torque; correspondingly, determining the target PID parameter corresponding to the target operation parameter of each joint according to the corresponding relationship between the preset operation parameter and the preset PID parameter includes: comparing the required torque with the preset operation parameters, and determining the interval, determined by the preset operation parameters, in which the required torque falls; and determining a target PID parameter according to the corresponding relation between the interval and the PID parameter.
8. The control system of the mechanical arm is characterized by comprising the mechanical arm and a main controller, wherein the mechanical arm comprises one or more joints and a joint controller corresponding to each joint;
the main controller is used for determining target operation parameters of each joint of the mechanical arm from the current posture to the target posture according to the path planning of the mechanical arm;
the main controller is further used for determining a target PID parameter corresponding to the target operation parameter of each joint in a plurality of preset groups of PID parameters according to the corresponding relation between the preset operation parameters and the preset PID parameters, and sending the target PID parameter of each joint to the joint controller of the joint;
each joint controller is used for controlling the corresponding joint to move to a target posture according to the received target PID parameter;
the target operating parameter is a required torque; correspondingly, determining the target PID parameter corresponding to the target operation parameter of each joint according to the corresponding relationship between the preset operation parameter and the preset PID parameter includes: comparing the required torque with the preset operation parameters, and determining the interval, determined by the preset operation parameters, in which the required torque falls; and determining a target PID parameter according to the corresponding relation between the interval and the PID parameter.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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| CN112207829A (en) * | 2020-10-10 | 2021-01-12 | 北京创想智控科技有限公司 | Robot control method and device and readable storage medium |
| CN117980113A (en) * | 2021-07-29 | 2024-05-03 | 诺冠自动化解决方案有限公司 | Control system and method for a workpiece transport system having a plurality of arms coupled to a movable track |
| CN114504385A (en) * | 2022-01-18 | 2022-05-17 | 上海术航机器人有限公司 | Surgical robot tip attitude adjustment method, system, device, and medium |
| CN116512238B (en) * | 2023-01-17 | 2023-11-03 | 上海都协自动化科技有限公司 | Control method and device of hydraulic multi-axis mechanical arm, storage medium and electronic equipment |
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