CN111421552B - Cooperative control method for double operating arms of inspection robot - Google Patents

Cooperative control method for double operating arms of inspection robot Download PDF

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CN111421552B
CN111421552B CN202010385709.3A CN202010385709A CN111421552B CN 111421552 B CN111421552 B CN 111421552B CN 202010385709 A CN202010385709 A CN 202010385709A CN 111421552 B CN111421552 B CN 111421552B
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arm
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joint variable
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CN111421552A (en
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刘荣海
蔡晓斌
郭新良
郑欣
沈锋
杨迎春
虞鸿江
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Electric Power Research Institute of Yunnan Power Grid Co Ltd
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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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The application discloses a cooperative control method for double operating arms of an inspection robot, which comprises the steps of firstly establishing a positive kinematic model for the double operating arms of the overhead line robot, then establishing a target constraint function, and finally solving an optimal solution of the target function by adopting an optimization method, so that the singularity problem caused by collinear mechanical arm joints in the matrix inversion process is effectively avoided, the phenomenon of sudden change of the speed of a certain joint caused by tiny displacement of the tail end is further avoided, and the safety of cooperative operation of the two arms is ensured. The cooperative control method for the double operating arms of the inspection robot does not involve a matrix inversion process with complex calculation, so that the double operating arms of the overhead line robot can be applicable whether being redundant or not and whether containing a movable joint or not, the calculation efficiency is high, and efficient execution of double-arm cooperative operation is facilitated.

Description

Cooperative control method for double operating arms of inspection robot
Technical Field
The application relates to the technical field of power system maintenance, in particular to a cooperative control method for double operating arms of an inspection robot.
Background
The operation condition of the high-voltage overhead transmission line directly influences the distribution condition of the power system, and plays a key role in safe and stable operation of the power system, so that the operation condition of the high-voltage overhead transmission line needs to be regularly inspected, faults or defects in the power transmission line can be timely found and repaired, and the safe and stable operation of the power system is ensured.
At present, the inspection mode of a high-voltage overhead transmission line is converted from manual inspection to inspection by a special robot, and the common special robot mainly comprises a line inspection robot and an inspection robot, wherein the line inspection robot is specially used for inspecting long-distance line defects, and the inspection robot is used for detecting and repairing the line defects in a short-distance range. Compared with a line inspection robot, the line inspection robot can repair line defects and has higher intelligence.
Fig. 1 is a schematic structural diagram of an inspection robot, and as shown in fig. 1, the inspection robot comprises: manipulator arm a1 and manipulator arm B2 each comprise a rotary joint 3, a translational joint 4, and a tip tool 5. When the device is used specifically, the double operating arms are controlled simultaneously, and the detection and repair effects on the circuit are completed through the synergistic effect of the double operating arms. However, the inspection robot has a problem of cooperative control between the two operation arms for the repair task, which is a problem that limits its widespread use. At present, a common method for cooperative control of dual operating arms is to regard a dual operating arm system as a single-arm redundant system and solve inverse kinematics of the single-arm redundant system by adopting an algorithm related to a jacobian matrix. The cooperative control method can be applied to simple cooperative tasks, and is easy to encounter the singularity problem caused by collinear of a plurality of joints of the operation arm if the cooperative control method is used in a special environment such as a high-voltage overhead line.
Disclosure of Invention
The application provides a cooperative control method for double operating arms of an inspection robot, which aims to solve the problem that the cooperative task fails due to singularity easily caused when the double operating arms of the overhead line robot are cooperatively controlled by the conventional cooperative control method.
The application provides a cooperative control method of double operating arms of an inspection robot, comprising the following steps:
constructing a kinematic model of double operating arms of the inspection robot;
calculating design parameters, wherein the design parameters comprise a joint variable sequence of the operating arm, a joint variable value variable quantity of the operating arm, a tail end position error of the operating arm and a penalty function value of the operating arm;
constructing a target function and constraint conditions of the double operating arms of the inspection robot by using the design parameters;
and solving the objective function by adopting a differential evolution-based method to obtain the control expectation of the joint of the double operating arms of the inspection robot.
Optionally, constructing a kinematic model of the dual operation arms of the inspection robot includes:
for the number n of jointsaThe number of joints n and the operating arm AbThe overhead line robot double-operation arm system formed by the operation arms B constructs the following kinematics model:
Figure BDA0002483846780000011
Figure BDA0002483846780000021
wherein the content of the first and second substances,
Figure BDA0002483846780000022
and
Figure BDA0002483846780000023
respectively showing the tools a at the ends of the operating arms AeThe attitude and position under the geodetic coordinate system,
Figure BDA0002483846780000024
indicating end tool aeThe attitude and position under the geodetic coordinate system,
Figure BDA0002483846780000025
base a showing operation arm AoThe attitude and position under the geodetic coordinate system,
Figure BDA0002483846780000026
indicates the end of the arm AEnd tool aeAttitude and position in the base coordinate system of the manipulator arm A, qaRepresents a joint variable of the operation arm a;
Figure BDA0002483846780000027
and with
Figure BDA0002483846780000028
Respectively showing tools B at the ends of the operating arms BeThe attitude and position under the geodetic coordinate system,
Figure BDA0002483846780000029
showing the end tool beThe attitude and position under the geodetic coordinate system,
Figure BDA00024838467800000210
base B showing operation arm BoThe attitude and position under the geodetic coordinate system,
Figure BDA00024838467800000211
showing tool B at the end of arm BeAttitude and position in the base coordinate system of the manipulator arm B, qbThe joint variables of the operating arm B are shown.
Optionally, calculating design parameters including a joint variable sequence of the operation arm, a joint variable value variation of the operation arm, a terminal position error of the operation arm, and a penalty function value of the operation arm, including:
obtaining the desired position of the tool at the end of the arm A
Figure BDA00024838467800000212
Minimum allowable joint variable value of operation arm A
Figure BDA00024838467800000213
Maximum allowable value of joint variable
Figure BDA00024838467800000214
End-of-arm B tooling relative to end-of-arm A toolingDesired relative position of the tool
Figure BDA00024838467800000215
Minimum allowable joint variable value of operation arm B
Figure BDA00024838467800000216
Maximum allowable value of joint variable
Figure BDA00024838467800000217
The following design parameters were calculated:
the ith group of joint variable sequences of the operating arm a:
Figure BDA00024838467800000218
i is a positive integer and r is a set [0,1]]A random number within;
the ith group of joint variable sequences of the operating arm B:
Figure BDA00024838467800000219
i is a positive integer and r is a set [0,1]]A random number within;
joint variable value variation of operation arm a:
Figure BDA00024838467800000220
i is a positive integer;
joint variable value variation amount of operation arm B:
Figure BDA00024838467800000221
i is a positive integer;
end position error of the operation arm a:
Figure BDA00024838467800000222
end position error of the operation arm B:
Figure BDA00024838467800000223
penalty function value for j-th joint of manipulator a:
Figure BDA00024838467800000224
penalty function value for j-th joint of manipulator arm B:
Figure BDA00024838467800000225
optionally, by using the design parameters, constructing an objective function and constraint conditions of the double operation arms of the inspection robot, including:
presetting a weight coefficient comprising a weight coefficient alpha of the end position error of the operating arm AAThe weight coefficient alpha of the end position error of the operation arm BBThe weight coefficient beta of the variation of the joint variable value of the operation arm AAAnd a weight coefficient beta of the amount of change in the joint variable of the operation arm BBAnd a weight coefficient gamma of a penalty function value of j-th joint of the operation arm AAAnd a weight coefficient gamma of a penalty function value of the j-th joint of the operation arm BB，
Constructing an objective function and a constraint condition of cooperative control of double operating arms of the overhead line robot by using the design parameters and the weight coefficients, wherein the objective function is as follows:
Figure BDA00024838467800000226
the constraint conditions are as follows:
Figure BDA0002483846780000031
the method comprises the steps of firstly establishing a positive kinematics model for the double operating arms of the overhead line robot, then constructing a target constraint function, and finally solving the optimal solution of the target function by adopting an optimization method, so that the problem of singularity caused by collinear joints of mechanical arms in the matrix inversion process is effectively avoided, the phenomenon of sudden change of speed of a certain joint caused by small displacement of the tail end is avoided, and the safety of double-arm cooperative operation is ensured. The cooperative control method for the double operating arms of the inspection robot does not involve a matrix inversion process with complex calculation, so that the double operating arms of the overhead line robot can be applicable whether being redundant or not and whether containing a movable joint or not, the calculation efficiency is high, and efficient execution of double-arm cooperative operation is facilitated.
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In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an inspection robot;
fig. 2 is a flowchart of a cooperative control method of the inspection robot dual-operation arm.
Wherein the reference numerals in fig. 1-2 are respectively denoted as: 1-manipulator arm a, 2-manipulator arm B, 3-rotary joint, 4-translational joint, 5-end tool.
Detailed Description
The cooperative control method for the double operating arms of the inspection robot can avoid the problem of singularity of a terminal tool for controlling the double operating arms in the process of tracking an expected path, can be applied to a double-arm system of a redundant or non-redundant series robot consisting of rotating joints or moving joints, and ensures safe and efficient execution of double-arm cooperative tasks.
Fig. 2 is a flowchart of a cooperative control method for two operation arms of an inspection robot according to the present application, and as shown in fig. 2, the cooperative control method for two operation arms of an inspection robot according to the present application includes:
and S100, constructing a kinematic model of the double operating arms of the inspection robot.
In this application, step S100, the kinematics model of the two operation arms of robot is patrolled and examined in the construction includes:
for the number n of jointsaThe number of joints n and the operating arm AbThe overhead line robot double-operation arm system formed by the operation arms B constructs the following kinematics model:
Figure BDA0002483846780000032
Figure BDA0002483846780000033
wherein the content of the first and second substances,
Figure BDA0002483846780000034
and
Figure BDA0002483846780000035
respectively showing the tools a at the ends of the operating arms AeThe attitude and position under the geodetic coordinate system,
Figure BDA0002483846780000036
indicating end tool aeThe attitude and position under the geodetic coordinate system,
Figure BDA0002483846780000037
base a showing operation arm AoThe attitude and position under the geodetic coordinate system,
Figure BDA0002483846780000038
showing the tool a at the end of the arm AeAttitude and position in the base coordinate system of the manipulator arm A, qaRepresents a joint variable of the operation arm a;
Figure BDA0002483846780000039
and
Figure BDA00024838467800000310
respectively showing tools B at the ends of the operating arms BeThe attitude and position under the geodetic coordinate system,
Figure BDA00024838467800000311
showing the end tool beThe attitude and position under the geodetic coordinate system,
Figure BDA00024838467800000312
base B showing operation arm BoThe attitude and position under the geodetic coordinate system,
Figure BDA00024838467800000313
showing tool B at the end of arm BeAttitude and position in the base coordinate system of the manipulator arm B, qbRepresents a joint variable of the operation arm B;
it should be noted that R is a three-dimensional matrix representing pose, and P is a three-dimensional column vector representing position, and for convenience of representation and calculation, the two are integrated into a four-section matrix T for representing pose and position simultaneously.
And step S200, calculating design parameters, wherein the design parameters comprise a joint variable sequence of the operating arm, a joint variable value variable quantity of the operating arm, a tail end position error of the operating arm and a penalty function value of the operating arm.
In this application, step S200 calculates design parameters, the design parameters include the joint variable value variable quantity of the joint variable sequence of the operation arm, the terminal position error of the operation arm, and the penalty function value of the operation arm, and include:
obtaining the desired position of the tool at the end of the arm A
Figure BDA0002483846780000041
Minimum allowable joint variable value of operation arm A
Figure BDA0002483846780000042
Maximum allowable value of joint variable
Figure BDA0002483846780000043
Desired relative position of manipulator arm B tip tool with respect to a given manipulator arm A tip tool
Figure BDA0002483846780000044
Minimum allowable joint variable value of operation arm B
Figure BDA0002483846780000045
Maximum allowable value of joint variable
Figure BDA0002483846780000046
The following design parameters were calculated:
the ith group of joint variable sequences of the operating arm a:
Figure BDA0002483846780000047
i is a positive integer and r is a set [0,1]]A random number within;
the ith group of joint variable sequences of the operating arm B:
Figure BDA0002483846780000048
i is a positive integer and r is a set [0,1]]A random number within;
joint variable value variation of operation arm a:
Figure BDA0002483846780000049
i is a positive integer;
joint variable value variation amount of operation arm B:
Figure BDA00024838467800000410
i is a positive integer;
end position error of the operation arm a:
Figure BDA00024838467800000411
end position error of the operation arm B:
Figure BDA00024838467800000412
penalty function value for j-th joint of manipulator arm a:
Figure BDA00024838467800000413
wherein the content of the first and second substances,
Figure BDA00024838467800000414
values of variables representing all joints of the operating arm A，
Figure BDA00024838467800000415
A variable value representing a first joint of the operating arm A;
penalty function value for j-th joint of manipulator arm B:
Figure BDA00024838467800000416
wherein the content of the first and second substances,
Figure BDA00024838467800000417
the variable values of all the joints of the operating arm B are represented,
Figure BDA00024838467800000418
representing the variable value of the first joint of the operating arm B.
And S300, constructing an objective function and constraint conditions of the double operating arms of the inspection robot by using the design parameters.
In this application, step S300 utilizes the design parameter, constructs objective function and the constraint condition of patrolling and examining robot double operation arm, includes:
presetting weight coefficients including an A end error weight coefficient alpha of the operation armAThe weight coefficient alpha of the error at the end of the operating arm BB、βA、βB、γA、γBIn practical application, a person skilled in the art can set a specific numerical value of the weight coefficient according to actual needs, and the specific numerical value is not limited again;
constructing an objective function and a constraint condition of cooperative control of double operating arms of the overhead line robot by using the design parameters and the weight coefficients, wherein the objective function is as follows:
Figure BDA00024838467800000419
the constraint conditions are as follows:
Figure BDA00024838467800000420
and S400, solving the objective function by adopting a differential evolution-based method to obtain the control expectation of the double-operation-arm joint of the inspection robot.
In this application, step S400, solving the objective function by using a method based on differential evolution to obtain a control expectation of the joint of the double operation arms of the inspection robot, includes:
step S410, generating a new joint variable using the sequence of the manipulator joint variables calculated in step S200:
Figure BDA0002483846780000051
Figure BDA0002483846780000052
wherein i is a positive integer, r1, r2 and r3 are randomly generated positive integers, and F belongs to [0,2] to represent a difference factor;
step S420, for
Figure BDA0002483846780000053
The ith group of joint variable sequence of the operating arm A
Figure BDA0002483846780000054
And (3) carrying out cross selection:
Figure BDA0002483846780000055
to pair
Figure BDA0002483846780000056
The ith group of joint variable sequences of the operating arm B
Figure BDA0002483846780000057
And (3) carrying out cross selection:
Figure BDA0002483846780000058
wherein j represents the j-th joint, rp represents a random number in a set [0,1], and rn represents a random positive integer;
step S430, the cross-selected
Figure BDA0002483846780000059
And
Figure BDA00024838467800000510
substituting into the target constraint function if
Figure BDA00024838467800000511
Then use
Figure BDA00024838467800000512
And
Figure BDA00024838467800000513
instead of the former
Figure BDA00024838467800000514
And
Figure BDA00024838467800000515
becoming the ith operating arm joint variable in the operating arm joint variable sequence, otherwise discarding
Figure BDA00024838467800000516
And
Figure BDA00024838467800000517
continuously retaining original joint variable
Figure BDA00024838467800000518
And
Figure BDA00024838467800000519
in this way, until the preset iteration number or the preset time length is met, the operating arm joint variable meeting the minimum objective function f and each joint variable value being within the limit constraint range is used as the control expectation of the double-operating-arm joint of the overhead line robot, and it should be noted that a person skilled in the art can set the preset iteration number or the preset time length according to actual needs, and will not limit the specific numerical value again.
The method comprises the steps of firstly establishing a positive kinematics model for the double operating arms of the overhead line robot, then constructing a target constraint function, and finally solving the optimal solution of the target function by adopting an optimization method, so that the problem of singularity caused by collinear joints of mechanical arms in the matrix inversion process is effectively avoided, the phenomenon of sudden change of speed of a certain joint caused by small displacement of the tail end is avoided, and the safety of double-arm cooperative operation is ensured. The cooperative control method for the double operating arms of the inspection robot does not involve a matrix inversion process with complex calculation, so that the double operating arms of the overhead line robot can be applicable whether being redundant or not and whether containing a movable joint or not, the calculation efficiency is high, and efficient execution of double-arm cooperative operation is facilitated.
The above-described embodiments of the present application do not limit the scope of the present application.

Claims (2)

1. A cooperative control method for double operating arms of an inspection robot is characterized by comprising the following steps:
constructing a kinematic model of double operating arms of the inspection robot;
acquiring a desired position of the tool at the end of the operation arm, a minimum allowable joint variable value and a maximum allowable joint variable value of the operation arm, calculating design parameters including a joint variable sequence of the operation arm, a joint variable value variation of the operation arm, an end position error of the operation arm, and a penalty function value of the operation arm according to the acquired position and the joint variable value,
obtaining a desired position of a tool at the end of an arm A
Figure FDA0003584321130000011
Minimum permissible joint variable value of operating arm A
Figure FDA0003584321130000012
Maximum allowable value of joint variable
Figure FDA0003584321130000013
Desired relative position of manipulator arm B tip tool with respect to a given manipulator arm A tip tool
Figure FDA0003584321130000014
Minimum allowable joint variable value of operation arm B
Figure FDA0003584321130000015
Maximum allowable value of joint variable
Figure FDA0003584321130000016
The following design parameters were calculated:
the ith group of joint variable sequences of the operating arm a:
Figure FDA0003584321130000017
i is a positive integer and r is a set [0,1]]A random number within;
i-th group of joint variable sequences of the manipulator arm B:
Figure FDA0003584321130000018
i is a positive integer and r is a set [0,1]]A random number within;
joint variable value variation amount of operation arm a:
Figure FDA0003584321130000019
i is a positive integer;
joint variable value variation amount of operation arm B:
Figure FDA00035843211300000110
i is a positive integer;
operation ofEnd position error of arm a:
Figure FDA00035843211300000111
end position error of the operation arm B:
Figure FDA00035843211300000112
penalty function value for j-th joint of manipulator arm a:
Figure FDA00035843211300000113
penalty function value for j-th joint of manipulator arm B:
Figure FDA00035843211300000114
constructing a target function and a constraint condition of the double operating arms of the inspection robot by using the design parameters and preset weight coefficients, wherein the weight coefficients comprise a tail end position error weight coefficient alpha of the operating arm AAThe weight coefficient alpha of the end position error of the operation arm BBAnd a weight coefficient beta of the variation of the joint variable value of the operation arm AAAnd a weight coefficient beta of the amount of change in the joint variable of the operation arm BBAnd a weight coefficient gamma of a penalty function value of j-th joint of the operation arm AAAnd a weight coefficient gamma of a penalty function value of the j-th joint of the operation arm BB，
The objective function is:
Figure FDA00035843211300000115
the constraint conditions are as follows:
Figure FDA00035843211300000116
solving the objective function by adopting a method based on differential evolution to obtain the control expectation of the double-operation-arm joint of the inspection robot, wherein the method comprises the following steps: generating a new joint variable by adopting the joint variable sequence of the operating arm; and carrying out cross selection on the produced new joint variable and the joint variable sequence of the operating arm, and substituting the cross selection result into a target constraint function to obtain the control expectation of the joint of the double operating arms of the inspection robot.
2. The cooperative control method for the double operating arms of the inspection robot according to the claim 1, wherein the construction of the kinematic model of the double operating arms of the inspection robot comprises the following steps:
for the number n of jointsaThe number of joints n and the operating arm AbThe overhead line robot double-operation arm system formed by the operation arms B constructs the following kinematics model:
Figure FDA0003584321130000021
Figure FDA0003584321130000022
wherein the content of the first and second substances,
Figure FDA0003584321130000023
and
Figure FDA0003584321130000024
respectively showing the tools a at the ends of the operating arms AeThe attitude and position under the geodetic coordinate system,
Figure FDA0003584321130000025
indicating end tool aeThe attitude and position under the geodetic coordinate system,
Figure FDA0003584321130000026
base a of the operating arm AoThe attitude and position under the geodetic coordinate system,
Figure FDA0003584321130000027
showing the tool a at the end of the arm AeAttitude and position in the base coordinate system of the manipulator arm A, qaRepresents a joint variable of the operation arm a;
Figure FDA0003584321130000028
and with
Figure FDA0003584321130000029
Respectively showing tools B at the ends of the operating arms BeThe attitude and position under the geodetic coordinate system,
Figure FDA00035843211300000210
showing the end tool beThe attitude and position under the geodetic coordinate system,
Figure FDA00035843211300000211
base B showing operation arm BoThe attitude and position under the geodetic coordinate system,
Figure FDA00035843211300000212
showing tool B at the end of arm BeAttitude and position in the base coordinate system of the manipulator arm B, qbThe joint variables of the operating arm B are shown.
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