CN111624941A - Unknown environment-oriented six-degree-of-freedom robot power control method - Google Patents
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- CN111624941A CN111624941A CN202010539862.7A CN202010539862A CN111624941A CN 111624941 A CN111624941 A CN 111624941A CN 202010539862 A CN202010539862 A CN 202010539862A CN 111624941 A CN111624941 A CN 111624941A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
Abstract
The invention discloses a six-degree-of-freedom robot power control method facing an unknown environment, belonging to the field of flexible control of robot motion, and the control method comprises the following specific steps: firstly, acquiring zero point data of a force sensor, the gravity and the barycentric coordinate of a robot wrist tool, and determining real force and moment generated when the robot wrist tool is in contact with the environment; then, determining the position control direction and the force control direction of the robot terminal movement through the real force and moment generated when the robot wrist tool is in contact with the environment; and finally, acquiring a reference track of the robot motion, determining an impedance control model, and finishing the robot force control operation. The invention provides a method for calibrating the force sensor on line, improves the measurement precision of the force sensor, provides accurate force perception sensing information for the force control operation of the robot, adopts an impedance control strategy to control the motion track of the robot, and has stable conversion between force control and position control and better adaptability and robustness.
Description
Technical Field
The invention discloses a six-degree-of-freedom robot power control method for an unknown environment, and belongs to the field of flexible control of robot motion.
Background
At present, the operation mode of an industrial robot is mainly motion control based on position, the control of contact force in the operation process is lacked, and the capability of force control between the robot and the contact environment is needed in order to better complete tasks such as grinding and polishing, constant force tracking, precise assembly and the like.
The six-dimensional force sensor is arranged at the tail end of the robot, so that the robot has force sensing capability, contact force control between the robot and the external environment is realized through acquired force sensing information, however, in the actual working process of the force sensor, the measurement error of the force sensor needs to be considered, the generation of the error mainly is the influence of zero point data of the force sensor and the gravity of a robot wrist tool, so that the force sensor needs to be calibrated in advance on line, the interference of the zero point and the gravity of the robot wrist tool on reading is eliminated, and the measurement precision of the force sensor is improved.
The force control in the robot operation process can be mainly divided into two types according to different control modes: force/position hybrid control and impedance control. The force/position hybrid control sets the robot to be in a position control mode in some degrees of freedom and to be in a force control mode in other degrees of freedom, but the control method has to establish an accurate environment constraint equation to realize a determined Jacobian matrix and calculate a coordinate system, and determines the direction of force and position by a selection matrix reflecting task requirements in real time, so the force/position hybrid control is difficult to realize the force control task in unknown environment. The impedance control realizes a force control task through a dynamic relation between force and position, the force applied to the tail end of the robot is equivalent to a mass-damping-spring model, and the adjustment of the force and the position is realized through the parameter adjustment of inertia, damping and rigidity. The impedance control can be classified into two types, force-based impedance control and position-based impedance control, depending on the control principle. The impedance control does not directly control the contact force of the robot and the contact environment, but controls the motion trail of the robot tail end according to the dynamic relation between the position of the robot tail end and the contact force. The impedance control does not need to adjust the motion planning and algorithm of the free space, the conversion between the free motion and the constrained motion is stable, the adaptability and the robustness are strong, and the impedance control can also show good stability when facing an unknown environment.
Therefore, it is necessary to calibrate the force sensor on line, obtain accurate force sense information, obtain constraint conditions of unknown environment, determine a reference trajectory of the robot motion, and combine impedance control to realize the force control of the robot to the unknown environment in the motion process, so that the robot can cope with more complicated and variable working environments.
Disclosure of Invention
The invention aims to solve the problems that a force sensor arranged at the tail end of the existing six-degree-of-freedom robot has larger force perception sensing error in active compliance control, and the robot cannot cope with force control operation of an unknown environment.
The invention aims to solve the problems and is realized by the following technical scheme:
a six-degree-of-freedom robot power control method for an unknown environment comprises the following specific steps:
step S10, acquiring zero point data of the force sensor, the gravity and the gravity center coordinate of the robot wrist tool, and determining the real force and moment generated when the robot wrist tool is in contact with the environment;
step S20, determining the position control direction and the force control direction of the robot end motion through the real force and moment generated when the robot wrist tool contacts the environment;
and step S30, acquiring a reference track of the robot motion, determining an impedance control model, and completing the robot force control operation.
Preferably, the specific process of step S10 is as follows:
step S101, after a tool is installed on the wrist of the robot, the force and the moment actually measured by the force sensors of the robot at N (N is more than 3) different poses are obtained;
step S102, determining a robot base coordinate system according to the installation position of the robot, determining a force sensor coordinate system according to the position of the force sensor relative to the robot base coordinate system, and determining the corresponding relation between the force sensor coordinate system and the robot base coordinate system according to the force sensor coordinate system and the robot base coordinate system;
step S103, determining the corresponding relation of the component force of the robot wrist tool gravity on a force sensor coordinate system according to the component force of the robot wrist tool gravity on a robot base coordinate system and the corresponding relation of the force sensor coordinate system and the robot base coordinate system;
step S104, determining zero force of the force sensor and component force of the robot wrist tool gravity on a force sensor coordinate system respectively according to the corresponding relation between the force actually measured by the force sensor and the component force of the robot wrist tool gravity on the force sensor coordinate system;
step S105, determining the robot wrist tool gravity according to the component force of the robot wrist tool gravity on a force sensor coordinate system and the force actually measured by a force sensor;
step S106, determining the coordinate of the gravity center of the robot wrist tool on the coordinate system of the force sensor according to the force and the moment actually measured by the force sensor and the coordinate of the gravity center of the robot wrist tool on the force sensor;
step S107, determining a zero moment of the force sensor according to the zero force of the force sensor and the coordinates of the gravity center of the robot wrist tool on the force sensor coordinate system;
and step S108, determining the real force and moment generated when the robot wrist tool is contacted with the external environment according to the zero force and moment of the force sensor and the force and moment generated by the gravity of the robot wrist tool in the sensor.
Preferably, the specific process of step S20 is as follows:
step S201, determining a normal contact force and a tangential contact force generated when the robot wrist tool is in contact with the environment and an included angle between the normal contact force and the vertical direction according to a real force and a moment generated when the robot wrist tool is in contact with the external environment;
and S202, determining a unit normal vector and a unit tangent vector at the contact point according to the included angle between the normal contact force and the vertical direction.
Preferably, the specific process of step S30 is as follows:
step S301, determining a position control direction and a force control direction when the robot moves according to the unit normal vector and the unit tangent vector of the contact point;
step S302, determining rigidity data of an unknown environment according to the normal contact force and the normal displacement;
step S303, determining a reference track required by the robot power control operation according to the position control direction, the force control direction, the normal expected contact force and the normal contact force;
and S304, determining an impedance control model of the robot power control operation according to the reference track required by the robot power control operation, and selecting appropriate model parameters to enable the robot to generate a motion sequence meeting the requirements.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a method for calibrating the force sensor on line, which improves the measurement precision of the force sensor and provides accurate force sense perception information for the force control operation of the robot.
2. The invention provides the method for estimating the constraint condition of the unknown environment on line through the force sense information detected by the force sensor, obtains the normal direction and the tangential direction of the unknown environment, and determines the motion reference track of the robot, so that the robot can cope with more complex working environment.
3. The invention adopts an impedance control strategy, does not directly control the contact force between the robot and the contact environment, but controls the motion track of the robot according to the relation between the position of the robot wrist tool and the contact force, and has stable conversion between force control and position control and better adaptability and robustness.
Drawings
Fig. 1 is a schematic diagram of a robot model and a coordinate system according to the present invention.
Fig. 2 is a schematic diagram of the force and moment generated by the gravity of the robot wrist tool on the force sensor according to the present invention.
Fig. 3 is a schematic view of the contact relationship between the robot wrist tool of the present invention and the environment.
Fig. 4 is a structural view of a robot control method of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 4, a first embodiment of the present invention provides a six-degree-of-freedom robot power control method facing unknown environment based on the prior art, including: the control method comprises the following specific steps:
step S10, acquiring zero point data of the force sensor, gravity and barycentric coordinates of the robot wrist tool, determining real force and moment generated when the robot wrist tool is in contact with the environment, and calibrating the force sensor, wherein the method specifically comprises the following steps:
step S101, after a tool is installed on the wrist of the robot, the force and the moment actually measured by the force sensors of the robot in N (N is more than 3) different poses are obtained. The force actually measured by the force sensor is recorded as: f ═ F'xF′yF′z]TAnd the measured torque is recorded as M '═ M'xM′yM′z]TThe zero force of the force sensor is noted as: f0＝[Fx0Fy0Fz0]TThe zero moment is recorded as: m0＝[Mx0My0Mz0]TAnd the gravity of the robot wrist tool is recorded as G (including the gravity of the tool and the gravity of the sensitive end of the force sensor), and the gravity of the robot wrist tool acting on the force sensor is recorded as: gs＝[GxGyGz]TThe moment is noted as: ms＝[MGxMGyMGz]T。
Step S102, as shown in FIG. 1, determining a robot base coordinate system O according to the position of the robot0_X0Y0Z0Position (robot base coordinate system and world coordinate system are coincident) to make Z0The axis is the opposite direction of gravity. According to the force sensor relative to the robot base coordinate system O0_X0Y0Z0Determining the force sensor coordinate system, and recording the force sensor coordinate system as Os_XsYsZsCan be based on a robot coordinate system O0_X0Y0Z0First winding Z0Rotating the robot by a rotation angle W, rotating the robot by a rotation angle Y around the current Y axis, and finally rotating the robot by a rotation angle U around the current X axis0_X0Y0Z0And force transmissionSensor coordinate system Os_XsYsZsThe corresponding relationship of (c) is shown in formula (1).
Step S103, according to the gravity of the robot wrist tool in the robot base coordinate system O0_X0Y0Z0Component force and robot base coordinate system O0_X0Y0Z0And the force sensor coordinate system Os_XsYsZsThe tool gravity is in a robot base coordinate system O0_X0Y0Z0Component of upper force is denoted as G0＝[0 0 -G]TDetermining the robot wrist tool gravity in the force sensor coordinate system Os_XsYsZsThe corresponding relation of the upper component force is as follows:
step S104, according to the fact that the force sensor is only provided with the robot wrist tool, the measured data mainly comprises a zero component and a component generated by the gravity G of the robot wrist tool on the force sensor, and according to the formula (2), the force F' actually measured by the force sensor is expressed as:
wherein, I is a unit matrix of 3 × 3, and is α ═ 00-G Fx0Fy0Fz0]TFormula (3) can be expressed as F' ═ R · α, and can be organized as:
α＝(RT·R)-1·RT·F′ (4)
step S105, substituting the acquired force data actually measured by the force sensors under the N different poses into a formula (4), and calculating α robot wrist tool gravity G and zero force F of the force sensors0。
Step S106, according to the force and moment actually measured by the force sensor and the coordinate of the gravity center of the robot wrist tool on the force sensor, the gravity center of the robot wrist tool is positioned on a force sensor Os_XsYsZsCoordinate on (c) is denoted as P ═ PxPyPz]TAccording to the gravity G of the end tool in the coordinate system Os_XsYsZsThe relationship between the generated force and the moment is shown in fig. 2, and the calculation formula of the moment of the robot wrist tool gravity G on the force sensor can be obtained as follows:
according to the formula (3) and the formula (5), the calculation formula of the moment actually measured by the available force sensor is as follows:
note the book
From equation (7), the result is obtained by formulating equation (6):
remember β ═ PxPyPzβxβyβz]TFormula (8) may be expressed as M '═ F' · β, and can be collated as:
β＝(F′T·F′)-1·F′T·M′ (9)
the forces and moments actually measured by the force sensors of the robot under N (N is more than 3) different poses are substituted into a formula (9), and the coordinate system O of the gravity center of the robot wrist tool in the force sensor can be calculateds_XsYsZsCoordinate P ofx、Py、PzAnd constant βx、βy、βzThe value of (c).
Step S107, determining the zero moment M of the force sensor according to the formula (7)0The following were used:
step S108, according to the obtained zero point data of the force sensor and the force and moment generated by the gravity of the robot wrist tool on the force sensor, determining that the real force and moment generated when the robot wrist tool is in contact with the environment are expressed as follows:
step S20, determining the position control direction and the force control direction of the robot end motion through the real force and moment generated when the robot wrist tool contacts the environment, the concrete steps are as follows:
step S201, determining a normal contact force and a tangential contact force generated when the robot wrist tool contacts the environment, and an included angle between the normal contact force and a vertical direction according to a real force and a moment generated when the robot wrist tool contacts the external environment, as shown in fig. 3.
After the force sensor is calibrated, real force and moment information when the robot wrist tool is in contact with the environment can be accurately measured in real time, and the relationship between the normal force and the tangential force and the relationship between the real force and the moment generated when the robot wrist tool is in contact with the environment are as follows:
wherein, FnNormal contact force of robot wrist tool with environment, FtTangential contact force between the robot wrist tool and the environment, theta is the included angle between the normal contact force and the vertical direction, l is the distance from the force sensor to the hemisphere at the tail end of the robot wrist tool, and r is the hemisphere at the tail end of the toolThe radius of (a);
according to the formula (11), the force and the moment actually measured by the force sensor are substituted into the formula (12) to determine the normal contact force FnTangential contact force FtThe included angle theta between the normal contact force and the vertical direction;
step S202, a unit normal vector K of the unknown environment at the contact point can be determined according to the obtained included angle theta between the normal contact force and the vertical directionnAnd unit tangent vector KtThe calculation formula is as follows:
step S30, obtaining a reference track of the robot motion, determining an impedance control model, and completing the robot force control operation, which comprises the following specific steps:
and S301, determining the tangential direction of the movement of the robot wrist tool in the unknown environment as a position control direction and the normal direction as a force control direction according to a formula (13).
S302, generating a normal contact force F according to the obtained contact force between the robot and the environmentnAnd the normal displacement of the robot Δ X, by Hooke's law Fn＝kmΔ X, determining the stiffness parameter k of the unknown Environmentm。
S303, determining a reference track X required by robot manual control operation according to the position control direction and force control direction of the robot and the deviation between the normal expected force and the actual forcer：
Wherein k is sampling time, T is sampling time, V is terminal speed of the robot, and kmRigidity for unknown environments, KnAnd KtThe unit tangent vector and normal vector of the motion are respectively, and in order to avoid generating accumulated error, X (k-1) in the formula is the actual position information of the last sampling period contacting with the environment.
And S304, substituting the acquired robot motion reference track and the deviation between the expected force and the actual contact force of the robot wrist tool and the environment into the impedance control model of the formula (15) according to the formula (14), and selecting appropriate inertia, damping and rigidity parameters to generate a robot force control motion sequence meeting the requirements.
In the formula: md-an inertial matrix; b isd-a damping matrix; kd-a stiffness matrix;
Eferror between actual contact force of the robot tip and the environment and the expected force;
X(t)、
-actual position, velocity, acceleration of the robot end;
Xr(t)、
-desired position, velocity, acceleration of the robot tip;
while embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (4)
1. A six-degree-of-freedom robot power control method for an unknown environment is characterized by comprising the following specific steps:
step S10, acquiring zero point data of the force sensor, the gravity and the gravity center coordinate of the robot wrist tool, and determining the real force and moment generated when the robot wrist tool is in contact with the environment;
step S20, determining the position control direction and the force control direction of the robot end motion through the real force and moment generated when the robot wrist tool contacts the environment;
and step S30, acquiring a reference track of the robot motion, determining an impedance control model, and completing the robot force control operation.
2. The method as claimed in claim 1, wherein the specific process of step S10 is as follows:
step S101, after a tool is installed on the wrist of the robot, the force and the moment actually measured by the force sensors of the robot at N (N is more than 3) different poses are obtained;
step S102, determining a robot base coordinate system according to the installation position of the robot, determining a force sensor coordinate system according to the position of the force sensor relative to the robot base coordinate system, and determining the corresponding relation between the force sensor coordinate system and the robot base coordinate system according to the force sensor coordinate system and the robot base coordinate system;
step S103, determining the corresponding relation of the component force of the robot wrist tool gravity on a force sensor coordinate system according to the component force of the robot wrist tool gravity on a robot base coordinate system and the corresponding relation of the force sensor coordinate system and the robot base coordinate system;
step S104, determining zero force of the force sensor and component force of the robot wrist tool gravity on a force sensor coordinate system respectively according to the corresponding relation between the force actually measured by the force sensor and the component force of the robot wrist tool gravity on the force sensor coordinate system;
step S105, determining the robot wrist tool gravity according to the component force of the robot wrist tool gravity on a force sensor coordinate system and the force actually measured by a force sensor;
step S106, determining the coordinate of the gravity center of the robot wrist tool on the coordinate system of the force sensor according to the force and the moment actually measured by the force sensor and the coordinate of the gravity center of the robot wrist tool on the force sensor;
step S107, determining a zero moment of the force sensor according to the zero force of the force sensor and the coordinates of the gravity center of the robot wrist tool on the force sensor coordinate system;
and step S108, determining the real force and moment generated when the robot wrist tool is contacted with the external environment according to the zero force and moment of the force sensor and the force and moment generated by the gravity of the robot wrist tool in the sensor.
3. The method as claimed in claim 1, wherein the step S20 is as follows:
step S201, determining a normal contact force and a tangential contact force generated when the robot wrist tool is in contact with the environment and an included angle between the normal contact force and the vertical direction according to a real force and a moment generated when the robot wrist tool is in contact with the external environment;
and S202, determining a unit normal vector and a unit tangent vector at the contact point according to the included angle between the normal contact force and the vertical direction.
4. The method as claimed in claim 1, wherein the step S30 is as follows:
step S301, determining a position control direction and a force control direction when the robot moves according to the unit normal vector and the unit tangent vector of the contact point;
step S302, determining rigidity data of an unknown environment according to the normal contact force and the normal displacement;
step S303, determining a reference track required by the robot power control operation according to the position control direction, the force control direction, the normal expected contact force and the normal contact force;
and S304, determining an impedance control model of the robot power control operation according to the reference track required by the robot power control operation, and selecting appropriate model parameters to enable the robot to generate a motion sequence meeting the requirements.
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| CN113459093A (en) * | 2021-06-22 | 2021-10-01 | 天津理工大学 | Impedance control method of polishing robot |
| CN113977429A (en) * | 2021-11-17 | 2022-01-28 | 长春理工大学 | Robot constant-force polishing system based on deep learning and polishing control method |
| CN114800505A (en) * | 2022-04-25 | 2022-07-29 | 珠海格力智能装备有限公司 | Robot operation control method and device |
| CN114800505B (en) * | 2022-04-25 | 2024-02-20 | 珠海格力智能装备有限公司 | Robot operation control method and device |
| CN114913210B (en) * | 2022-07-19 | 2023-02-24 | 山东幻科信息科技股份有限公司 | Motion trajectory identification method, system and equipment based on AI (Artificial Intelligence) visual algorithm |
| CN114913210A (en) * | 2022-07-19 | 2022-08-16 | 山东幻科信息科技股份有限公司 | Motion trajectory identification method, system and equipment based on AI (Artificial Intelligence) visual algorithm |
| CN115824694A (en) * | 2022-11-16 | 2023-03-21 | 英飞智信(北京)科技有限公司 | Fixed-point sampling calibration device and method for sampler |
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