CN111687838B - Online compensation method, system and storage medium for track following error of manipulator - Google Patents
Online compensation method, system and storage medium for track following error of manipulator Download PDFInfo
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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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
- B25J9/1692—Calibration of manipulator
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Abstract
An online compensation method and system for track following errors of a manipulator comprises the steps of obtaining the position of a target point; calculating a theoretical instruction position of the interpolation point according to the target point position and a preset speed planning type; acquiring a motion parameter error of the last interpolation point, wherein the motion parameter comprises at least one of the position of the manipulator, the speed of the manipulator and the acceleration of the manipulator; compensating the first instruction position of the current interpolation point according to the motion parameter error to obtain the second instruction position of the current interpolation point; and generating an actual instruction according to the second instruction position, and controlling the movement of the manipulator. Because the interpolation instruction is carried out once by the manipulator every time, the interpolation instruction is compensated once, the real-time adjustment can be carried out according to the ideal interpolation instruction position in the interpolation process, and the interpolation precision of the SCARA manipulator is improved.
Description
Technical Field
The application relates to the technical field of industrial robots, in particular to an online compensation method, an online compensation system and a storage medium for track following errors of a manipulator.
Background
SCARA (Selective Compliance Assembly Robot Arm, planar articulated robot), also known as selective compliance assembly robotic arm, has found wide application due to its advantages of stability, high efficiency, and high precision. In a traditional application scenario, the SCARA mainly completes the repeated operation of a fixed path, needs To be taught before being used, and enables the SCARA To complete PTP (Point To Point) movement by recording teaching points. The application scene of the PTP is usually irregular path movement, and no special requirement is generally required for the movement process between two points, but along with the gradual increase of the complexity of the application scene of the SCARA, the simple PTP movement cannot meet the requirement. In some special application scenarios, the linear or circular interpolation function becomes a development trend, for example, in the situations of dispensing or needing obstacle avoidance, the track of the SCARA must have the spatial linear or circular interpolation function. Therefore, the accuracy of the straight line or circular interpolation will affect the functional implementation of the SCARA, and the accuracy of the existing SCARA needs to be improved.
Disclosure of Invention
The application mainly solves the technical problem of providing an on-line compensation method and system for track following errors of a manipulator aiming at the defects in the prior art so as to improve the precision of the manipulator.
According to a first aspect, in one embodiment, an online compensation method for a robot track following error is provided, including:
acquiring the position of a target point;
calculating a theoretical instruction position of the interpolation point according to the target point position and a preset speed planning type, and acquiring a motion parameter error of the last interpolation point;
compensating the first instruction position of the current interpolation point according to the motion parameter error to obtain the second instruction position of the current interpolation point;
and generating a first instruction according to the second instruction position, and controlling the movement of the manipulator.
Optionally, before the obtaining the motion parameter error of the last interpolation point, the method further includes:
the speed planning type includes: seven segment S-speed planning, cosine speed planning or ladder speed planning.
Optionally, compensating the first instruction position of the current interpolation point according to the motion parameter error includes:
the motion parameter errors are weighted by adopting gain coefficients, and the first instruction position of the current interpolation point is compensated according to the weighted motion parameter errors; the gain factor is either constant or time variable that follows the variation of the motion parameter error.
Optionally, the gain coefficient includes a position error gain coefficient, where the position error gain coefficient is a time variable that follows the motion parameter error variation; before weighting the motion parameter error by using the gain coefficient, the method further comprises:
comparing the second instruction position of the previous interpolation point with the first instruction position of the previous interpolation point, and if the second instruction position of the previous interpolation point is larger than the first instruction position of the previous interpolation point, increasing the position error gain coefficient of the previous interpolation point to obtain the position error gain coefficient of the current interpolation point; if the second instruction position of the last interpolation point is smaller than the first instruction position, the position error gain coefficient of the last interpolation point is reduced to obtain the position error gain coefficient of the current interpolation point.
Optionally, the method further comprises: detecting actual motion parameters of the manipulator, and comparing the actual motion parameters with theoretical motion parameters acquired in advance to obtain motion parameter errors of the current interpolation point.
According to a second aspect, in one embodiment, there is provided an online compensation system for robot trajectory tracking error, comprising:
the manipulator is an execution main body for realizing the processing action;
the driver is used for receiving the instruction of the upper computer and controlling the movement of the manipulator according to the received instruction;
the upper computer is used for acquiring the position of the target point; calculating a first instruction position of an interpolation point according to the target point position and a preset speed planning type; acquiring a motion parameter error of the last interpolation point; compensating the first instruction position of the current interpolation point according to the motion parameter error to obtain the second instruction position of the current interpolation point; and generating an actual instruction according to the second instruction position, and controlling the movement of the manipulator.
Optionally, the compensating the first instruction position of the current interpolation point according to the motion parameter error includes:
the motion parameter errors are weighted by adopting gain coefficients, and the first instruction position of the current interpolation point is compensated according to the weighted motion parameter errors; the gain factor is either constant or time variable that follows the variation of the motion parameter error.
Optionally, when the gain coefficient is a time variable that follows the variation of the motion parameter error; the gain coefficient comprises a position error gain coefficient which is a time variable following the error change of the motion parameter; before the compensation unit adopts the gain coefficient to carry out weighting treatment on the motion parameter error, comparing the second instruction position of the previous interpolation point with the first instruction position of the previous interpolation point, and if the second instruction position of the previous interpolation point is larger than the first instruction position of the previous interpolation point, increasing the position error gain coefficient of the previous interpolation point to obtain the position error gain coefficient of the current interpolation point; if the second instruction position of the last interpolation point is smaller than the first instruction position, the position error gain coefficient of the last interpolation point is reduced to obtain the position error gain coefficient of the current interpolation point.
Optionally, the generating the first instruction according to the second instruction position, after controlling the movement of the manipulator, further includes: and the parameter error calculation unit is used for detecting the actual motion parameters of the manipulator, and comparing the actual motion parameters with the theoretical motion parameters acquired in advance to obtain the motion parameter error of the current interpolation point.
According to a third aspect, there is provided in an embodiment a computer readable storage medium comprising:
a program executable by a processor to implement any of the online compensation methods described above.
According to the embodiment, the on-line compensation method and the system for the track following error of the manipulator comprise the steps of obtaining the position of a target point; calculating a first instruction position of an interpolation point according to a preset speed planning type according to the position of the target point; acquiring a motion parameter error of the last interpolation point, wherein the motion parameter comprises at least one of the position of the manipulator, the speed of the manipulator and the acceleration of the manipulator; compensating the first instruction position of the current interpolation point according to the motion parameter error to obtain the second instruction position of the current interpolation point; and generating a first instruction according to the second instruction position, and controlling the manipulator to move through the first instruction. Because the manipulator can compensate when executing the interpolation instruction, each interpolation point can be adjusted in real time in the interpolation process, so that the interpolation precision of the SCARA manipulator is improved.
Drawings
FIG. 1 is a schematic diagram of a manipulator system according to an embodiment of the present application;
FIG. 2 is a flow chart of an online compensation method for track following errors of a manipulator according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating online compensation of a robot track following error according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an online compensation system for track following error of a manipulator according to an embodiment of the present application.
Detailed Description
The application will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present application have not been shown or described in the specification in order to avoid obscuring the core portions of the present application, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated.
Interpolation is a method of calculating intermediate points between known points according to some algorithm, also called "densification of data points", which is some data on a known curve. For example, the numerical control device performs data densification of the space between the start point and the end point of the curve described by the program segment according to the input information of the part program, thereby forming a required contour track, and the function of the data densification is called interpolation.
In the embodiment of the application, the theoretical instruction position of the current interpolation point is compensated according to the motion parameter error of the last interpolation point, so that the actual instruction position of the current interpolation point is obtained, namely, once compensation is carried out every time the interpolation is executed, and real-time adjustment is carried out in the interpolation process, thereby not only improving the interpolation precision, but also not limiting the application scene of the interpolation. It should be noted that, in the embodiment of the present application, the first instruction position refers to an instruction position that should be strictly executed by the manipulator in an ideal state, that is, a theoretical instruction position; the second instruction position refers to an instruction position which is sent out after on-line compensation, namely an actual instruction position, and the first instruction corresponds to an instruction which is generated according to the actual instruction position and is used for controlling the manipulator.
Fig. 1 is a schematic structural diagram of a manipulator system according to an embodiment of the present application. Referring to fig. 1, the hardware of the robot system 100 includes: a manipulator 30, a driver 20, and a host computer 10.
The robot arm 30 is a robot arm for assembly work, and is a main body for realizing machining operation.
In this embodiment, the robot 30 is a SCARA type robot, including a base and a rotating part, which is powered by a servo motor to make the SCARA type robot suitable for assembly work, such as inserting a round-head needle into a round hole, and thus the SCARA type robot is used for assembling a printed circuit board and electronic parts in large quantities; the SCARA type mechanical arm can also extend into a limited space for operation and then retract, is suitable for moving and taking and placing objects, and can be applied to an integrated circuit board for example. And an encoder is also arranged on the servo motor, and when the servo motor starts to rotate, the encoder can determine the actual position information of the current manipulator by reading the rotating angle of the servo motor.
The driver 20 is a device that transmits a command to the servo motor and receives position information fed back by the encoder. After the driver 20 receives the instruction of the upper computer 10, the servo motor starts to act, the manipulator 30 is driven to perform interpolation, the driver 20 can read the actual position information of the current manipulator recorded by the encoder, and feed back the actual position information of the current manipulator to the upper computer 10, and the upper computer 10 can further process according to the feedback position information.
The upper computer 10 is a computer capable of directly sending out a control command, and may be a device with a processor function, such as a computer, a mobile phone, a tablet, and the like. The upper computer 10 in this embodiment includes an online compensator, and can read feedback position data in the driver 20, input the data into the online compensator for compensation, calculate interpolation points of a next interpolation period, obtain an actually issued instruction position of the next interpolation period, and generate a corresponding instruction to send to the driver 20 for execution.
Specifically, as shown in fig. 4, the upper computer 10 or the online compensator of the upper computer 10 includes: a calculation unit 401, a compensation unit 402, and a control unit 403.
A calculation unit 401 for acquiring a target point position; and calculating the theoretical instruction position of the interpolation point according to the target point position and the preset speed planning type.
A compensation unit 402, configured to obtain a motion parameter error of a previous interpolation point, where the motion parameter includes at least one of a position of the manipulator, a speed of motion of the manipulator, and an acceleration of motion of the manipulator; and compensating the theoretical instruction position of the current interpolation point according to the motion parameter error to obtain the actual instruction position of the current interpolation point.
The control unit 403 generates an actual command from the actual command position, and controls the movement of the robot.
Fig. 2 shows a process of online compensation for the manipulator track following error by the upper computer 10, and fig. 2 is a flow chart of an online compensation method for the manipulator track following error according to the present embodiment. The online compensation method comprises the following steps:
in step S201, the calculation unit 401 acquires the target point position.
In this embodiment, acquiring the position of the target point refers to acquiring coordinates of the target point, and the target point may refer to a point where the workpiece to be processed is located; the mode of acquiring the position of the target point can be acquired through a manual teaching mode of a demonstrator, for example, coordinates of the target point are manually input; other means of acquisition are possible, such as identifying the position of the workpiece using a vision system (e.g., an industrial camera, etc.) to obtain the coordinates of the target point.
In step S202, the calculation unit 401 calculates the theoretical command position of the interpolation point according to the target point position and the preset speed planning type, and of course, the theoretical speed and the theoretical acceleration corresponding to the theoretical command position may also be calculated.
Since the positions of the start point and the target point of the manipulator are known and the speed planning type is preset, the calculation unit 401 may calculate the theoretical command positions of the respective interpolation points between the start point and the target point according to a preset interpolation rule (straight line or circular arc), that is, calculate the intermediate points between the known points according to a preset algorithm based on some data (positions of the start point and the target point) on the known straight line or curve, and the position coordinates of these intermediate points may be referred to as the theoretical command positions. The theoretical command position is the ideal position of the manipulator reaching the interpolation point, the theoretical speed is the ideal speed, and the theoretical acceleration is the ideal acceleration.
The embodiment is illustrated by fig. 3, and referring to fig. 3, fig. 3 is an online compensation schematic diagram of a robot track following error provided in the embodiment. The point a and the point B are known points, the point a can be understood as a starting point, the point B is a target point, the two interpolation points are calculated on the assumption that theoretical instruction positions of the two interpolation points are a1 and a2, and coordinates x-y and an origin O can be established for the interpolation points so as to read position information of the interpolation points.
In this embodiment, the preset speed planning type may include seven-segment S-type speed planning, cosine speed planning, or ladder-type speed planning.
In step S203, the compensation unit 402 obtains the motion parameter error of the previous interpolation point to compensate the theoretical command position of the current interpolation point, so as to obtain the actual command position of the current interpolation point, that is, the compensated position.
The reason why the theoretical command position is compensated is that the manipulator can perform interpolation according to the theoretical position command only in an ideal state, and in fact, the actual position reached by the manipulator differs from the theoretical position due to the existence of an error (i.e., a problem of accuracy) each time the manipulator performs interpolation according to the theoretical position command. For example, as shown in fig. 3, assuming that the theoretical command position a1 is interpolated, the manipulator may actually move to a1' so as to deviate from a1 to be reached, and thus compensation is required. After compensation is performed according to the motion parameter error of the last interpolation point, the actual instruction position b1 'is obtained, the manipulator moves according to the position b1', and due to the existence of the error, the manipulator finally reaches a1 or the vicinity of the position a1, for example, the manipulator finally reaches b1, so that the movement precision of the manipulator is improved.
The compensation unit 402 obtains a motion parameter error of the last interpolation point, where the motion parameter includes at least one of a position (coordinate) of the manipulator, a speed of the manipulator motion, and an acceleration of the manipulator motion, that is, the motion parameter error includes at least one of a position error of the manipulator, a speed error of the manipulator motion, and an acceleration error of the manipulator motion, and this embodiment is described by taking three as an example. Then, the compensation unit 402 compensates the theoretical command position of the current interpolation point according to the motion parameter error, so as to obtain the actual command position of the current interpolation point.
In this embodiment, on the upper computer, the speed error, acceleration error or position error of the previous interpolation point is obtained by forward differential approximation, and the formula is as follows:
wherein ,evi The speed error at the i-1 th interpolation point;an actual speed at the i-th interpolation point; v i Is the theoretical velocity at the ith interpolation point; e, e ai Acceleration errors at the i-1 st interpolation point; />The actual acceleration at the i-th interpolation point; a, a i Is the theoretical acceleration at the ith interpolation point; e, e pi The position error at the i-1 st interpolation point is obtained; />The actual position at the i-th interpolation point; p is p i Theoretical position at the i-th interpolation point.
It should be noted that, in this embodiment, the command position is calculated according to a preset speed planning type, so that the speed and acceleration mode is the speed and acceleration mode in the preset speed planning type. Such as: in the speed planning type, the initial section is acceleration, and the acceleration types of interpolation points of the initial section are acceleration. The manner in which the movement from one interpolation point to another does not affect the acceleration and velocity exhibited by the trajectory.
In other embodiments, the speed error, the acceleration error or the position error of the next interpolation point may also be obtained by using backward differential approximation, and the calculation principle is the same as the above formula, which is not described herein.
When the gain coefficient is used to weight the motion parameter error, the gain coefficient may include: at least one of a position error gain coefficient, a velocity error gain coefficient, and an acceleration error gain coefficient.
For example, the present embodiment calculates the actual position command according to the following formula by using the position error gain coefficient, the velocity error gain coefficient, and the acceleration error gain coefficient, and the calculated theoretical position and position error, velocity error, and acceleration error:
wherein ,the actual instruction position of the i-th interpolation point is the position corresponding to the instruction actually sent; θ i A theoretical instruction position of the ith interpolation point; k (k) pi The gain coefficient is the position error at the ith interpolation point; e, e pi The position error at the i-1 st interpolation point is obtained; k (k) vi A gain coefficient for the speed error at the ith interpolation point; e, e vi The speed error at the i-1 th interpolation point; k (k) ai The acceleration error gain coefficient at the ith interpolation point; e, e ai Is the acceleration error at the i-1 st interpolation point.
In other embodiments, the formula may also be as follows:
or->The actual instruction position is calculated.
The gain coefficient is constant or a time variable following the motion parameter error, and the time variable following the motion parameter error refers to the time variation of the gain coefficient along with the motion parameter error.
In this embodiment, the gain coefficient is a time variable that follows the motion parameter error, and the compensation unit 402 obtains the gain coefficient by calculation before weighting the motion parameter error with the gain coefficient. Specifically, the compensation unit 402 compares the actual instruction position of the previous interpolation point with the theoretical instruction position of the previous interpolation point, and if the actual instruction position of the previous interpolation point is greater than the theoretical instruction position of the previous interpolation point, increases the position error gain coefficient of the previous interpolation point to obtain the position error gain coefficient of the current interpolation point; and if the actual instruction position of the last interpolation point is smaller than the theoretical instruction position of the last interpolation point, reducing the position error gain coefficient of the last interpolation point to obtain the position error gain coefficient of the current interpolation point. Thus, the movement track of the manipulator can be corrected more quickly by dynamically adjusting the gain coefficient.
It should be noted that, when the actual command position of the previous interpolation point is equal to the theoretical command position, the gain coefficient of the previous interpolation point may not be adjusted.
For example, the position error gain coefficient k at the i-th interpolation point pi The formulation of (c) may be:
wherein ,actual command position for i-1 st interpolation point, θ i-1 Theoretical command position for i-1 st interpolation point, θ i A theoretical instruction position of the ith interpolation point; k (k) pi-1 Is the position error gain coefficient at the i-1 st interpolation point.
The speed error gain coefficient k at the ith interpolation point can also be obtained by the same method vi Acceleration error gain coefficient k at the ith interpolation point ai . Comparing the actual speed of the previous interpolation point with the theoretical speed of the previous interpolation point, and if the actual speed of the previous interpolation point is greater than the theoretical speed of the previous interpolation point, increasing the speed error gain coefficient of the previous interpolation point to obtain the speed error gain coefficient of the current interpolation point; and if the actual speed of the last interpolation point is smaller than the theoretical speed of the last interpolation point, reducing the speed error gain coefficient of the last interpolation point to obtain the speed error gain coefficient of the current interpolation point.
For example, the velocity error gain coefficient k at the ith interpolation point vi Is of the public of (a)The expression may be:
wherein ,is the actual speed at the i-1 th interpolation point, v i-1 Processing theoretical speed, v for i-1 st interpolation point i Processing the theoretical speed, k, for the ith interpolation point vi-1 Is the velocity error gain coefficient at the i-1 st interpolation point.
Similarly, comparing the actual acceleration of the previous interpolation point with the theoretical acceleration of the previous interpolation point, and if the actual acceleration of the previous interpolation point is larger than the theoretical acceleration of the previous interpolation point, increasing the acceleration error gain coefficient of the previous interpolation point to obtain the acceleration error gain coefficient of the current interpolation point; if the actual acceleration error of the last interpolation point is smaller than the theoretical acceleration error, the acceleration error gain coefficient of the last interpolation point is reduced to obtain the acceleration error gain coefficient of the current interpolation point.
For example, the acceleration error gain coefficient k at the ith interpolation point ai The formulation of (c) may be:
wherein ,a is the actual acceleration at the i-1 th interpolation point, a i-1 A is the theoretical acceleration at the i-1 th interpolation point, a i Processing theoretical acceleration, k, for the ith interpolation point ai-1 Is the acceleration error gain coefficient at the i-1 st interpolation point.
This embodiment is illustrated by fig. 3, and the online compensation of a2 is performed according to the parameter error obtained from a1, specifically: because the point b1 is the actual position reached by the manipulator according to the actual instruction, calculating to obtain the speed error, the acceleration error and the position error of the point a1 according to the position, the speed and the acceleration of the point b1 and the theoretical instruction position, the theoretical speed and the theoretical acceleration of the point a1, and calculating to obtain the gain coefficient of the point a2 according to the gain coefficient, the speed error, the acceleration error, the position error, the theoretical instruction position, the theoretical speed and the theoretical acceleration of the point a1 (the gain coefficient of the point a2 comprises the position error gain coefficient, the speed error gain coefficient and the acceleration error gain coefficient of the point a 2); and (3) weighting the motion parameter error of a1 (the motion parameter error of a1 comprises the position error, the speed error and the acceleration error of a 1) by adopting the gain coefficient of a2, and compensating the theoretical command position of a2 according to the motion parameter error after the weighting processing to obtain the actual transmitted command position b2' of a 2.
The formula is:
wherein ,the instruction position actually sent at the interpolation point a2 is given; θ a2 A theoretical instruction position at the interpolation point a 2; k (k) pa1 A position error gain coefficient at the interpolation point of a 2; e, e pa1 Interpolation of the position error at the point a 1; k (k) va1 A speed error gain coefficient at an interpolation point a 2; e, e va1 Interpolation of the speed error at point a 1; k (k) aa1 The gain coefficient of the acceleration error at the interpolation point a 2; e, e aa1 The acceleration error at point a1 is interpolated.
For the first interpolation point, the theoretical command position of the first interpolation point may be compensated according to the same principle and the motion parameter error of the starting point, or the theoretical command position of the first interpolation point may be not compensated, and the compensation may be performed from the second interpolation point.
In step S204, the control unit generates an actual command according to the actual command position, and controls the movement of the manipulator.
And transmitting the compensated interpolation point bit to a driver for execution according to the interpolation period.
For example, in fig. 3, an actual command is generated by obtaining an actual command position b2 'for interpolating a2, and the host computer transmits the command position actually transmitted at the a2 interpolation point to the driver, and the driver controls the manipulator to interpolate the a2 interpolation point according to the command position b2' actually transmitted at the a2 interpolation point. In other words, a corresponding command is generated according to the position of the actual command position b2', and the manipulator is controlled to move to b2', and the manipulator actually moves to the vicinity of a2 due to the fact that the position of b2' takes errors into consideration, so that the purpose of position compensation is achieved.
The on-line compensation system further comprises a parameter error calculation unit, when the manipulator executes the actual instruction, the parameter error calculation unit detects actual motion parameters of the manipulator, namely, the actual position, the actual speed and the actual acceleration of the manipulator, compares the actual motion parameters with theoretical motion parameters (theoretical instruction position, theoretical speed and theoretical acceleration) acquired in advance, and obtains a motion parameter error of a current interpolation point so as to be convenient for compensating the next interpolation point.
The actual motion parameters of the manipulator may be recorded by the encoder, and the driver reads the current position (e.g., the actual position of a2, not shown in fig. 3) of the manipulator fed back by the encoder, and transmits the current position back to the host computer, and calculates the actual speed of the current position (e.g., a 2) in the host computerActual acceleration->It should be noted that the interpolation period in the present embodiment is the same, and therefore, the actual speed of the current position +.>The actual acceleration of the current position can be calculated from the actual position of the current point and the actual position of the previous point>The actual speed of the current point and the actual speed of the previous point can be calculated by the following formula:
wherein ,the actual speed at the ith interpolation point; />The actual position (displacement) at the i-th interpolation point; />The actual position (displacement) at the i-1 st interpolation point; />The actual acceleration at the ith interpolation point; />The actual speed at the i-1 st interpolation point. The displacement calculates the speed and the speed calculates the acceleration, and the time participation, namely the interpolation period is needed, so that the interpolation period is omitted in the two formulas.
Similarly, the theoretical instruction position of the next interpolation point can be compensated by obtaining the motion parameter error of the current point, the actual instruction position of the next interpolation point is obtained, and the process is sequentially circulated until all the theoretical interpolation point positions are completely executed, and then the interpolation process is finished.
After each time the driver executes the interpolation point bit, the motor starts to operate, and the encoder stores the angle at which the motor rotates as a feedback position. Therefore, the driver can acquire the feedback position in the encoder, and the upper computer can input the feedback position data into the online compensator by reading the feedback position data in the driver for point position online compensation calculation of the next interpolation period.
In this embodiment, the number of bits of the total theoretical interpolation points may be calculated in the calculation stage of the theoretical interpolation points, and whether the execution of the interpolation point bits is completed is determined according to the execution number of the interpolation points.
The track compensation mode adopted in the prior art is to repeatedly execute a track, collect the feedback position of the encoder each time, and perform PID control (Integral-differential control) correction until the deviation of the moving track of the manipulator is smaller than a given deviation, so as to control the manipulator by utilizing the finally obtained track parameters. Although this algorithm can also compensate and improve the accuracy, the same trajectory needs to be repeated many times to obtain the desired parameters. In some application scenarios, the manipulator may need to avoid the obstacle, and the track or interpolation point of the manipulator needs to make real-time change adjustment to the position instruction, so that the condition that the same track is repeatedly executed is not solved in the prior art.
In the on-line compensation method for the track following error of the manipulator provided by the embodiment, because the manipulator performs compensation once every time the manipulator executes the interpolation instruction, the on-line compensation method can perform real-time adjustment according to the position of the theoretical interpolation instruction in the interpolation process, so that the SCARA manipulator can be applied to any scene and the interpolation precision is improved.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by a computer program. When all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a computer readable storage medium, and the storage medium may include: read-only memory, random access memory, magnetic disk, optical disk, hard disk, etc., and the program is executed by a computer to realize the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above can be realized. In addition, when all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and the program in the above embodiments may be implemented by downloading or copying the program into a memory of a local device or updating a version of a system of the local device, and when the program in the memory is executed by a processor.
The foregoing description of the application has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the application pertains, based on the idea of the application.
Claims (6)
1. The on-line compensation method for the track following error of the manipulator is characterized by comprising the following steps:
acquiring the position of a target point;
calculating a first instruction position of an interpolation point according to the target point position and a preset speed planning type, and acquiring a motion parameter error of the last interpolation point; the motion parameter error comprises at least one of a position error of the manipulator, a speed error of the manipulator motion or an acceleration error of the manipulator motion;
the motion parameter error is weighted by adopting a gain coefficient, and the first instruction position of the current interpolation point is compensated according to the weighted motion parameter error, so that the second instruction position of the current interpolation point is obtained; the gain coefficient is constant or time variable which changes along with the motion parameter error; the gain coefficient of the current interpolation point is calculated according to the motion parameter error of the last interpolation point, the gain coefficient of the last interpolation point and the theoretical motion parameter of the current interpolation point; the theoretical motion parameter comprises at least one of the position of the manipulator, the speed of the manipulator motion or the acceleration of the manipulator motion; the gain coefficients include at least one of a position error gain coefficient, a velocity error gain coefficient, or an acceleration error gain coefficient;
generating a first instruction according to the second instruction position, and controlling the movement of the manipulator;
before the weighting processing is performed on the motion parameter errors by adopting gain coefficients, the method further comprises the following steps: comparing the motion parameter of the second instruction position of the previous interpolation point with the motion parameter of the first instruction position of the previous interpolation point, and if the motion parameter of the second instruction position of the previous interpolation point is larger than the motion parameter of the first instruction position of the previous interpolation point, increasing the gain coefficient of the previous interpolation point to obtain the gain coefficient of the current interpolation point; if the motion parameter of the second instruction position of the last interpolation point is smaller than the motion parameter of the first instruction position of the last interpolation point, reducing the gain coefficient of the last interpolation point to obtain the gain coefficient of the current interpolation point; the motion parameters include at least one of position parameters, velocity parameters or acceleration parameters, in particular:
the position error gain coefficient k at the i-th interpolation point pi The formula expression of (2) is:
wherein ,a position parameter of the second instruction position of the i-1 st interpolation point, θ i-1 A position parameter of the first instruction position of the i-1 st interpolation point, θ i A position parameter k for the first instruction position of the i-th interpolation point pi-1 The position error gain coefficient of the i-1 th interpolation point;
the speed error gain coefficient k at the i-th interpolation point vi The formula expression of (2) is:
wherein ,velocity parameter, v, for the second instruction position of the i-1 st interpolation point i-1 Speed parameter for the first command position of the i-1 st interpolation pointNumber, v i A speed parameter k for the first command position of the ith interpolation point vi-1 A speed error gain coefficient for the i-1 st interpolation point;
the acceleration error gain coefficient k at the i-th interpolation point ai The formula expression of (2) is:
wherein ,acceleration parameter a for the second instruction position of the i-1 st interpolation point i-1 Acceleration parameter a of the first instruction position of the i-1 st interpolation point i Acceleration parameter k for the first command position of the i-th interpolation point ai-1 The acceleration error gain coefficient of the i-1 th interpolation point.
2. The method of claim 1, wherein the speed plan type comprises: seven segment S-speed planning, cosine speed planning or ladder speed planning.
3. The method of claim 1, wherein the generating an actual command based on the second command position, after controlling the movement of the manipulator, further comprises:
detecting actual motion parameters of the manipulator, and comparing the actual motion parameters with theoretical motion parameters acquired in advance to obtain motion parameter errors of the current interpolation point.
4. An on-line compensation system for track following errors of a manipulator is characterized in that,
the manipulator is an execution main body for realizing the processing action;
the driver is used for receiving the instruction of the upper computer and controlling the movement of the manipulator according to the received instruction;
the upper computer is used for acquiring the position of the target point; calculating a first instruction position of an interpolation point according to the target point position and a preset speed planning type; acquiring a motion parameter error of the last interpolation point; the motion parameter error comprises at least one of a position error of the manipulator, a speed error of the manipulator motion or an acceleration error of the manipulator motion; the motion parameter error is weighted by adopting a gain coefficient, and the first instruction position of the current interpolation point is compensated according to the weighted motion parameter error, so that the second instruction position of the current interpolation point is obtained; the gain coefficient is constant or time variable which changes along with the motion parameter error; the gain coefficient of the current interpolation point is calculated according to the motion parameter error of the last interpolation point, the gain coefficient of the last interpolation point and the theoretical motion parameter of the current interpolation point; the theoretical motion parameter comprises at least one of the position of the manipulator, the speed of the manipulator motion or the acceleration of the manipulator motion; the gain coefficients include at least one of a position error gain coefficient, a velocity error gain coefficient, or an acceleration error gain coefficient; generating a first instruction according to the second instruction position, and controlling the movement of the manipulator;
before the weighting processing is performed on the motion parameter errors by adopting gain coefficients, the method further comprises the following steps: comparing the motion parameter of the second instruction position of the previous interpolation point with the motion parameter of the first instruction position of the previous interpolation point, and if the motion parameter of the second instruction position of the previous interpolation point is larger than the motion parameter of the first instruction position of the previous interpolation point, increasing the gain coefficient of the previous interpolation point to obtain the gain coefficient of the current interpolation point; if the motion parameter of the second instruction position of the last interpolation point is smaller than the motion parameter of the first instruction position of the last interpolation point, reducing the gain coefficient of the last interpolation point to obtain the gain coefficient of the current interpolation point; the motion parameters include at least one of position parameters, velocity parameters or acceleration parameters, in particular:
the position error gain coefficient k at the i-th interpolation point pi The formula expression of (2) is:
wherein ,a position parameter of the second instruction position of the i-1 st interpolation point, θ i-1 A position parameter of the first instruction position of the i-1 st interpolation point, θ i A position parameter k for the first instruction position of the i-th interpolation point pi-1 The position error gain coefficient of the i-1 th interpolation point;
the speed error gain coefficient k at the i-th interpolation point vi The formula expression of (2) is:
wherein ,velocity parameter, v, for the second instruction position of the i-1 st interpolation point i-1 Velocity parameter v for the first instruction position of the i-1 st interpolation point i A speed parameter k for the first command position of the ith interpolation point vi-1 A speed error gain coefficient for the i-1 st interpolation point;
the acceleration error gain coefficient k at the i-th interpolation point ai The formula expression of (2) is:
wherein ,acceleration parameter a for the second instruction position of the i-1 st interpolation point i-1 Acceleration parameter a of the first instruction position of the i-1 st interpolation point i Acceleration parameter k for the first command position of the i-th interpolation point ai-1 The acceleration error gain coefficient of the i-1 th interpolation point.
5. The system of claim 4, wherein the generating the actual command based on the second command position, after controlling the movement of the manipulator, further comprises:
and the parameter error calculation unit is used for detecting the actual motion parameters of the manipulator, and comparing the actual motion parameters with the theoretical motion parameters acquired in advance to obtain the motion parameter error of the current interpolation point.
6. A computer readable storage medium comprising a program executable by a processor to implement the online compensation method of any one of claims 1-3.
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| CN112486034B (en) * | 2020-11-09 | 2023-11-10 | 北京配天技术有限公司 | Method for verifying track planning, electronic equipment and storage medium |
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