CN112264993B - Robot end control method, robot, and storage medium - Google Patents
Robot end control method, robot, and storage medium Download PDFInfo
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- CN112264993B CN112264993B CN202010996715.2A CN202010996715A CN112264993B CN 112264993 B CN112264993 B CN 112264993B CN 202010996715 A CN202010996715 A CN 202010996715A CN 112264993 B CN112264993 B CN 112264993B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The application discloses a control method of a robot tail end, a robot and a storage medium. The method comprises the following steps: acquiring control parameters of the current moment, wherein the control parameters comprise a first control parameter and a second control parameter, the first control parameter comprises expected position deviation of a robot tail end and an object controlled by the robot tail end, the second control parameter comprises a damping parameter and a quality parameter of the robot tail end and the object in interaction, and the damping coefficient and/or the quality parameter of the current moment are/is obtained based on the first control parameters of the current moment and the last moment; obtaining the actual position deviation of the tail end of the robot and the object at the current moment based on the control parameters at the current moment; and generating a control instruction of the robot terminal at the next moment based on the actual position deviation and the expected position deviation of the robot terminal and the object at the current moment so as to realize the control of the robot terminal at the next moment, wherein the control instruction comprises a control parameter at the next moment. Through the mode, the stability of the control system can be improved.
Description
Technical Field
The present disclosure relates to the field of robot control, and more particularly, to a method for controlling a robot end, a robot, and a storage medium.
Background
Many current industrial operations require a single or multiple robot tips (the tips of the robot arms) to perform, such as handling, welding, painting, grinding, polishing, assembly, etc. For example, when the operation task is simple, one robot end can complete the operation task, and when the operation task is complex, the operation task needs to be divided into a plurality of subtasks, and then the plurality of robot ends jointly complete the operation task. The robot corresponds to a control system, which can send out a control command, wherein the control command includes pre-planned/expected motion information, so as to control the robot to interact with the environment/object through the tail end of the mechanical arm (the tail end of the robot) according to the expected motion information, thereby realizing the operation.
However, in the related art, a control system for controlling the robot end has not good stability for controlling the robot end.
Disclosure of Invention
The application provides a control method of a robot terminal, a robot, computer equipment and a storage medium, which can solve the problem that the stability of a control system for controlling the robot terminal in the prior art on the robot terminal control is not good enough.
In order to solve the above technical problem, a first aspect of the present application provides a method for controlling a robot end. The method comprises the following steps: acquiring control parameters of the current moment, wherein the control parameters comprise a first control parameter and a second control parameter, the first control parameter comprises expected position deviation of a robot tail end and an object controlled by the robot tail end, the second control parameter comprises a damping parameter and a quality parameter of the robot tail end and the object in interaction, and the damping coefficient and/or the quality parameter of the current moment are/is obtained based on the first control parameters of the current moment and the last moment; obtaining the actual position deviation of the tail end of the robot and the object at the current moment based on the control parameters at the current moment; and generating a control instruction of the robot terminal at the next moment based on the actual position deviation and the expected position deviation of the robot terminal and the object at the current moment so as to realize the control of the robot terminal at the next moment, wherein the control instruction comprises a control parameter at the next moment.
Optionally, the first control parameters further include an expected acceleration deviation and an expected speed deviation of the robot end and the object, and the control instruction of the robot end at the next moment is generated based on an actual position deviation and an expected position deviation of the robot end and the object at the current moment so as to realize the control of the robot end at the next moment, including:
calculating the difference between the actual position deviation and the expected position deviation of the robot tail end and the object at the current moment; adjusting the expected acceleration deviation and/or the expected speed deviation of the robot terminal and the object at the next moment based on the difference; and generating a control command based on the adjusted expected acceleration deviation and/or expected speed deviation of the robot terminal and the object at the next moment so as to realize the control of the robot terminal at the next moment.
Optionally, the first control parameter further includes an expected contact force and an actual contact force of the robot tip and the object, and the obtaining of the control parameter at the current time includes:
and acquiring the mass coefficient of the current moment based on the expected contact force and the actual contact force of the robot tail end and the object at the last moment and the expected acceleration deviation of the robot tail end and the object at the current moment.
Optionally, the mass coefficient calculation formula of the robot terminal i at the current time is as follows:
wherein m isiIn order to be a mass coefficient,
is the initial quality coefficient, t is the current time,
is the amount of change in the initial mass coefficient,
is the acceleration deviation of the ith robot end and the object, fzi(T-T) is the expected contact force of the robot end i with the object at the previous moment, fei(T-T) is the actual contact force between the robot end i and the object at the last moment, σiAre control constants.
Optionally, the first control parameter further includes a desired contact force between the robot end and the object, an actual contact force, and the obtaining of the control parameter at the current time includes:
and acquiring a damping coefficient and a mass coefficient of the current moment based on the expected contact force and the actual contact force of the robot tail end and the object at the last moment and the expected speed deviation of the robot tail end and the object at the current moment.
Optionally, the damping coefficient calculation formula at the current time is as follows:
wherein, biIn order to be a damping coefficient of the damping,
is the initial damping coefficient, t is the current time,
as the amount of change in the initial damping coefficient,
is the speed deviation of the ith robot end and the object, fzi(T-T) is the expected contact force of the robot end i with the object at the previous moment, fei(T-T) is the actual contact force between the robot end i and the object at the last moment, σiAre control constants.
Optionally, the control constant is set based on the initial damping coefficient and the initial mass parameter, and a value range of the control constant is as follows:
optionally, the first control parameters further comprise velocity deviation, acceleration deviation, expected contact force, actual contact force, environmental stiffness coefficient of the robot tip and the object.
In order to solve the above technical problem, a second aspect of the present application provides a robot, including a processor, and a memory connected to the processor, wherein the memory stores program instructions; the processor is configured to execute the program instructions stored by the memory to implement the aforementioned methods.
To solve the above technical problem, a fourth aspect of the present application provides a computer storage medium storing a computer program, which when executed implements the method provided by the first aspect of the present application.
Through the implementation of the embodiment, the damping coefficient and/or the mass coefficient at the current moment included in the control parameter at the current moment of the application are acquired based on the first control parameter at the previous moment and the current moment, that is, the acquiring process of the damping coefficient and/or the mass coefficient at the current moment takes the control conditions at the previous moment and the current moment into consideration, and the actual position deviation between the robot tail and the object at the current moment is acquired based on the first control parameter at the current moment, compared with a mode of utilizing a fixed damping coefficient and a fixed mass coefficient, the application can indirectly enable the actual position deviation between the robot tail and the object at the current moment acquired by the first control parameter at the current moment to be more accurate, and further enable the adjustment of the expected position deviation at the next moment based on the actual position deviation and the expected position deviation between the robot tail and the object at the current moment to be more effective, therefore, the closed-loop control of the force of the robot tail end is realized through the position of the robot tail end, the flexibility of the robot tail end control is improved, and the stability of the control system for the robot tail end control is also improved.
Drawings
FIG. 1 is a force-resolved schematic illustration of the present application as it relates to planar movement by an object;
FIG. 2 is a force exploded view of the subject matter of the present application as it relates to rotational movement;
FIG. 3 is a schematic flow chart diagram of a first embodiment of a method of a robot tip of the present application;
FIG. 4 is a schematic flow chart diagram of a second embodiment of a method of a robotic end of the present application;
FIG. 5 is a schematic diagram of a first position control result of the present application;
FIG. 6 is a graphical illustration of a first actual contact force control result of the present application;
FIG. 7 is a graph showing the result of the second position control of the present application;
FIG. 8 is a graphical illustration of a second actual contact force control result of the present application;
FIG. 9 is a schematic diagram of the third position control result of the present application;
FIG. 10 is a graphical representation of a third actual contact force control result of the present application;
fig. 11 is a schematic structural diagram of an embodiment of the robot of the present application.
FIG. 12 is a schematic structural diagram of an embodiment of a computer-readable storage medium of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.
The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
The following explains an application scenario of the present application:
the robot end referred to herein may be the end of the robot that is in contact with an object (which may also be referred to as a robot end-controlled object) during the actual interaction, each robot having one robot end. The control system may control one robot end or a plurality of robot ends.
The position, the speed and the acceleration of the tail end of the robot and the position, the speed and the acceleration of an object interacting with the tail end of the robot are preset in the control system. The speed and the acceleration of the robot end respectively refer to the speed and the acceleration of the robot end moving from the current position (corresponding to the current moment) to the next position (corresponding to the next moment). The speed and acceleration of the object respectively refer to the speed and acceleration of the robot end moving from the current position to the next position. In addition, the system is preset with a desired contact force of the robot tip with the object.
The following description will be made of a method for setting a desired contact force, taking as an example a control system comprising two robot ends:
referring to fig. 1, fig. 1 is a force exploded view of an object moving in a plane. As shown in fig. 2, a space coordinate system is established with the centers of the flanges of the robot end 1 and the robot end 2 as the origin and the direction in which the flange points at the object 3 as the y-axis. The positive pressure of the robot tail end 1 and the robot tail end 2 on the object 3 is fzThe friction forces between the robot end 1, the robot end 2 and the object 3 are all fs，FgIs the object gravity. Wherein the positive pressure fzIs a desired tracking force between the robot end 1, the robot end 2 and the work object 3.
Referring to fig. 2, fig. 2 is an exploded view of an object in relation to rotational movement. As shown in FIG. 2, fza、fzbPositive pressure, f, of the robot end 1, 2, respectively, on the object 3sa、fsbFriction between the robot end 1, the robot end 2 and the object 3, respectively. Wherein the positive pressure fza、fzbRespectively the desired contact forces of the robot end 1, the robot end 2 and the object 3.
The desired contact force of the robot tip with the object can be set by the results of the force decomposition process calculations described above.
Ideally, the actual position deviation of the robot tip from the object is equal to the expected position deviation of the robot tip from the object, and correspondingly, the actual contact force of the robot tip with the object is equal to the expected contact force of the robot tip. That is, in the case where the actual positional deviation is equal to the expected positional deviation, the actual contact force of the robot tip with the object is equal to the expected contact force of the robot tip with the object. However, in the actual interaction process, the actual position deviation of the robot end and the object is often unequal to the expected position deviation of the robot end and the object, and the position of the object is always an expected position in the interaction process, so that the actual position deviation of the robot end and the object is unequal to the expected position deviation of the robot end and the object, that is, the actual position of the robot end is deviated relative to the expected position, and the actual contact force of the robot end and the object is changed, so that the actual contact force of the robot end and the object is unequal to the expected contact force, and the stability of the control system for the robot end control is affected.
On this basis, in order to improve the stability of the control system for the robot end control, that is, in order to make the actual contact force of the robot end and the object equal to or close to equal to the expected contact force, it is necessary to make the actual position deviation of the robot end and the object equal to the expected position deviation, so the present application provides some robot end control methods, specifically as follows:
fig. 3 is a schematic flow chart of a first embodiment of a method of a robot tip according to the present application. It should be noted that, if the result is substantially the same, the flow sequence shown in fig. 3 is not limited in this embodiment. As shown in fig. 3, the present embodiment may include:
s11: and acquiring the control parameter of the current moment.
The control parameters comprise a first control parameter and a second control parameter, the first control parameter comprises expected position deviation of the robot tail end and the object, the second control parameter comprises a damping parameter and a quality parameter of the robot tail end and the object, and the damping coefficient and/or the quality parameter at the current moment are/is obtained based on the first control parameter at the current moment and the first control parameter at the last moment.
The main execution body of the embodiment is a control system capable of controlling the robot end, and may be a control system of the robot or a control system of other electronic devices. The control system can control one robot terminal and can also control a plurality of robot terminals, namely, the cooperative control of the plurality of robot terminals can be realized. The control system can have the same or different control parameters for different robot terminals, and the control parameters can be determined according to actual conditions. For simplicity of description, only one robot end (robot end i) controlled by the control system is taken as an example for illustration.
The control parameter at the current moment is also the control parameter of the control system to the tail end of the robot at the current moment. The control parameters may include a first control parameter and a second control parameter. Specifically, as mentioned earlier, the positions (desired positions) of the robot tip and the object may be set in advance in the control system. Therefore, in this step, the deviation between the expected positions of the robot end and the object, that is, the difference between the expected position of the robot end and the expected position of the object can be acquired based on preset information.
The first control parameter may include a velocity deviation and an acceleration deviation of the robot tip and the object, in addition to the above-mentioned desired position deviation of the robot tip and the object. Specifically, as mentioned above, the velocity (desired velocity) and the acceleration (desired acceleration) required between the robot end and the object from the current desired position (current time) to the next desired position (next time) may be set in advance in the control system. Therefore, the deviation of the expected speed of the robot end and the object, namely the difference between the expected position of the robot end and the expected speed of the object, and the deviation of the expected acceleration of the robot end and the object, namely the difference between the expected position of the robot end and the expected acceleration of the object can be obtained through the preset information of the control system. And during the interaction between the robot end and the object, the actual speed of the object is the expected speed, and the actual acceleration of the object is the expected acceleration.
The first control parameter may also include a desired contact force, an actual contact force, an environmental stiffness coefficient, and the like.
As mentioned before, the desired contact force of the robot tip with the object may also be preset in the control system. Therefore, the expected contact force between the tail end of the robot and the object can be directly obtained through the preset information of the control system. Also, the desired contact force of the robot tip with the object and the position of the robot tip with the object (desired positional deviation) correspond, in other words, the desired contact force of the robot tip with the object changes as the desired positional deviation of the robot tip with the object changes during the interaction.
The actual contact force between the tail end of the robot and the object is acquired in real time through the sensor. The environmental parameters of the interaction between the robot tail end and the object are preset in the control system and can be directly obtained.
It will be appreciated that the environmental stiffness coefficient may change as the robot tip interacts with the object, or the environmental stiffness coefficient may differ from robot tip to robot tip. Accordingly, the expected force magnitude of the robot tip and the environment may also be different. If the robot tip is controlled with a fixed set of impedance parameters (damping coefficient and mass coefficient), the control compliance of the robot tip is affected. Therefore, in the interaction process of the robot tail end, the impedance coefficient of the control system is adjusted according to the actual control situation, so that the control flexibility of the control system to the robot tail end is improved. The specific adjustment method may be as follows:
the second control parameter includes at least one of a damping coefficient and a quality parameter at the present time, which are obtained based on the first control parameter at the present time and the previous time. In other words, at least one of the damping coefficient and the mass parameter at the present moment is dynamic. Specifically, when only the damping coefficient dynamically changes, the initial value (initial damping coefficient) of the damping coefficient is predetermined by the control system, and the mass coefficient is predetermined by the control system, and may be a variable or a constant; in the case where only the mass coefficient is dynamically changed, an initial value of the mass coefficient (initial mass coefficient) is predetermined by the control system, and the damping coefficient is a constant predetermined by the control system. In the case where both the damping coefficient and the mass coefficient are dynamically changed, the initial values of the damping coefficient and the mass coefficient are predetermined by the control system. The environmental stiffness coefficient of the robot end and the object interaction is preset by the control system, and can be variable or constant.
In the embodiment of the present application, the mass coefficient at the current time may be obtained based on the expected contact force of the robot end and the object at the previous time, the actual contact force, and the expected acceleration deviation of the robot end and the object at the current time.
The following describes a method for obtaining a quality coefficient of the interaction between the end of the robot and the object based on the first control parameters at the previous time and the current time:
the calculation formula of the mass coefficient of the interaction between the robot terminal i and the object at the current moment can be as follows:
wherein m isiIn order to be a mass coefficient,
is the initial quality coefficient, t is the current time,
is the amount of change in the initial mass coefficient,
is the deviation of the expected acceleration of the ith robot tip from the object, fzi(T-T) is the expected contact force of the robot end i with the object at the previous moment, fei(T-T) is the actual contact force between the robot end i and the object at the last moment, σiAre control constants.
In a specific embodiment, the damping coefficient and the mass coefficient at the current time can be obtained based on the expected contact force of the robot tip and the object at the last time, the actual contact force, and the expected acceleration speed deviation of the robot tip and the object at the current time.
The calculation formula of the damping coefficient of the interaction between the robot terminal i and the object at the current moment is as follows:
wherein, biIn order to be a damping coefficient of the damping,
is the initial damping coefficient, t is the current time,
as the amount of change in the initial damping coefficient,
the deviation of the expected speed of the ith robot end and the object at the current moment fzi(T-T) is the expected contact force of the robot end i with the object at the previous moment, fei(T-T) is the last timeActual contact force, σ, of robot tip i with objectiAre control constants.
Wherein, the control constant is set based on the initial damping coefficient and the initial quality parameter. The value range of the control constant is as follows:
the following is a description of the method for determining the value range of the control constant:
by substituting the formulae (1) and (2) into (3) (see the subsequent step),
wherein f isei(t)＝-keixei，keiThe above formula can be arranged to obtain the environmental rigidity coefficient,
let ef(t)＝fzi(t)-fei(t), the above formula can be further rewritten as:
wherein the content of the first and second substances,
in the same way, the method can obtain,
and (7) and (8) are substituted into (6), and Laplace (Laplace) transformation is carried out on two ends of (6) at the same time, so that a closed loop transfer function can be obtained:
performing a stability analysis on (10), wherein,
the denominator of (10) can be written as:
according to the Laus criterion, the stabilizing condition of (11) is as follows:
by (13), σ can be obtainediHas a value range of
Namely when
When the equation (12) satisfies the stability, it can be concluded that the equation (7) satisfies the stability, and the model (3) satisfies the stability, i.e., t → ∞, fzi(t)＝fei(t)。
And is composed ofiThe value range of (a) is known asiThe value of (a) is independent of the environmental stiffness coefficient. That is, changes in the environmental stiffness coefficient do not affect the stability of the control model/control system. Therefore, in the actual interaction process, when the environmental rigidity coefficient changes when the robot tail end interacts with an object, the method is also applicable to the control method of the robot tail end.
S12: and obtaining the actual position deviation of the robot tail end and the object controlled by the robot tail end at the current moment based on the control parameter at the current moment.
The model on which the control system controls the robot tip i may be as follows:
fei(t)＝-keixei (4)
wherein x iseiFor the positional deviation of the i-th robot end and the object at the present time, feiIs the actual contact force of the ith robot tip with the object, fziIs the desired contact force of the ith robot tip with the object, keiIs the environmental stiffness coefficient.
Based on the control parameters related to the current time obtained in S11, the system may obtain the actual position deviation between the ith robot end and the object at the current time based on the control model.
S13: and generating a control instruction for the robot tail end at the next moment based on the actual position deviation and the expected position deviation of the robot tail end and the object at the current moment so as to realize the control of the robot tail end.
Wherein the control instruction comprises a control parameter at the next moment.
Since ideally the actual position deviation of the robot tip from the object at each moment is equal to the desired position deviation, it is ideally ensured that the actual contact force of the robot tip from the object is equal to the desired contact force. Therefore, in an ideal situation, the control system directly generates the control instruction to the robot terminal at the next moment based on the preset control parameter at the next moment, so that the compliance control of the robot terminal can be realized.
However, during actual interaction, the actual position of the robot tip may deviate from the expected position, resulting in deviation of the actual position of the robot tip from the object from the expected position, and further resulting in the actual contact force of the robot tip with the object not being equal to the expected contact force. Therefore, in the actual interaction process, if the control instruction of the robot terminal at the next moment is generated directly based on the preset control parameter at the next moment, the compliance control of the robot terminal is not easy to realize.
Therefore, in order to improve the possibility of compliance control of the robot tip, in this step, the control system does not directly generate a control command for the robot tip at the next time based on a preset control parameter at the next time, but takes into account an actual positional deviation and an expected positional deviation of the robot tip and the object at the current time, and further performs closed-loop control of the force on the robot tip by closed-loop control of the actual position of the robot tip (the actual positional deviation of the robot tip and the object). As to how the control command for the robot end at the next time is generated with reference to the actual position deviation and the expected position deviation of the robot end and the object at the current time, please refer to the following embodiments.
Through the implementation of the embodiment, the damping coefficient and/or the mass coefficient at the current moment included in the control parameter at the current moment of the application are acquired based on the first control parameter at the previous moment and the current moment, that is, the acquiring process of the damping coefficient and/or the mass coefficient at the current moment takes the control conditions at the previous moment and the current moment into consideration, and the actual position deviation between the robot tail and the object at the current moment is acquired based on the first control parameter at the current moment, compared with a mode of utilizing a fixed damping coefficient and a fixed mass coefficient, the application can indirectly enable the actual position deviation between the robot tail and the object at the current moment acquired by the first control parameter at the current moment to be more accurate, and further enable the adjustment of the expected position deviation at the next moment based on the actual position deviation and the expected position deviation between the robot tail and the object at the current moment to be more effective, therefore, the closed-loop control of the force of the robot tail end is realized through the position of the robot tail end, the flexibility of the robot tail end control is improved, and the stability of the control system for the robot tail end control is also improved.
Fig. 4 is a schematic flow chart of a second embodiment of a method of robotic end-of-robot application. It should be noted that, if the result is substantially the same, the flow sequence shown in fig. 4 is not limited in this embodiment. The present embodiment is a further extension of the above S13, and as shown in fig. 4, the present embodiment may include:
s131: and calculating the difference between the actual position deviation and the expected position deviation of the robot tail end and the object at the current moment.
Since the actual position of the object is always the expected position in the interaction process, the difference between the actual position deviation and the expected position deviation of the robot end and the object at the current moment can be alternatively understood as the difference between the actual position and the expected position of the robot end. Which may be used to reflect the extent (size, orientation) to which the actual position of the robot tip deviates from the desired position.
S132: and adjusting the expected acceleration deviation and/or the expected speed deviation of the robot end and the object at the next moment based on the difference.
For example, if the actual position deviation and the expected position deviation of the robot end and the object at the current time are greater than 0, it represents that the actual position of the robot end at the current time is shifted to the positive direction of the expected position, and at this time, the expected acceleration of the robot end at the next time may be adjusted to be smaller (the expected acceleration deviation of the robot end and the object at the next time is adjusted to be smaller) or the speed of the robot end at the next time may be adjusted to be slower (the expected speed deviation of the robot end and the object at the next time is adjusted to be smaller) according to the specific magnitude of the difference.
S133: and generating a control command based on the adjusted expected acceleration deviation and/or expected speed deviation of the robot terminal and the object at the next moment so as to realize the control of the robot terminal at the next moment.
If the expected acceleration deviation between the robot end and the object at the next moment is adjusted, the control command may be generated based on the adjusted expected acceleration deviation, that is, the expected acceleration deviation at the next moment included in the control command is the adjusted acceleration deviation.
If the expected speed deviation between the robot end and the object at the next moment is adjusted, a control command can be generated based on the adjusted expected speed deviation, that is, the expected acceleration deviation at the next moment included in the control command is the adjusted speed deviation.
The following describes, by way of example, a method for controlling a robot tip provided in the present application:
the control system controls the tail ends of the three robots and respectively controls the three robots to execute different tasks. The first robot is controlled to execute a planar force tracking task, the second robot is controlled to execute a slope force tracking task, and the third robot is controlled to execute a force tracking task of a sinusoidal surface environment.
Wherein the first robot corresponds to the initial value m of the mass coefficient1Is 0, initial value b of damping coefficient136, desired position x of the first robot endc10.2m, desired position of object 0.2m, desired velocity of object
Is 0, desired acceleration of the object
0, desired contact force f of the first robot end with the objectd1Is 5N. Coefficient of environmental stiffness
The obtained first position control result is shown in fig. 5. The first actual contact force control result obtained is shown in fig. 6.
The second robot end corresponds to the initial value m of the quality coefficient2Is 1, damping coefficient b2Is 36; desired position x of the second robot endc20.5t, desired position x of the objecte20m, desired velocity of the object
Not 0, desired acceleration of the object
0, desired contact force f of the second robot end with the objectd2Is 50N. Coefficient of environmental stiffness
The second position control result is shown in fig. 7, and the second desired contact force control result is shown in fig. 8.
The third robot end corresponds to the initial value m of the quality coefficient 31, initial value of damping coefficient b3Is 36; desired position x of the third robot endc3To sint, the desired position x of the objectE30m, desired velocity of the object
Not 0, desired acceleration
Also not 0, the desired contact force f of the third robot tip with the objectd3Is 50N. Coefficient of environmental stiffness ke35000N/m. The obtained third actual position control result is shown in fig. 9, and the obtained third desired force control result is shown in fig. 10.
In the three position control results, the horizontal axis of the coordinates represents time, and the vertical axis of the coordinates represents position. x is the number ofcRepresenting the actual position of the first robot end, xeRepresenting the actual position of the object. As can be seen from fig. 5, 7, 9, the actual position of the robot tip is close to the position of the object.
In the above three third desired force control results, the horizontal axis of the coordinate represents time, and the vertical axis of the coordinate represents force. f. ofdRepresenting the desired contact force of the first robot tip with the object, feRepresenting the actual contact force of the first robot tip with the object. As can be seen from fig. 6, 8, 10, the actual contact force of the robot tip with the object is close to the desired contact force.
Moreover, the control result shows that under the condition that the environmental stiffness coefficient changes along with time, namely when objects in contact with the robot (different objects may have different corresponding environmental stiffness coefficients) change, the robot terminal control method provided by the application can still realize the force closed-loop control on the robot terminal through the position.
Fig. 11 is a schematic structural diagram of an embodiment of the robot of the present application. As shown in fig. 8, the electronic device comprises a processor 21, a memory 22 coupled to the processor.
Wherein the memory 22 stores program instructions for implementing the method of any of the above embodiments; processor 21 is operative to execute program instructions stored by memory 22 to implement the steps of the above-described method embodiments. The processor 21 may also be referred to as a CPU (Central Processing Unit). The processor 21 may be an integrated circuit chip having signal processing capabilities. The processor 21 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
FIG. 12 is a schematic structural diagram of an embodiment of a computer-readable storage medium of the present application. As shown in fig. 12, the computer-readable storage medium 30 of the embodiment of the present application stores program instructions 31, and when executed, the program instructions 31 implement the method provided by the above-mentioned embodiment of the present application. The program instructions 31 may form a program file stored in the computer-readable storage medium 30 in the form of a software product, so as to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute all or part of the steps of the methods according to the embodiments of the present application. And the aforementioned computer-readable storage medium 30 includes: various media capable of storing program codes, such as a usb disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or terminal devices, such as a computer, a server, a mobile phone, and a tablet.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.
Claims (4)
1. A method of controlling a robot tip, comprising:
acquiring control parameters of the current moment, wherein the control parameters comprise a first control parameter and a second control parameter, the first control parameter comprises expected position deviation, expected acceleration deviation, expected speed deviation, expected contact force and actual contact force of the robot tail end and an object controlled by the robot tail end, and the second control parameter comprises a damping coefficient and a quality coefficient of interaction between the robot tail end and the object;
obtaining the actual position deviation of the robot tail end and the object at the current moment based on the control parameters at the current moment;
calculating the difference between the actual position deviation and the expected position deviation of the robot tail end and the object at the current moment;
adjusting an expected acceleration deviation and/or an expected speed deviation of the robot end and the object at the next moment based on the difference value;
generating a control instruction based on the adjusted expected acceleration deviation and/or expected speed deviation of the robot tail end and the object at the next moment so as to realize the control of the robot tail end at the next moment;
the quality coefficient of the current moment is obtained based on the first control parameter of the current moment and the first control parameter of the previous moment; the obtaining of the control parameter at the current time includes:
acquiring a mass coefficient of the current moment based on an expected contact force and an actual contact force of the robot tail end and the object at the previous moment and an expected acceleration deviation of the robot tail end and the object at the current moment; the mass coefficient calculation formula of the robot terminal i at the current moment is as follows:
wherein m isiIn order to be said mass coefficient,
is the initial quality coefficient, t is the current time,
is the amount of change in the initial mass coefficient,
for the ith robotAcceleration deviation of tip from object, fzi(T-T) is the expected contact force of the robot end i with the object at the last moment, fei(T-T) is the actual contact force between the robot end i and the object at the last moment, σiIs a control constant; or
The damping coefficient at the current moment is obtained based on the first control parameter at the current moment and the first control parameter at the previous moment; acquiring the damping coefficient and the mass coefficient of the current moment based on the expected contact force and the actual contact force of the robot tail end and the object at the previous moment and the expected speed deviation of the robot tail end and the object at the current moment; the damping coefficient calculation formula at the current moment is as follows:
wherein, biIn order to be able to determine the damping coefficient,
in order to be the initial damping coefficient,
as the amount of change in the initial damping coefficient,
is the speed deviation of the ith robot tip from the object.
2. The method of claim 1, wherein the controlling is performedThe system constant is set based on the initial damping coefficient and the initial mass coefficient, and the value range of the control constant is as follows:
3. the method of claim 1, wherein the first control parameter further comprises an ambient stiffness coefficient.
4. A robot comprising a processor, a memory connected to the processor, wherein,
the memory stores program instructions;
the processor is configured to execute the program instructions stored by the memory to implement the method of any of claims 1-3.
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