CN112720489B - Unitized combined modeling method, system and medium for wearable robot and human body - Google Patents
Unitized combined modeling method, system and medium for wearable robot and human body Download PDFInfo
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- CN112720489B CN112720489B CN202011565493.5A CN202011565493A CN112720489B CN 112720489 B CN112720489 B CN 112720489B CN 202011565493 A CN202011565493 A CN 202011565493A CN 112720489 B CN112720489 B CN 112720489B
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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
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
Abstract
The invention discloses a unitized combined modeling method, a unitized combined modeling system and a unitized combined modeling medium for a wearable robot and a human body, wherein the unitized combined modeling method comprises the following steps: dividing human body units through human body parts, dividing the wearable robot into units, and setting parameters included in each unit; defining the connection of transfer points among all units to obtain a combined calculation model of the human body and the wearable robot; receiving the attitude parameters of each unit through a calculation model, and calculating and initializing each unit; traversing each unit, and performing kinematic calculation and dynamic calculation of each unit; if the kinematics and dynamics calculation of all the units is completed, the calculation result is stored, if new attitude data are input into the calculation model, the calculation is continued, otherwise, the calculation result is output. The invention directly calculates the effect of the wearable robot acting on the human body, simultaneously realizes the flexibility and the expansibility by the unitized modeling method, and is suitable for modeling calculation of various human body models and combination of active and passive wearable robots.
Description
Technical Field
The invention belongs to the field of wearable robots, and particularly relates to a method, a system, equipment and a medium for joint modeling between a wearable robot and a human body.
Background
The wearable robot technology is an intelligent machine that can be equipped to a human body and can assist a human in performing various extended functions. The device is a high-technology product formed by fusing technologies in multiple fields of electromechanical integration, biomechanics, human body sensing networks, gait analysis, intellectualization and the like, and has wide application prospects in military affairs, medical treatment, transportation, manufacturing, entertainment and the like.
Wearable robotics is still constantly developing at present, and there are two main difficulties: one is an energy problem, because the wearable robot has weight and needs to assist the human body to output energy, the practical wearable robot must ensure enough time for assistance, and the laggard energy storage technology such as the current battery restricts the development of the wearable robot, so when designing the wearable robot, the energy can be saved to the greatest extent only by fully considering where the wearable robot is installed on the human body, and how to realize the maximum effect by using the minimum assistance force; another difficulty is the problem of man-machine coupling, and if the robot cannot intelligently apply force and torque to the human body enough, the robot often causes antagonism of the human body, reduces the action efficiency of the human body and even causes injury to the human body.
Both of the above methods need a human body and a robot to be combined with a better theoretical model for description, calculation and prediction, and the current mainstream modeling method can only be one of the following methods: if a dynamic model of a certain joint or the whole human body is taken as a main part, the wearable robot is abstracted into force or moment to calculate the influence on the human body; or a certain robot motion control model is mainly used, and the human body is taken as a target to be output.
Disclosure of Invention
Based on the problems in the prior art, the invention provides a wearable robot and human body combined modeling method, a system, computer equipment and a storage medium, which can abstract a human body and the wearable robot into units equally, complete the calculation of the human body and the robot at one time, and discuss the influence of the robot on the human body according to the result; meanwhile, as the units in the model can be modeled continuously, if the wearable robot unit is added with an electromechanical power control model, the human body unit is added with a neuromuscular model and the like, the model can also be used as a model frame compatible with the current human body and wearable robot model.
The invention aims to provide a wearable robot and human body combined modeling method.
The second purpose of the invention is to provide a wearable robot and human body combined modeling system.
It is a third object of the invention to provide a computer apparatus.
It is a fourth object of the present invention to provide a storage medium.
The first purpose of the invention can be achieved by adopting the following technical scheme:
a unitized joint modeling method of a wearable robot and a human body, the method comprising:
dividing human body units through human body parts, dividing the wearable robot into units, and setting parameters included in each unit;
defining the connection of transfer points among all units to obtain a combined calculation model of the human body and the wearable robot;
receiving the attitude parameters of each unit through a calculation model, and calculating and initializing each unit;
traversing each unit, and calculating the kinematics and dynamics of each unit;
if the kinematics and dynamics calculation of all the units is completed, all the calculation results are saved;
if new attitude data are input into the calculation model, returning to receive the attitude parameters of each unit through the calculation model, initializing the unit calculation, and executing subsequent operation;
if no new attitude data is input into the calculation model, the calculation is finished, and all calculation results are output.
Further, each unit comprises parameters including an attribute parameter, an attitude parameter and a transfer point parameter;
the attribute parameters are used for describing parameters of inherent attributes of the units, and comprise mass, moment of inertia and relative mass center positions;
the attitude parameters are used for describing attitude parameters of the unit relative to a ground coordinate system, and comprise the angle of the unit, the angular velocity of the unit and the angular acceleration of the unit;
the transfer point parameters are used for describing a point model of the model unit contacting with other model units or the outside, and comprise a unit coordinate system position of the transfer point, a ground speed of the transfer point, a ground acceleration of the transfer point, a force of the transfer point and a moment of the transfer point.
Further, the defining of the connection of the transfer points between the units specifically includes:
if the two transfer points have data transfer relationship, the two transfer points are in a connection state; where each transfer point has only one connection and there are one or more transfer points at the same location of the cell.
Further, the initializing calculation of each unit specifically includes:
preprocessing and judging a touch point;
the touchdown point is regarded as a transfer point of the known kinematics, the coordinate in the non-height direction is set to zero or inherits the last data, and the coordinate in the height direction is set to zero, so that the kinematics initialization is completed;
and if one transfer point does not have a connection relation with other transfer points and does not belong to the touch point, the transfer point is regarded as the transfer point of the known dynamics, the values of the force and the moment of the transfer point are zero, and the initialization of the dynamics is completed.
Further, the preprocessing for determining the touchdown point specifically includes:
and finding any transfer point in a non-connection state to carry out any assignment of the ground position, if the data is solvable, carrying out calculation only by kinematics, and regarding the transfer point with the lowest value in the height direction of the ground position in the calculation result as a touch point.
Further, in the calculating the kinematics and dynamics of each unit, the calculating the kinematics of each unit specifically includes:
for the kinematic calculation of each unit, if the attitude parameters of the unit are known and the kinematics of one or more transfer points are known, the kinematics of the unknown transfer point of the unit is calculated according to the following formula:
pi＝pk+R(θ)(hi-hk)
vi＝vk+ω×R(θ)(hi-hk)
ai＝ak+ω×(ω×R(θ)(hi-hk))+α×R(θ)(hi-hk)
where i is some unknown transfer point, k is some known transfer point, R is the rotation matrix from the surface to the cell, hiThe cell coordinate system position, h, for the unknown transfer pointkIs the cell coordinate system position, p, of the known transfer pointiFor the ground position of the unknown transfer point, pkIs the ground location of the known transfer point, viGround speed, v, for the unknown transfer pointkIs the ground speed of the known transfer point, aiGround acceleration for the unknown transfer point, akIs the ground acceleration of the known transfer point, θ is the unit angle, ω is the angular velocity of the unit, α is the angular acceleration of the unit;
for two transfer points with a connection relationship, if the kinematics of the first transfer point is known and the kinematics of the corresponding connected second transfer point is unknown, the kinematic formula for the first transfer point to transfer to the corresponding connected second transfer point is as follows:
[p2 v2 a2]＝[p1 v1 a1]
wherein p is1For the ground position of the first transfer point, p2For the ground position of the second transfer point, v1Ground speed, v, for the first transfer point2Ground speed of the second transfer point, a1For the first transfer point ground acceleration, a2The ground acceleration for the second transfer point.
Further, in the calculating the kinematics and dynamics of each unit, the dynamics of each unit is calculated, specifically:
for each unit dynamics calculation, if the kinematics of all transfer points in a certain unit are known and the dynamics of all other transfer points except a certain transfer point are known, then the transfer point is marked as an unknown transfer point, and the dynamics of the unknown transfer point is calculated according to the following formula:
where o is the unknown transfer point, foFor the force of the unknown transfer point, noFor the moment of the unknown transfer point, g is the acceleration of gravityVector, -y-axis direction, m is the mass of the unit, i is some known transfer point, hiThe unit coordinate system position of the known transfer point, fiI is the moment of inertia of the unit, θ is the angle of the unit, ω is the angular velocity of the unit, and α is the angular acceleration of the unit; a iscmIs the acceleration of the centroid line, hcmThe unit coordinate system position of the centroid.
For two transfer points with a connection relationship, if the dynamics of the first transfer point is known and the dynamics of the corresponding connected second transfer point is unknown, the dynamics formula of the transfer from the first transfer point to the corresponding connected second transfer point is as follows:
[f2 n2]＝[-f1 -n1]
wherein f is1Force of the first transmission point, f2Is the force of the second transfer point, noMoment of the first transfer point, noThe torque at the second transfer point.
The second purpose of the invention can be achieved by adopting the following technical scheme:
a unitized joint modeling system of a wearable robot and a human body, the system comprising:
the wearable robot comprises a dividing module, a processing module and a control module, wherein the dividing module is used for dividing human body units through human body parts, dividing the wearable robot into units and setting parameters included in each unit;
the defining module is used for defining the connection of the transfer points among the units and obtaining a combined calculation model of the human body and the wearable robot;
the initialization module is used for receiving the attitude parameters of each unit through the calculation model and calculating and initializing each unit;
the traversing module is used for traversing each unit and calculating the kinematics and dynamics of each unit;
the storage module is used for storing all calculation results if the kinematics and dynamics calculation of all the units is finished;
the return module is used for returning to receive the attitude parameters of each unit through the calculation model, initializing the unit calculation and executing the subsequent operation if new attitude data are input into the calculation model;
and the output module is used for finishing the calculation and outputting all calculation results if no new attitude data is input into the calculation model.
The third purpose of the invention can be achieved by adopting the following technical scheme:
a computer device comprises a processor and a memory for storing a program executable by the processor, wherein the processor executes the program stored in the memory to realize the unitized joint modeling method.
The fourth purpose of the invention can be achieved by adopting the following technical scheme:
a storage medium stores a program that, when executed by a processor, implements the unitized joint modeling method described above.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention divides human body units through human body parts, divides the wearable robot into the units, sets parameters included by each unit, and then defines the connection of transfer points among the units to obtain a calculation model combining the human body and the wearable robot, namely, the wearable robot and the human body are modeled simultaneously, all calculation results of the human body and the wearable robot can be obtained by one-time calculation, the influence of the wearable robot on the human body can be conveniently researched, the robot iterative design can be rapidly carried out, and the model has compatibility at the same time, and can be used as a model frame to be compatible with the existing human body and wearable robot models.
2. The wearable robot and the human body are uniformly split and abstracted into units, so that the effect of the wearable robot on the human body can be directly calculated; the modularized modeling method is used, the model has great flexibility and expansibility, not only can be used for building different human body models such as three-rod, five-rod, seven-rod, upper limb, lower limb, local joint and the like, but also is suitable for building various robot models such as passive exoskeleton, rigid handicapped-assisting robot, wearable soft-clothing robot and the like and the combined modeling of the passive exoskeleton, the rigid handicapped-assisting robot and the wearable soft-clothing robot.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a simple flowchart of a unitized joint modeling method of a wearable robot and a human body in embodiment 1 of the present invention.
Fig. 2 is a detailed flowchart of a unitized joint modeling method of a wearable robot and a human body in embodiment 1 of the present invention.
Fig. 3 is a combined mannequin and wearable robot model in embodiment 1 of the present invention.
Fig. 4 is a block diagram of a unitized joint modeling system of a wearable robot and a human body according to embodiment 2 of the present invention.
Fig. 5 is a block diagram of a computer device according to embodiment 3 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in detail and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Example 1:
as shown in fig. 1 and fig. 2, the present embodiment provides a wearable robot and human body unitization joint modeling method, which includes the following steps:
s101, dividing human body units through human body parts, dividing the wearable robot into units, and setting parameters included in each unit.
The wearable robot unit is defined by dividing human body parts, classifying and dividing the wearable robot, and setting attribute parameters, posture parameters and transfer point parameters. Both human and wearable robots are modeled as a single or multiple number of cells, a cell being defined as a cell comprising three parameters: attribute parameters, attitude parameters, and transfer point parameters. Property parameters that describe some inherent properties of the cell that do not change over time include mass m (constant), moment of inertia I (3 x 3 matrix), relative centroid position pcm(3-dimensional vector); the attitude parameters are used for describing the attitude parameters of the unit relative to a ground coordinate system and comprise a unit angle theta (3-dimensional vector), a unit angular velocity omega (3-dimensional vector) and a unit angular acceleration alpha (3-dimensional vector); the transfer point parameters are used for describing the point model of the model unit contacting with other model units or the outside, and the transfer point parameters comprise the coordinate system position h of the transfer point uniti(3-dimensional vector), transfer point ground position pi(3-dimensional vector), transfer Point ground speed vi(3-dimensional vector), transfer point ground acceleration ai(3-dimensional vector), transfer point force fi(3-dimensional vector), transfer point moment ni(3-dimensional vector).
Wherein the transfer point ground position piGround speed viGround acceleration aiKinematic data called transfer points, force fi and moment n of a transfer pointiKinetic data called transfer points.
In the implementation, taking a seven-rod human body model and an active wire-worn robot combined model as an example, as shown in fig. 3, the human body in the model is divided into four types of units: thighs, shanks, feet and HAT (namely a head-trunk-arm combined unit), and corresponding parameters such as a mass center position, a rotational inertia and the like are defined; wearable robots are divided into two types of units: a robot frame unit and a robot force generation unit, and defining corresponding parameters.
S202, defining the connection of the transfer points among the units, and obtaining a combined calculation model of the human body and the wearable robot.
Specifically, if there is a data transmission relationship between two transmission points, the two transmission points are in a connection state, the transmission point connection can be used for a human body-human body unit, a human body-robot unit, and a robot-robot unit, each transmission point has only one connection, but a plurality of transmission points are allowed to exist at the same position of the unit. In a specific implementation, HAT-thigh, thigh-calf, calf-foot, HAT-robot frame, robot frame-robot generation, robot generation-thigh, the transfer points of the corresponding positions between them are defined as the corresponding connections.
S203, receiving the attitude parameters of each unit through the calculation model, and calculating and initializing each unit.
The data input of the calculation model is the attitude of each unit, the attitude data received from each unit is attitude parameters obtained by external sensors (such as a motion capture system, an IMU sensor and the like) or other methods, including a unit angle theta (3-dimensional vector), a unit angular velocity omega (3-dimensional vector) and a unit angular acceleration alpha (3-dimensional vector), the unit for obtaining data can be a part of the unit or the whole unit, and the obtained attitude parameters can be a part of the parameters or the whole parameters.
In the present embodiment, seven IMU sensors are employed to obtain the corresponding unit angles θ, and the unit angular velocities ω and the unit angular accelerations α are obtained by a differential method.
The method for judging the touchdown point is that any transfer point in a non-connection state is found, the ground position of any value is assigned, if the data is solvable, only kinematic calculation is carried out, and the transfer point with the lowest value in the height direction of the ground position in the calculation result is regarded as the touchdown point.
The unit calculation initialization comprises kinematics initialization and dynamics initialization, wherein the kinematics initialization comprises the following steps: the touchdown point is regarded as a transfer point of the known kinematics, the coordinate in the non-height direction is set to zero or inherits the last data, and the coordinate in the height direction is set to zero; the dynamic initialization steps are as follows: if one transfer point does not have a connection relation with other transfer points and does not belong to the touch point, the transfer point is regarded as a transfer point with known dynamics, and the values of the force and the moment are [0,0,0 ].
And S204, traversing each unit, and calculating the kinematics and dynamics of each unit.
Specifically, a unit pose is calculated if the unit pose is solvable, wherein pose solvable means that the pose of the unit can be derived from the coordinate system transformation and the transfer point unit coordinate system position. If a unit is kinematically solvable, the kinematic results of the unit and all the transfer points attached to it are calculated. If the unit dynamics are solvable, the dynamics results for the unit and all the delivery points attached to it are calculated. If the transfer point of the unit has a corresponding connection point to which it can be transferred, the kinematic or dynamic result is transferred to the connection point of the transfer point.
Calculating the kinematics for each cell includes:
1) for the kinematic calculation of each unit, if the attitude parameters of the unit are known and the kinematics of one or more transfer points are known, the kinematics of the unknown transfer point of the unit is calculated according to the following formula:
pi＝pk+R(θ)(hi-hk)
vi＝vk+ω×R(θ)(hi-hk)
ai＝ak+ω×(ω×R(θ)(hi-hk))+α×R(θ)(hi-hk)
where i is some unknown transfer point, k is some known transfer point, R is the rotation matrix from the surface to the cell, hiThe cell coordinate system position, h, for the unknown transfer pointkIs the cell coordinate system position, p, of the known transfer pointiFor the ground position of the unknown transfer point, pkIs the ground location of the known transfer point, viGround speed, v, for the unknown transfer pointkIs the ground speed of the known transfer point, aiGround acceleration for the unknown transfer point, akFor the ground acceleration of the known transfer point, θ is the unit angle, ω is the angular velocity of the unit, and α is the angular acceleration of the unit.
2) For two transfer points with a connection relationship, if the kinematics of the first transfer point (point 1) is known and the kinematics of the corresponding connected second transfer point is unknown, the kinematic formula for the transfer from the first transfer point to the corresponding connected second transfer point is as follows:
[p2 v2 a2]＝[p1 v1 a1]
wherein p is1For the ground position of the first transfer point, p2For the ground position of the second transfer point, v1Ground speed, v, for the first transfer point2Ground speed of the second transfer point, a1For the first transfer point ground acceleration, a2The ground acceleration for the second transfer point.
Calculating the dynamics of each cell includes:
1) for each unit dynamics calculation, if the kinematics of all transfer points in a certain unit are known and the dynamics of all other transfer points except a certain transfer point are known, then the transfer point is marked as an unknown transfer point, and the dynamics of the unknown transfer point is calculated according to the following formula:
where o is the unknown transfer point, foFor the force of the unknown transfer point, noFor the moment of the unknown transfer point, g is the gravity acceleration vector, -y-axis direction, m is the mass of the unit, i is some known transfer point, hiThe unit coordinate system position of the known transfer point, fiFor the known transfer point forces, I is the moment of inertia of the cell, θ is the angle of the cell, ω is the angular velocity of the cell, α is the angular acceleration of the cell, acm is the linear acceleration of the center of mass, hcm is the cell coordinate system position of the center of mass
2) For two transfer points with a connection relationship, if the dynamics of the first transfer point is known and the dynamics of the corresponding connected second transfer point is unknown, the dynamics formula of the transfer from the first transfer point to the corresponding connected second transfer point is as follows:
[f2 n2]＝[-f1 -n1]
wherein f is1Force of the first transmission point, f2Is the force of the second transfer point, n1Moment of the first transfer point, n2The torque at the second transfer point.
And S205, if the kinematics and dynamics calculation of all the units is completed, all calculation results are saved.
And the method for judging the completion of the calculation is to complete the calculation and save all data results at the moment if the attitude data of all the units and the transfer point kinematic dynamics data to which the units belong are known.
In this step, if the number of cycles of traversal calculation exceeds the specified number of times, and it still cannot be determined that the calculation is completed, it is determined that the calculation is completed, and it is determined that the calculation has no result, the specified number of times of this embodiment is 2N, where the kinematics calculation, the dynamics calculation, and the connection transfer are performed once per traversal, and N is the total number of calculation model units.
And S206, judging whether a new attitude data input calculation model exists or not, if the new attitude data input calculation model exists and data reception is not finished, returning to the step S203, and if no new attitude data input calculation model exists and data reception is finished, entering the step S207.
And S207, finishing the calculation and outputting all calculation results.
It should be noted that although the method operations of the above-described embodiments are depicted in the drawings in a particular order, this does not require or imply that these operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Rather, the depicted steps may change the order of execution. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.
Example 2:
as shown in fig. 4, the present embodiment provides a unitized combined modeling system of a wearable robot and a human body, the system includes a partitioning module 401, a defining module 402, an initializing module 403, a traversing module 404, a saving module 405, a returning module 406, and an outputting module 407, and specific functions of the modules are as follows:
the dividing module 401 is configured to divide human body units by human body parts, divide units for the wearable robot, and set parameters included in each unit.
And a defining module 402, configured to define a connection of transfer points between the units, and obtain a computational model of a human body and the wearable robot.
And an initialization module 403, configured to receive the attitude parameters of each unit through the calculation model, and initialize each unit for calculation.
And a traversing module 404 for traversing each unit, and calculating the kinematics and dynamics of each unit.
A saving module 405, configured to save all calculation results if the kinematics and dynamics calculations of all the units are completed.
And a returning module 406, configured to return to receiving the pose parameters of each unit through the calculation model, initialize the unit calculation, and perform subsequent operations if new pose data is input into the calculation model.
And the output module 407 is configured to end the calculation and output all calculation results if no new posture data is input into the calculation model.
The specific implementation of each module in this embodiment may refer to embodiment 1, which is not described herein any more; it should be noted that the system provided in this embodiment is only illustrated by the division of the functional modules, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure is divided into different functional modules to complete all or part of the functions described above.
Example 3:
the present embodiment provides a computer device, which may be a computer, as shown in fig. 5, and includes a processor 502, a memory, an input device 503, a display 504, and a network interface 505 connected by a system bus 501, the processor is used for providing computing and control capabilities, the memory includes a nonvolatile storage medium 506 and an internal memory 507, the nonvolatile storage medium 506 stores an operating system, a computer program, and a database, the internal memory 507 provides an environment for the operating system and the computer program in the nonvolatile storage medium to run, and when the processor 502 executes the computer program stored in the memory, the unitized joint modeling method of embodiment 1 is implemented as follows:
dividing human body units through human body parts, dividing the wearable robot into units, and setting parameters included in each unit;
defining the connection of transfer points among all units to obtain a combined calculation model of the human body and the wearable robot;
receiving the attitude parameters of each unit through a calculation model, and calculating and initializing each unit;
traversing each unit, and calculating the kinematics and dynamics of each unit;
if the kinematics and dynamics calculation of all the units is completed, all the calculation results are saved;
if new attitude data are input into the calculation model, returning to receive the attitude parameters of each unit through the calculation model, initializing the unit calculation, and executing subsequent operation;
if no new attitude data is input into the calculation model, the calculation is finished, and all calculation results are output.
Example 4:
the present embodiment provides a storage medium, which is a computer-readable storage medium, and stores a computer program, and when the computer program is executed by a processor, the unitized joint modeling method of embodiment 1 is implemented as follows:
dividing human body units through human body parts, dividing the wearable robot into units, and setting parameters included in each unit;
defining the connection of transfer points among all units to obtain a combined calculation model of the human body and the wearable robot;
receiving the attitude parameters of each unit through a calculation model, and calculating and initializing each unit;
traversing each unit, and calculating the kinematics and dynamics of each unit;
if the kinematics and dynamics calculation of all the units is completed, all the calculation results are saved;
if new attitude data are input into the calculation model, returning to receive the attitude parameters of each unit through the calculation model, initializing the unit calculation, and executing subsequent operation;
if no new attitude data is input into the calculation model, the calculation is finished, and all calculation results are output.
It should be noted that the computer readable storage medium of the present embodiment may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
In summary, the wearable robot is divided into the human body units through the human body part, the units are divided for the wearable robot, the parameters included in each unit are set, the connection of the transmission points among the units is defined, and the calculation model combining the human body and the wearable robot is obtained, namely, the wearable robot and the human body are modeled simultaneously, all calculation results of the human body and the wearable robot can be obtained through one-time calculation, the research on the influence of the wearable robot on the human body is facilitated, the robot iterative design can be rapidly carried out, and the model has compatibility at the same time and can be used as a model frame to be compatible with the existing human body and wearable robot models.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto. It should be understood by those skilled in the art that the technical solutions and concepts of the present invention are equivalent or changed within the scope of the present invention. The scope of the present patent disclosure is defined by the appended claims.
Claims (8)
1. A unitized joint modeling method of a wearable robot and a human body, the method comprising:
dividing human body units through human body parts, dividing the wearable robot into units, and setting parameters included in each unit;
defining the connection of transfer points among all units to obtain a combined calculation model of the human body and the wearable robot;
receiving the attitude parameters of each unit through a calculation model, and calculating and initializing each unit;
traversing each unit, and calculating the kinematics and dynamics of each unit;
if the kinematics and dynamics calculation of all the units is completed, all the calculation results are saved;
if new attitude data are input into the calculation model, returning to receive the attitude parameters of each unit through the calculation model, initializing the unit calculation, and executing subsequent operation;
if no new attitude data is input into the calculation model, finishing the calculation and outputting all calculation results;
in the calculating the kinematics and dynamics of each unit, the calculating the kinematics of each unit specifically includes:
for the kinematic calculation of each unit, if the attitude parameters of the unit are known and the kinematics of one or more transfer points are known, the kinematics of the unknown transfer point of the unit is calculated according to the following formula:
pi＝pk+R(θ)(hi-hk)
vi＝vk+ω×R(θ)(hi-hk)
ai＝ak+ω×(ω×R(θ)(hi-hk))+α×R(θ)(hi-hk)
where i is some unknown transfer point, k is some known transfer point, R is the rotation matrix from the surface to the cell, hiThe cell coordinate system position, h, for the unknown transfer pointkIs the cell coordinate system position, p, of the known transfer pointiFor the ground position of the unknown transfer point, pkIs the ground location of the known transfer point, viGround speed, v, for the unknown transfer pointkIs the ground speed of the known transfer point, aiGround acceleration for the unknown transfer point, akIs the ground acceleration of the known transfer point, θ is the unit angle, ω is the angular velocity of the unit, α is the angular acceleration of the unit;
for two transfer points with a connection relationship, if the kinematics of the first transfer point is known and the kinematics of the corresponding connected second transfer point is unknown, the kinematic formula for the first transfer point to transfer to the corresponding connected second transfer point is as follows:
[p2 v2 a2]＝[p1 v1 a1]
wherein p is1For the ground position of the first transfer point, p2For the ground position of the second transfer point, v1Ground speed, v, for the first transfer point2Ground speed of the second transfer point, a1For the first transfer point ground acceleration, a2Ground acceleration for the second transfer point;
in the calculating the kinematics and dynamics of each unit, the calculating the dynamics of each unit specifically includes:
for each unit dynamics calculation, if the kinematics of all transfer points in a certain unit are known and the dynamics of all other transfer points except a certain transfer point are known, then the transfer point is marked as an unknown transfer point, and the dynamics of the unknown transfer point is calculated according to the following formula:
where o is the unknown transfer point, foFor the force of the unknown transfer point, noFor the moment of the unknown transfer point, g is the gravity acceleration vector, -y-axis direction, m is the mass of the unit, i is some known transfer point, hiThe unit coordinate system position of the known transfer point, fiI is the moment of inertia of the unit, θ is the angle of the unit, ω is the angular velocity of the unit, and α is the angular acceleration of the unit; a iscmIs the acceleration of the centroid line, hcmA unit coordinate system position being a centroid;
for two transfer points with a connection relationship, if the dynamics of the first transfer point is known and the dynamics of the corresponding connected second transfer point is unknown, the dynamics formula of the transfer from the first transfer point to the corresponding connected second transfer point is as follows:
[f2 n2]＝[-f1 -n1]
wherein f is1Force of the first transmission point, f2Is the force of the second transfer point, n1Moment of the first transfer point, n2The torque at the second transfer point.
2. The unitized joint modeling method of claim 1, wherein each unit comprises parameters including attribute parameters, pose parameters, and transfer point parameters;
the attribute parameters are used for describing parameters of inherent attributes of the units, and comprise mass, moment of inertia and relative mass center positions;
the attitude parameters are used for describing attitude parameters of the unit relative to a ground coordinate system, and comprise the angle of the unit, the angular velocity of the unit and the angular acceleration of the unit;
the transfer point parameters are used for describing a point model of the model unit contacting with other model units or the outside, and comprise a unit coordinate system position of the transfer point, a ground speed of the transfer point, a ground acceleration of the transfer point, a force of the transfer point and a moment of the transfer point.
3. The unitized joint modeling method of claim 1, wherein said defining connections of transfer points between units is specifically:
if the two transfer points have data transfer relationship, the two transfer points are in a connection state; where each transfer point has only one connection and there are one or more transfer points at the same location of the cell.
4. The unitized joint modeling method of claim 1, wherein said initializing each unit calculation specifically comprises:
preprocessing and judging a touch point;
the touchdown point is regarded as a transfer point of the known kinematics, the coordinate in the non-height direction is set to zero or inherits the last data, and the coordinate in the height direction is set to zero, so that the kinematics initialization is completed;
and if one transfer point does not have a connection relation with other transfer points and does not belong to the touch point, the transfer point is regarded as the transfer point of the known dynamics, the values of the force and the moment of the transfer point are zero, and the initialization of the dynamics is completed.
5. The unitized joint modeling method of claim 4, wherein said preprocessing determines touchdown points, in particular:
and finding any transfer point in a non-connection state to carry out any assignment of the ground position, if the data is solvable, carrying out calculation only by kinematics, and regarding the transfer point with the lowest value in the height direction of the ground position in the calculation result as a touch point.
6. A unitized joint modeling system of a wearable robot and a human body, the system comprising:
the wearable robot comprises a dividing module, a processing module and a control module, wherein the dividing module is used for dividing human body units through human body parts, dividing the wearable robot into units and setting parameters included in each unit;
the defining module is used for defining the connection of the transfer points among the units and obtaining a combined calculation model of the human body and the wearable robot;
the initialization module is used for receiving the attitude parameters of each unit through the calculation model and calculating and initializing each unit;
the traversing module is used for traversing each unit and calculating the kinematics and dynamics of each unit;
the storage module is used for storing all calculation results if the kinematics and dynamics calculation of all the units is finished;
the return module is used for returning to receive the attitude parameters of each unit through the calculation model, initializing the unit calculation and executing the subsequent operation if new attitude data are input into the calculation model;
the output module is used for ending the calculation and outputting all calculation results if no new attitude data is input into the calculation model;
in the calculating the kinematics and dynamics of each unit, the calculating the kinematics of each unit specifically includes:
for the kinematic calculation of each unit, if the attitude parameters of the unit are known and the kinematics of one or more transfer points are known, the kinematics of the unknown transfer point of the unit is calculated according to the following formula:
pi＝pk+R(θ)(hi-hk)
vi＝vk+ω×R(θ)(hi-hk)
ai＝ak+ω×(ω×R(θ)(hi-hk))+α×R(θ)(hi-hk)
where i is some unknown transfer point, k is some known transfer point, R is the rotation matrix from the surface to the cell, hiThe cell coordinate system position, h, for the unknown transfer pointkIs the cell coordinate system position, p, of the known transfer pointiFor the ground position of the unknown transfer point, pkIs the ground location of the known transfer point, viGround speed, v, for the unknown transfer pointkIs the ground speed of the known transfer point, aiGround acceleration for the unknown transfer point, akIs the ground acceleration of the known transfer point, θ is the unit angle, ω is the angular velocity of the unit, α is the angular acceleration of the unit;
for two transfer points with a connection relationship, if the kinematics of the first transfer point is known and the kinematics of the corresponding connected second transfer point is unknown, the kinematic formula for the first transfer point to transfer to the corresponding connected second transfer point is as follows:
[p2 v2 a2]＝[p1 v1 a1]
wherein p is1For the ground position of the first transfer point, p2For the ground position of the second transfer point, v1Ground speed, v, for the first transfer point2Ground speed of the second transfer point, a1For the first transfer point ground acceleration, a2Ground acceleration for the second transfer point;
in the calculating the kinematics and dynamics of each unit, the calculating the dynamics of each unit specifically includes:
for each unit dynamics calculation, if the kinematics of all transfer points in a certain unit are known and the dynamics of all other transfer points except a certain transfer point are known, then the transfer point is marked as an unknown transfer point, and the dynamics of the unknown transfer point is calculated according to the following formula:
where o is the unknown transfer point, foFor the force of the unknown transfer point, noG is the gravity acceleration vector, -y-axis direction, m is the mass of the unit, α is the angular acceleration of the unit, i is a known transfer point, h is the moment of the unknown transfer pointiThe unit coordinate system position of the known transfer point, fiThe force at the known transfer point, I is the moment of inertia of the unit, θ is the angle of the unit, and ω is the angular velocity of the unit; a iscmIs the acceleration of the centroid line, hcmA unit coordinate system position being a centroid;
for two transfer points with a connection relationship, if the dynamics of the first transfer point is known and the dynamics of the corresponding connected second transfer point is unknown, the dynamics formula of the transfer from the first transfer point to the corresponding connected second transfer point is as follows:
[f2 n2]＝[-f1 -n1]
wherein f is1Force of the first transmission point, f2Is the force of the second transfer point, n1Moment of the first transfer point, n2The torque at the second transfer point.
7. A computer device comprising a processor and a memory for storing a program executable by the processor, wherein the processor, when executing the program stored by the memory, implements the unitized joint modeling method of any one of claims 1-5.
8. A storage medium storing a program, wherein the program, when executed by a processor, implements the unitized joint modeling method of any one of claims 1-5.
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