CN112757340B - Joint friction force observation method and device based on joint torque sensor - Google Patents
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Abstract
The embodiment of the application provides a joint friction force observation method and device based on a joint torque sensor, wherein the method comprises the following steps: determining a motor dynamics equation of the cooperative robot; determining an observation equation of the joint friction force according to the motor dynamics equation; according to the method and the device, the joint friction force and the motor current bias can be accurately observed in real time, a friction force model does not need to be considered and identified, the influence of temperature, pressure, position, speed and the like on the joint friction force does not need to be considered, and the influence of a friction dead zone on speed noise elimination is also not needed to be considered.
Description
Technical Field
The application relates to the technical field of computers, in particular to a joint friction force observation method and device based on a joint torque sensor.
Background
The cooperative robot has the characteristics of being man-machine friendly and being capable of adapting to complex working environments, and is widely applied to various complex man-machine interaction scenes. Therefore, high safety and reliability are required, and the cooperative robot needs to exhibit sufficient flexibility to an unknown working environment. In terms of hardware, in order to improve the load dead weight ratio of the cooperative robot, the cooperative robot usually adopts a harmonic reducer; in the control strategy, a model-based admittance or impedance control algorithm is required.
Good position control or moment control requires a relatively accurate robot model. The robot model mainly comprises geometric parameters, inertia parameters and joint friction force. The geometric parameters can be obtained through a CAD model, and can also be calibrated more accurately through a laser tracker; the minimum linear combination (basic parameter set) of the inertia parameters has good linear relation with the joint position, the speed, the acceleration and the joint moment, and can be obtained through accurate CAD modeling or identification; the use of harmonic reducers in cooperative robots introduces non-negligible joint friction forces with intrinsic non-linearity in the joints.
The performance of a model-based control method is always restricted by joint friction force which cannot be accurately modeled, and the conventional universal joint friction force model mainly comprises a cubic polynomial model, a coulomb viscous friction model and a Stribeck model. These models can only approximately reflect the frictional force of the joint, and do not take into account the change in the frictional force of the joint with the conditions of temperature, pressure, position, velocity, etc. of the joint. Based on the friction force model obtained by model identification, only an averaged approximation of the joint friction force at the moment of identification is obtained (the influence of temperature, pressure, position, speed and the like on the joint friction force is not considered); the more accurate friction force model is often complex in form and cumbersome and difficult to identify. Even if a more accurate friction model is obtained through identification, a friction dead zone needs to be set to eliminate the influence of speed noise, and the threshold value of the dead zone depends on experience and can damage the performance of the robot.
Disclosure of Invention
Aiming at the problems in the prior art, the application provides a joint friction force observation method and device based on a joint torque sensor, which can accurately observe joint friction force and motor current bias in real time without considering and identifying a friction force model, considering influences of temperature, pressure, position, speed and the like on the joint friction force, and eliminating influences of speed noise without considering a friction dead zone.
In order to solve at least one of the above problems, the present application provides the following technical solutions:
in a first aspect, the present application provides a joint friction force observation method based on a joint torque sensor, including:
determining a motor dynamics equation of the cooperative robot as follows:
wherein,
acceleration of the motor rotation angle, B is the inertia matrix of the motor, taujTorque transmitted for joints, τmFor motor moment, τfThe joint friction force;
according to the motor dynamics equation, determining a joint friction force observation equation as follows:
wherein L is an observation coefficient,
is an observed value of friction;
according to the motor dynamics equation and the joint friction force equation, determining a simplified observation equation of the joint friction force as follows:
in a second aspect, the present application provides a joint friction force observation device based on a joint torque sensor, comprising:
the motor power analysis module is used for determining a motor dynamic equation of the cooperative robot as follows:
wherein,
acceleration of the motor rotation angle, B is the inertia matrix of the motor, taujTorque transmitted for joints, τmFor motor moment, τfThe joint friction force;
the joint friction force observation module is used for determining a joint friction force observation equation as follows according to the motor dynamics equation:
wherein L is an observation coefficient,
is an observed value of friction;
the joint friction force analysis module is used for determining a simplified observation equation of the joint friction force according to the motor dynamics equation and the joint friction force observation equation as follows:
in a third aspect, the present application provides an electronic device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the joint friction force observation method based on the joint torque sensor when executing the program.
In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the joint friction force observation method based on a joint torque sensor.
According to the technical scheme, the joint friction force and the motor current offset can be accurately observed in real time through the friction force observer of the joint torque sensor, a friction force model does not need to be considered and identified, the influence of temperature, pressure, position, speed and the like on the joint friction force does not need to be considered, and the influence of friction dead zones is also not needed to be considered to eliminate the influence of speed noise.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of a joint friction force observation device based on a joint torque sensor according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 some embodiments of the present application, but not all 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.
Consider that the joint friction models that are now more common include primarily cubic polynomial models, coulomb additive viscous friction models, and Stribeck models. These models can only approximately reflect the frictional force of the joint, and do not take into account the change in the frictional force of the joint with the conditions of temperature, pressure, position, velocity, etc. of the joint. Based on the friction force model obtained by model identification, only an averaged approximation of the joint friction force at the moment of identification is obtained (the influence of temperature, pressure, position, speed and the like on the joint friction force is not considered); the more accurate friction force model is often complex in form and cumbersome and difficult to identify. Even if a relatively accurate friction model is obtained through identification, the influence of speed noise is eliminated by setting a friction dead zone, the threshold value of the dead zone depends on experience, and the performance of the robot can be damaged.
In order to accurately observe joint friction and motor current offset in real time, without considering and identifying a friction model, without considering the influence of temperature, pressure, position, speed and the like on the joint friction, and without considering a friction dead zone to eliminate the influence of speed noise, the application provides an embodiment of a joint friction observation method based on a joint torque sensor, and referring to fig. 1, the joint friction observation method based on the joint torque sensor specifically comprises the following contents:
determining a motor dynamics equation of the cooperative robot as follows:
wherein,
acceleration of the motor rotation angle, B is the inertia matrix of the motor, taujTorque transmitted for joints, τmFor motor moment, τfThe joint friction force;
according to the motor dynamics equation, determining a joint friction force observation equation as follows:
wherein L is an observation coefficient,
is an observed value of friction;
according to the motor dynamics equation and the joint friction observation equation, determining a simplified joint friction observation equation as follows:
it will be appreciated that cooperating robots often incorporate torque sensors at the joint ends for good motion and impedance control. This patent scheme will realize the real-time accurate friction observation of a no frictional force model based on joint torque sensor. Decomposing the kinetic equation of the connecting rod and the motor:
equation (1) represents the kinetic equation of the connecting rod, and equation (2) represents the kinetic equation of the motor. The parameters in the equation are as follows:
q、
respectively representing the position, velocity and acceleration of the connecting rod;
m, B respectively represents an inertia matrix of the robot connecting rod and an inertia matrix of the motor;
g (q) represents a gravity term;
τj、τm、τfand τextRespectively representing the torque transmitted by the joint, the torque of the motor, the friction force of the joint and the external force received by the end of the connecting rod.
The friction observer implemented in this patent is based solely on the motor dynamics equation represented by equation (2) above, using the motor current τmMoment of inertia B of motor and joint moment taujAnd motor speed
These quantities are easily obtained as inputs in a cooperative robot with joint torque sensors. The joint friction achieved by this patent is of the form of equation (3) as follows:
in the above formula, L represents an observation coefficient,
combining equation (2) and equation (3) for the observed value of friction, one can obtain:
the friction observer is a simple first-order inertia link, and can ensure that a friction observed value is finally converged to the actual friction of the joint as long as L is ensured to be positive. The larger the value of L, the higher the bandwidth is, the better the tracking effect on the friction force is, but the more sensitive the measurement noise is, and the adjustment can be carried out according to the quality of the measurement signal and the actual requirement. The friction force observer has a quite simple form, can effectively observe the joint friction force, and the observed friction force comprises the offset of the motor.
As can be seen from the above description, the joint friction force observation method based on the joint torque sensor provided in the embodiments of the present application can accurately observe the joint friction force and the motor current offset in real time through the friction force observer of the joint torque sensor, without considering and identifying a friction force model, without considering the influence of temperature, pressure, position, speed, and the like on the joint friction force, and without considering a friction dead zone to eliminate the influence of speed noise.
In order to accurately observe joint friction and motor current offset in real time, without considering and identifying a friction model, without considering the influence of temperature, pressure, position, speed and the like on the joint friction, and without considering a friction dead zone to eliminate the influence of speed noise, the present application provides an embodiment of a joint friction observation device based on a joint torque sensor, which is used for realizing all or part of the joint friction observation method based on a joint torque sensor, and the joint friction observation device based on a joint torque sensor specifically includes the following contents, referring to fig. 1:
the motor power analysis module is used for determining a motor dynamic equation of the cooperative robot as follows:
wherein,
acceleration of the motor rotation angle, B is the inertia matrix of the motor, taujTorque transmitted for joints, τmFor motor moment, τfThe joint friction force;
the joint friction force observation module is used for determining a joint friction force observation equation as follows according to the motor dynamics equation:
wherein, L is an observation coefficient,
is an observed value of friction;
the joint friction force analysis module is used for determining a simplified observation equation of the joint friction force according to the motor dynamics equation and the joint friction force observation equation as follows:
as can be seen from the above description, the joint friction force observation device based on the joint torque sensor according to the embodiment of the present application can accurately observe the joint friction force and the motor current offset in real time through the friction force observer of the joint torque sensor, without considering and identifying a friction force model, without considering the influence of temperature, pressure, position, speed, and the like on the joint friction force, and without considering a friction dead zone to eliminate the influence of speed noise.
In summary, the present application can also achieve at least the following technical effects:
1. the form is simple, a complex friction force model does not need to be established, and complicated identification experiments do not need to be frequently carried out;
2. the joint friction force is observed according to the real-time measured value of the physical information, and the influence of temperature, pressure, position, speed and the like on the joint friction force does not need to be considered;
3. the friction force observer can simultaneously observe the offset of the motor and takes the offset as the friction force offset;
4. the friction observed using this friction observer does not need to take into account friction dead zones.
In terms of hardware, in order to accurately observe joint friction and motor current offset in real time, without considering and identifying a friction model, without considering the influence of temperature, pressure, position, speed, and the like on the joint friction, and without considering a friction dead zone to eliminate the influence of speed noise, the present application provides an embodiment of an electronic device for implementing all or part of the contents in the joint friction observation method based on a joint torque sensor, where the electronic device specifically includes the following contents:
a processor (processor), a memory (memory), a communication Interface (Communications Interface), and a bus; the processor, the memory and the communication interface complete mutual communication through the bus; the communication interface is used for realizing information transmission between the joint friction force observation device based on the joint torque sensor and relevant equipment such as a core service system, a user terminal, a relevant database and the like; the logic controller may be a desktop computer, a tablet computer, a mobile terminal, and the like, but the embodiment is not limited thereto. In this embodiment, the logic controller may refer to the embodiment of the joint friction force observation method based on the joint torque sensor and the embodiment of the joint friction force observation device based on the joint torque sensor in the embodiments for implementation, and the contents thereof are incorporated herein, and repeated descriptions are omitted.
It is understood that the user terminal may include a smart phone, a tablet electronic device, a network set-top box, a portable computer, a desktop computer, a Personal Digital Assistant (PDA), an in-vehicle device, a smart wearable device, and the like. Wherein, intelligence wearing equipment can include intelligent glasses, intelligent wrist-watch, intelligent bracelet etc..
In practical applications, part of the joint friction force observation method based on the joint torque sensor may be performed on the electronic device side as described above, or all operations may be performed in the client device. The selection may be specifically performed according to the processing capability of the client device, the limitation of the user usage scenario, and the like. This is not a limitation of the present application. The client device may further include a processor if all operations are performed in the client device.
The client device may have a communication module (i.e., a communication unit), and may be communicatively connected to a remote server to implement data transmission with the server. The server may include a server on the task scheduling center side, and in other implementation scenarios, the server may also include a server on an intermediate platform, for example, a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, or may include a server cluster formed by a plurality of servers, or a server structure of a distributed apparatus.
Fig. 2 is a schematic block diagram of a system configuration of an electronic device 9600 according to an embodiment of the present application. As shown in fig. 2, the electronic device 9600 can include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. Notably, this FIG. 2 is exemplary; other types of structures may also be used in addition to or in place of the structures to implement telecommunications or other functions.
In one embodiment, the joint friction observation method function based on the joint torque sensor may be integrated into the central processor 9100. The central processor 9100 may be configured to control as follows:
determining a motor dynamic equation of the cooperative robot as follows:
wherein,
acceleration of the motor rotation angle, B is the inertia matrix of the motor, taujTorque transmitted for joints, τmFor motor moment, τfThe joint friction force;
according to the motor dynamics equation, determining a joint friction force observation equation as follows:
wherein L is an observation coefficient,
is an observed value of friction;
according to the motor dynamics equation and the joint friction observation equation, determining a simplified joint friction observation equation as follows:
as can be seen from the above description, according to the electronic device provided in the embodiment of the present application, the joint friction and the motor current offset can be accurately observed in real time by the friction observer of the joint torque sensor, the friction model does not need to be considered and identified, the influence of temperature, pressure, position, speed, and the like on the joint friction does not need to be considered, and the influence of the friction dead zone does not need to be considered to eliminate the influence of the speed noise.
In another embodiment, the joint friction force observation device based on the joint torque sensor may be configured separately from the central processing unit 9100, for example, the joint friction force observation device based on the joint torque sensor may be configured as a chip connected to the central processing unit 9100, and the joint friction force observation method function based on the joint torque sensor may be implemented by the control of the central processing unit.
As shown in fig. 2, the electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is noted that the electronic device 9600 also does not necessarily include all of the components shown in fig. 2; further, the electronic device 9600 may further include components not shown in fig. 2, which may be referred to in the art.
As shown in fig. 2, the central processor 9100, which is sometimes referred to as a controller or operational control, can include a microprocessor or other processor device and/or logic device, the central processor 9100 receives input and controls the operation of various components of the electronic device 9600.
The memory 9140 can be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information relating to the failure may be stored, and a program for executing the information may be stored. And the central processing unit 9100 can execute the program stored in the memory 9140 to realize information storage or processing, or the like.
The input unit 9120 provides input to the central processor 9100. The input unit 9120 is, for example, a key or a touch input device. The power supply 9170 is used to provide power to the electronic device 9600. The display 9160 is used for displaying display objects such as images and characters. The display may be, for example, an LCD display, but is not limited thereto.
The memory 9140 can be a solid state memory, e.g., Read Only Memory (ROM), Random Access Memory (RAM), a SIM card, or the like. There may also be a memory that holds information even when power is off, can be selectively erased, and is provided with more data, an example of which is sometimes called an EPROM or the like. The memory 9140 could also be some other type of device. Memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application/function storage portion 9142, the application/function storage portion 9142 being used for storing application programs and function programs or for executing a flow of operations of the electronic device 9600 by the central processor 9100.
The memory 9140 can also include a data store 9143, the data store 9143 being used to store data, such as contacts, digital data, pictures, sounds, and/or any other data used by an electronic device. The driver storage portion 9144 of the memory 9140 may include various drivers for the electronic device for communication functions and/or for performing other functions of the electronic device (e.g., messaging applications, contact book applications, etc.).
The communication module 9110 is a transmitter/receiver 9110 that transmits and receives signals via an antenna 9111. The communication module (transmitter/receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as in the case of a conventional mobile communication terminal.
Based on different communication technologies, a plurality of communication modules 9110, such as a cellular network module, a bluetooth module, and/or a wireless local area network module, may be provided in the same electronic device. The communication module (transmitter/receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby implementing ordinary telecommunications functions. The audio processor 9130 may include any suitable buffers, decoders, amplifiers and so forth. In addition, the audio processor 9130 is also coupled to the central processor 9100, thereby enabling recording locally through the microphone 9132 and enabling locally stored sounds to be played through the speaker 9131.
Embodiments of the present application also provide a computer-readable storage medium capable of implementing all steps in the joint friction force observation method based on the joint torque sensor, the execution subject of which is the server or the client in the above embodiments, and the computer-readable storage medium stores thereon a computer program, which, when executed by a processor, implements all steps in the joint friction force observation method based on the joint torque sensor, the execution subject of which is the server or the client in the above embodiments, for example, the processor implements the following steps when executing the computer program:
determining a motor dynamics equation of the cooperative robot as follows:
wherein,
acceleration of the motor rotation angle, B is the inertia matrix of the motor, taujTorque transmitted for joints, τmFor motor moment, τfThe joint friction force;
according to the motor dynamics equation, determining a joint friction force observation equation as follows:
wherein L is an observation coefficient,
for observation of frictional forceA value;
and determining a simplified observation equation of the joint friction force according to the motor dynamics equation and the joint friction force observation equation, wherein the simplified observation equation of the joint friction force is as follows:
as can be seen from the above description, the computer-readable storage medium provided in the embodiments of the present application can accurately observe the joint friction and the motor current bias in real time by using the friction observer of the joint torque sensor, without considering and identifying a friction model, without considering the influence of temperature, pressure, position, speed, etc. on the joint friction, and without considering a friction dead zone to eliminate the influence of speed noise.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (4)
1. A joint friction force observation method based on a joint torque sensor is characterized by comprising the following steps:
determining a motor dynamics equation of the cooperative robot as follows:
wherein,
acceleration of the motor rotation angle, B is the inertia matrix of the motor, taujTorque transmitted for joints, τmFor motor torque, τfThe joint friction force;
according to the motor dynamics equation, determining a joint friction force observation equation as follows:
wherein L is an observation coefficient,
is an observed value of friction;
according to the motor dynamics equation and the joint friction observation equation, determining a simplified joint friction observation equation as follows:
2. A joint friction force observation device based on a joint torque sensor is characterized by comprising:
the motor power analysis module is used for determining a motor dynamic equation of the cooperative robot as follows:
wherein,
acceleration of the motor rotation angle, B is the inertia matrix of the motor, taujTorque transmitted for joints, τmFor motor moment, τfThe joint friction force;
the joint friction force observation module is used for determining a joint friction force observation equation as follows according to the motor dynamics equation:
wherein L is an observation coefficient,
is an observed value of friction;
the joint friction force analysis module is used for determining a simplified joint friction force observation equation as follows according to the motor dynamics equation and the joint friction force observation equation:
from the simplified joint friction force observation equation of the above formula, it can be seen that the friction force observation value is a result of low-pass filtering of the friction force true value, and the observation coefficient of the low-pass filtering is L.
3. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the joint torque sensor-based joint friction force observation method of claim 1 when executing the program.
4. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the joint friction force observation method based on a joint torque sensor of claim 1.
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