CN112847354B - Transformer substation foot type robot posture adjusting method, controller, system and robot - Google Patents
Transformer substation foot type robot posture adjusting method, controller, system and robot Download PDFInfo
- Publication number
- CN112847354B CN112847354B CN202011636758.6A CN202011636758A CN112847354B CN 112847354 B CN112847354 B CN 112847354B CN 202011636758 A CN202011636758 A CN 202011636758A CN 112847354 B CN112847354 B CN 112847354B
- Authority
- CN
- China
- Prior art keywords
- foot
- robot
- pose
- trunk
- substation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of robots, and provides a transformer substation foot type robot posture adjusting method, a controller, a system and a robot. When the legged robot moves forward, the same-speed backward method is adopted to ensure that the moving speed of the swing legs relative to the trunk is the same as that of the support legs relative to the trunk, so as to ensure that the swing legs are lifted vertically; after the legged robot stands stably, calculating initial coordinates of the foot end in a shoulder joint coordinate system based on posture information and geometric information after standing stably, and then combining trunk posture adjustment amount and the distance separating left and right feet to obtain new coordinates of the foot end in the shoulder joint coordinate system and adjust standing posture; in the process of forward and standing pose adjustment of the foot robot, based on the current motion working condition, under the condition of meeting pose constraint, the pose of a mechanical arm on the foot motion platform is actively adjusted to assist the control system of the foot motion platform to control the pose of the platform, so that the foot motion platform keeps the balance state of stress and torque.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a transformer substation foot type robot posture adjusting method, a controller, a system and a robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Compared with the traditional wheel type robot, the foot type patrol inspection motion platform has stronger environmental adaptability and motion flexibility, can run in complex pavement environments such as grasslands, gravel pavements and the like in stations, can also cross typical barriers in stations such as barriers, stairs up and down, curbstone crossing and the like, and greatly improves the adaptability to the complex pavement environment in stations. The foot type inspection motion platform is based on a leg-foot type motion structure, and on the other hand, the stable control on the overall posture of the platform can ensure the stable operation of the foot type robot. Common gait planning methods of the existing foot robot include a planning method based on a central mode generator, a planning method based on a spring load inverted pendulum model, a planning method based on a preset foot end motion trail, a hybrid planning method based on the methods and the like.
The inventor finds that the existing foot type robot has the following problems in the process of posture adjustment: 1) the existing foot type robot gait planning method can cause the situation that when the foot type robot lifts feet, the foot type robot kicks an obstacle to influence the balance and even is tripped by the obstacle. 2) When the device is actually applied in a transformer substation, the foot type power platform is usually required to be carried with patrol inspection operation equipment, so that the gravity center position of the platform is influenced, and the posture stability control of the motion platform is influenced. 3) The foot type robot can generate mass center height fluctuation and trunk posture shake when walking, so that the positioning accuracy of the sensor is not high, the inspection steps of the foot type robot are to traverse preset inspection point positions one by one, if the robot is decelerated and stopped immediately after reaching a target point, a large error often exists, and even if the robot is stepped for a period of time to perform position fine adjustment, the robot can also cause the position to be inaccurate due to trunk shake.
Disclosure of Invention
In order to solve at least one technical problem in the background art, the invention provides a posture adjustment method, a controller and a system for a foot-type robot of a transformer substation, which can ensure that the posture of the foot-type robot of the transformer substation is quickly adjusted after the foot-type robot advances and stands stably, and ensure that a foot-type motion platform always keeps a balance state of stress and torque.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a transformer substation foot type robot posture adjusting method.
A transformer substation foot type robot posture adjusting method comprises the following steps:
when the legged robot moves forward, the swinging legs move relative to the trunk at the same speed by a withdrawing method at the same speed, so that the moving speed of the swinging legs relative to the trunk is the same as that of the supporting legs relative to the trunk, and the swinging legs are ensured to be vertically lifted;
after the legged robot stands stably, calculating initial coordinates of the foot end in a shoulder joint coordinate system based on posture information and geometric information after standing stably, and then combining trunk posture adjustment amount and the distance separating left and right feet to obtain new coordinates of the foot end in the shoulder joint coordinate system and adjust standing posture;
in the process of forward and standing pose adjustment of the foot robot, based on the current motion working condition, under the condition of meeting pose constraint, the pose of a mechanical arm on the foot motion platform is actively adjusted to assist the control system of the foot motion platform to control the pose of the platform, so that the foot motion platform keeps the balance state of stress and torque.
As an optional implementation mode, when the foot type robot moves forwards, an overspeed withdrawing method is adopted, so that the withdrawing speed of the swinging leg exceeds the pedaling speed of the supporting leg, and the condition that the foot is pressed by a convex part of the ground obstacle vertical surface to break the balance when the foot is lifted is avoided.
As an alternative, the overspeed pullback method is described in terms of speed: the withdrawing speed of the swing leg is k, the pedaling speed of the supporting leg is k; wherein k is greater than 1.
As an alternative, the overspeed pullback method is described by location: the retreating position of the swing leg is the position of the supporting leg, namely the ratio of the distance of multiple retreating after the foot lifting is finished to the expected duration of the swing phase, and the timing time after the swing phase is started.
As an optional embodiment, the motion trajectory of the swing leg when lifting the foot is divided into an X-axis trajectory and a Z-axis trajectory, the X-axis trajectory is positive forward, and the Z-axis trajectory is the timing time after the position of the swing leg on the Z-axis enters the swing phase, i.e., the ratio of the step to the height to the expected duration of the swing phase.
As an alternative embodiment, the foot end of the swing leg has no horizontal initial velocity from the ground coordinate system.
As an alternative embodiment, the shoulder joint coordinate system is rotated to obtain a second coordinate system, the position of the hip joint relative to the origin in the second coordinate system is further obtained, and new coordinates are obtained by combining the leg left-right opening adjustment amount, the trunk adjustment amount and the initial coordinates.
As an optional implementation, the trunk adjustment amount includes a trunk torsion angle adjustment amount, a trunk pitch angle adjustment amount, a trunk roll angle adjustment amount, a trunk left-right translation adjustment amount, a trunk front-back translation adjustment amount, and a trunk up-down translation adjustment amount;
as an alternative implementation mode, the rotation is expressed by Z-Y-X Euler angles, and a rotation matrix is obtained according to the roll angle, the pitch angle and the torsion angle adjustment amount of the trunk.
As an alternative embodiment, the new coordinates are:
BHIPpTOE＝RX(-ψref)RY(-θref)RZ(-φref)(PHIPpTOE+PpHIP+PpB+δw)-BpHIP；
wherein the content of the first and second substances,PpBrepresenting the amount of translation of the torso in various directions,PpHIPrepresents the position of the hip joint relative to the origin in the second coordinate system, δ represents the left or right leg, w represents the left-right leg splay adjustment, ψref、θref、φrefRespectively representing the roll angle, pitch angle and twist angle adjustments of the torso.
As an optional embodiment, a supporting polygon enclosed by four feet when the foot type robot stands is larger than a quadrangle enclosed by a shoulder joint and a hip joint;
or the geometric information comprises the length from the trunk to the root of the thigh, the length of the thigh and the length of the shank, and the posture information comprises the included angle between the trunk, the thigh and the shank.
As an optional implementation manner, the process of assisting the foot-type motion platform control system to control the platform posture by actively adjusting the posture of the mechanical arm on the foot-type motion platform is as follows:
under the same coordinate, calculating the gravity center space pose of the motion platform when the mechanical arm does not act and the gravity center space pose of the mechanical arm when the motion platform does not act based on the balance relation of force and torque space vectors;
under the condition of satisfying pose constraint, the current pose of the robot and the mechanical arm is taken as an initial value, and the optimized motion platform gravity center space pose and the optimized mechanical arm gravity center space pose are obtained through energy consumption minimum criterion and pose iterative feedback and are respectively and correspondingly sent to a foot type motion platform control system and a mechanical arm control system for execution.
As an optional embodiment, the energy consumption minimum criterion is: and the deviation between the optimized gravity center space pose of the motion platform and the gravity center space pose of the mechanical arm and the expected pose is minimum.
As an alternative embodiment, the pose constraints include leg joint constraints and robot arm constraints; the constraint of each joint of the leg comprises the motion range and the limit torque constraint of the joint of the leg; the mechanical arm constraint is a mechanical arm operation space constraint.
A second aspect of the invention provides a controller.
A controller comprising a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps in the method of stability augmentation control of a substation inspection robot as described above.
The invention provides a transformer substation foot type robot posture adjusting system.
A transformer substation foot type robot posture adjusting system comprises the controller.
A fourth aspect of the invention provides a substation legged robot.
A transformer substation foot type robot comprises the transformer substation foot type robot posture adjusting system.
The invention has the beneficial effects that:
the foot lifting gait planning method for the foot type robot is innovatively provided, a foot lifting gait planning system for the foot type robot is developed, the moving speed of a swing leg relative to a trunk is the same as the moving speed of a supporting leg relative to the trunk by adopting a same-speed backward-withdrawing method, the swing leg is ensured to be vertically lifted when the foot type robot moves forwards, and the foot type robot is prevented from kicking the ground; by adopting an overspeed withdrawing method, the withdrawing speed of the swinging legs exceeds the stepping speed of the supporting legs, the problem that the swinging legs are easy to kick to the vertical surface of the stair when the foot type robot climbs the stair is solved, and the motion stability of the foot type robot is improved.
The method for adjusting the standing position and the standing posture of the foot type inspection robot is innovatively provided, a leg kinematics model under a Cartesian coordinate system is constructed, a method for controlling the standing position and the standing posture of the foot type robot is developed, the problems of low positioning precision caused by mass center position fluctuation and trunk posture shake of the foot type robot during walking are solved, and the standing position and angle precision of the robot are improved.
The stability augmentation method of the foot type inspection robot of the transformer substation is innovatively provided, a multi-degree-of-freedom active adjustment motion model of a foot type operation platform is constructed, a stability augmentation control system of the foot type inspection robot is developed, the active adjustment of the posture of a mechanical arm installed on the foot type motion platform is utilized, the control of the posture of the platform by the foot type platform control system is assisted, the problem that the gravity center position of the platform is unstable when the foot type inspection robot works is solved, the stability of the foot type inspection robot in different road surface environments is improved, and the adaptability of the foot type platform to different road surfaces in the substation is enhanced.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic diagram of a constant velocity pullback method of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a constant velocity pull-back method of a robot according to an embodiment of the present invention when the robot is on a slope;
FIG. 3 is a schematic diagram of an overspeed pullback method of an embodiment of the present invention;
FIG. 4 is a schematic diagram of a method for adjusting the standing posture of the foot type inspection robot according to the embodiment of the invention;
FIG. 5 is a schematic diagram of a coordinate calculation method of foot end coordinates in a shoulder joint coordinate system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of coordinate transformation provided by an embodiment of the present invention;
FIG. 7 illustrates a force condition of a motion platform according to an embodiment of the present invention;
fig. 8 is a flow chart of a stability augmentation control method for the substation inspection robot according to the embodiment of the invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
Example one
The embodiment provides a transformer substation foot type robot posture adjusting method, which comprises the following steps:
when the legged robot moves forward, the same-speed backward-withdrawing method is adopted to ensure that the moving speed of the swing legs relative to the trunk is the same as that of the supporting legs relative to the trunk, so as to ensure that the swing legs are vertically lifted;
after the legged robot stands stably, calculating initial coordinates of the foot end in a shoulder joint coordinate system based on posture information and geometric information after standing stably, and then combining trunk posture adjustment amount and the distance separating left and right feet to obtain new coordinates of the foot end in the shoulder joint coordinate system and adjust standing posture;
in the process of forward and standing pose adjustment of the foot robot, based on the current motion working condition, under the condition of meeting pose constraint, the pose of a mechanical arm on the foot motion platform is actively adjusted to assist the control system of the foot motion platform to control the pose of the platform, so that the foot motion platform keeps the balance state of stress and torque.
Specifically, when the foot type robot walks, the legs are divided into supporting legs and swinging legs according to the supporting state, the supporting legs pedal the ground, and the foot ends move backwards to push the trunk to move forwards; the swing legs are raised and extended in the air in preparation for reaching the ground. The swing stage of the swing leg is divided into an ascending stage and a descending stage according to the movement direction of the foot end on the Z axis (the vertical direction is positive), and the ascending stage is the foot lifting stage.
In the foot lifting gait planning process of the foot type robot, the same-speed backward withdrawing method is adopted, so that the motion of the swing legs and the support legs in the front and back directions is related, the moving speed of the swing legs relative to the trunk is ensured to be the same as the moving speed of the support legs relative to the trunk, the swing legs are vertically lifted when the foot type robot moves forwards, and the influence on balance caused by the fact that the swing legs kick to a ground vertical surface is avoided.
As shown in fig. 1, the motion trajectory of the swing leg when lifting the foot can be divided into an X-axis (forward is positive) trajectory and a Z-axis trajectory, and the core of the constant-speed pull-back method is to ensure that the moving speed of the swing leg relative to the trunk is the same as the moving speed of the support leg relative to the trunk, that is:
thus, the swing leg and foot end has no horizontal initial velocity from the ground coordinate system.
The withdrawal speed of the swing leg;
the pedaling speed of the supporting leg.
For the Z-axis trajectory, any of the following equations may be used:
wherein Z ismaxIs the height of step, tSwingThe estimated time length of the swing phase, t is the timing time after the swing phase is entered, t is more than or equal to 0 and less than or equal to tSwing。pZ_SwingThe position of the swing leg on the Z-axis.
And after the foot end track is obtained, converting the X-axis and Z-axis coordinates into joint rotation angles by using a foot end inverse kinematics equation, and then realizing motion through joint servo. The inverse kinematics equation is determined by the mechanical structure of the leg, and varies from leg to leg. Specifically, the motion is realized in an XOZ plane by planning the foot end tracks of an X axis and a Z axis, then converting the foot end tracks into joint angles through an inverse kinematics equation, and then servo the joint angles.
In a trunk coordinate system, the withdrawing speed of the swing legs is the same as that of the supporting legs, the supporting legs are withdrawn to push the trunk to advance, and the swinging legs are withdrawn to avoid collision obstacles. From the ground coordinate system, the end of the swing leg is vertically raised.
When the foot robot is on a slope, the trajectory planning mode of the X-axis and the Z-axis is the same as that described above, but the X-axis is not the same as the advancing direction any more at the moment, but the X-axis rotates to be horizontal, and the Z-axis is vertically upward. The rotation angle is the pitch angle of the robot and can be measured by an inertial measurement unit or other sensors mounted on the robot body. The swinging leg now behaves as a vertical foot lift, as shown in fig. 2.
In some embodiments, when the surface obstacle facade has a bulge, an overspeed pullback method is used. The method can be described in terms of velocity or position, as shown in FIG. 3. In the trunk coordinate system, the withdrawing speed of the swing legs is greater than that of the supporting legs. From the ground coordinate system, the tail end of the swinging leg is retracted while being lifted.
In implementations, the retraction of the swing leg can be achieved by increasing the speed or increasing the amount of displacement.
The velocity description equation is:
wherein k is>1, the parameter can be adjusted according to actual conditions.
The withdrawal speed of the swing leg;
the pedaling speed of the supporting leg.
The position description equation is:
and d is the distance of multiple retreats after the foot lifting is finished, can be estimated according to the terrain, and can also be dynamically set after a sensor such as a laser radar or a stereo camera is used for scanning the terrain. p is a radical ofX_SwingIs the retreating position of the swing leg; p is a radical ofX_SupportThe position of the support leg. t is tSwingThe estimated time length of the swing phase, t is the timing time after the swing phase is entered, t is more than or equal to 0 and less than or equal to tSwing。
The foot-lifting gait planning mode of the foot-type robot is also suitable for gravel terrain, grassland and other conditions that the foot-lifting robot can trip over legs during foot lifting.
As shown in fig. 4, the process of adjusting the standing pose of the foot type inspection robot specifically includes the following steps:
the inspection step of the foot type robot is to traverse preset inspection point positions one by one, gradually decelerate until stepping when the robot reaches the vicinity of a target point, and then switch to a standing state.
When the robot stands, the left leg and the right leg are separated by a certain distance, so that a supporting polygon formed by four feet is larger than a quadrangle formed by shoulder joints and hip joints, the standing stability of the robot is enhanced, the distance needs to be adjusted according to actual conditions, the leg can be unstably toppled when the distance is too small and the leg side-swinging angle can reach the mechanical limit when the distance is too large.
After the standing is stable, the foot type robot carries out posture adjustment of the trunk according to position and posture feedback of the positioning program. The position adjustment comprises front-back adjustment (translation along an X axis) and left-right adjustment (translation along a Y axis), and the posture adjustment is that the robot twists left and right (twists around a Z axis). In addition, the foot robot can also adjust the inclination of the trunk according to the inspection requirement, namely roll angle adjustment (rotating around an X axis) and pitch angle adjustment (rotating around a Y axis).
The following describes a specific attitude adjustment process:
the conventional gait planning method is to control the positions of the ends of the four legs under the coordinate system of the trunk, namelyBHIPpTOETo achieve this, the present embodiment decouples the standing control from the attitude control and the leg-opening distance, via ΣPSum-sigmaBTwo coordinate systems to effect the movement.
Standing gait input without changing the original gait generation modePHIPpTOEAfter transformation, the distance between the left foot and the right foot, the body displacement and the posture adjustment amount are integrated to generate a new distanceBHIPpTOEFor foot end control.
The specific derivation process of the rotation mode and the translation mode is as follows, as shown in fig. 5, the coordinates of the foot end of the single leg in the shoulder joint coordinate system are:
as can be seen from fig. 5:
PpTOE＝PRB BpTOE+PpB (8)
PRB＝RZ(φref)RY(θref)RX(ψref) (9)
PpTOE＝PHIPpTOE+PpHIP+δw (10)
further, obtaining:
BHIPpTOE＝RX(-ψref)RY(-θref)RZ(-φref)(PHIPpTOE+PpHIP+PpB+δw)-BpHIP (11)
wherein the content of the first and second substances,
coordinate system ΣPBy sigmaBRotation is expressed by Z-Y-X Euler anglePTo sigmaBThe rotation matrix of (a) is formula (9); wherein phi isrefRepresenting the torsion angle, theta, about the Z-axis of the orbiting coordinate systemrefPitch angle, ψ, representing the Y-axis of a orbiting coordinate systemrefRepresenting the roll angle around the X-axis of the motion coordinate system,PHIPpTOEas a coordinate system sigmaPThe position of the midfoot relative to the hip joint,PpHIPas a coordinate system sigmaPThe position of the mid hip joint relative to the origin.
Thereby can pass throughPHIPpTOEAdding the attitude and position information to obtainBHIPpTOE。
The variables in control formula (11) can control the foot robot to perform the adjustment movement, and the variables are listed as follows:
as shown in fig. 8, the process of assisting the foot-type motion platform control system in controlling the platform attitude by actively adjusting the attitude of the robot arm on the foot-type motion platform is as follows:
under the same coordinate, calculating the gravity center space pose of the motion platform when the mechanical arm does not act and the gravity center space pose of the mechanical arm when the motion platform does not act based on the balance relation of force and torque space vectors;
under the condition of satisfying pose constraint, the current pose of the robot and the mechanical arm is taken as an initial value, and the optimized motion platform gravity center space pose and the optimized mechanical arm gravity center space pose are obtained through energy consumption minimum criterion and pose iterative feedback and are respectively and correspondingly sent to a foot type motion platform control system and a mechanical arm control system for execution.
The minimum energy consumption criterion here is: and the deviation between the optimized motion platform gravity center space pose and the robot arm gravity center space pose and the expected pose is minimum.
In a specific implementation, the pose constraints include leg joints constraints and robotic arm constraints. The leg joint constraints comprise the motion range of the leg joint and the limit torque constraint. The mechanical arm constraint is a mechanical arm operation space constraint. Therefore, the motion condition of the actual robot is better fitted, and the stability of the motion platform of the foot type robot is improved.
According to the embodiment, based on the current motion working condition of the robot, under the condition that constraint conditions of all joints of a leg and constraint of an operation space of a mechanical arm are met, the posture of the mechanical arm installed on a foot type motion platform is actively adjusted, and the control of a control system of the foot type motion platform on the posture of the platform is assisted, so that the foot type motion platform keeps a balance state of stress and torque.
Specifically, referring to fig. 7, a coordinate system oyx is established according to a right-hand rule with the whole gravity center position of the foot-type motion platform as an origin O and the forward motion direction of the motion platform as an X axis, wherein in the coordinate system, the foot-type foot end of the motion platform forms a quadrilateral ABCD in the coordinate system, and the motion platform is subjected to gravity GrWith the directional ray intersecting ABCD at OgPoint; the resultant force of the stress of the foot type end of the motion platform is F. In addition, the integral gravity center of the multi-degree-of-freedom mechanical arm arranged on the motion platform is positioned at OaWhere the gravity is Ga。
The coordinate systems of the mechanical arm and the foot type motion platform are unified. The control precision of the robot is guaranteed, and the stability of the platform inspection operation after the inspection operation equipment is additionally installed is improved.
Assuming that the robot moves at an acceleration a at this time, in order to ensure the stability of the motion platform, the following equilibrium relationship of force and torque space vectors should be applied to the coordinate system oyx:
F+Gr+Ga＝(mr+ma)×a
M＝Ma+Mra+Maa
wherein: m isrAnd maThe overall mass of the motion platform and the mechanical arm respectively, M is the moment of the force F at the position O, and M isaIs the torque produced by the gravity of the arm at O, Mra and Maand a is the torque generated at O by the inertia force under acceleration.
According to the equation, the space pose Z corresponding to the moment of the foot end of the motion platform when the mechanical arm does not act can be respectively obtainedrAnd the space pose Z corresponding to the moment vector of the mechanical arm when the motion platform does not actaI.e. the spatial position Z of the gravity center of the motion platformrAnd the position and posture Z of the gravity center space of the mechanical arma。
And then, based on the motion range and the limit torque constraint of the robot leg joint and the mechanical arm operation space constraint, taking the current robot and mechanical arm positions as initial values, and obtaining the optimized motion platform gravity center space position and mechanical arm gravity center space position by iterative operation on the solving process through the minimum energy consumption criterion.
And finally, respectively sending the poses to a motion platform and a mechanical arm control system for execution, as shown in fig. 8.
The posture stability control of the foot type platform can be simplified to ensure that the platform keeps a balance state of stress and torque under the condition of meeting the constraint conditions of all joints of the leg under the current motion working conditions (speed, acceleration and foot end stress).
Example two
The present embodiment provides a controller, which includes a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the stability augmentation control method for a substation inspection robot as described in the first embodiment.
EXAMPLE III
The embodiment provides a substation foot robot posture adjustment system, which comprises the controller described in the second embodiment.
It should be noted here that other structures of the substation foot robot attitude adjustment system can be implemented by using existing structures, and details are not described here.
Example four
The present embodiment provides a substation foot robot, which includes the substation foot robot posture adjustment system described in the third embodiment.
In specific implementation, the transformer substation foot type robot comprises a foot type motion platform, and a mechanical arm is mounted on the foot type motion platform.
Specifically, the foot type motion platform is connected with a foot type motion platform control system, and the mechanical arm is connected with a mechanical arm control system.
It should be noted that the foot-type motion platform (e.g., two-foot, three-foot, or four-foot motion platform), the foot-type motion platform control system (e.g., PLC controller, etc.), the robot arm (e.g., multi-joint robot arm), and the robot arm control system (e.g., PLC controller, etc.) are all conventional structures, and are not described in detail herein.
The legged robot may be a biped, tripodal or quadruped robot, and other structures of the robot are all conventional structures, and are not described in detail herein.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (15)
1. A transformer substation foot type robot posture adjusting method is characterized by comprising the following steps:
when the legged robot moves forward, the swinging legs move relative to the trunk at the same speed by a withdrawing method at the same speed, so that the moving speed of the swinging legs relative to the trunk is the same as that of the supporting legs relative to the trunk, and the swinging legs are ensured to be vertically lifted;
after the legged robot stands stably, calculating initial coordinates of the foot end in a shoulder joint coordinate system based on posture information and geometric information after standing stably, rotating the shoulder joint coordinate system to obtain a second coordinate system, further obtaining the position of a hip joint in the second coordinate system relative to an original point, and combining the trunk posture adjustment amount and the distance separating the left foot from the right foot to obtain new coordinates of the foot end in the shoulder joint coordinate system and adjusting the standing posture;
in the process of forward and standing pose adjustment of the foot robot, based on the current motion working condition, under the condition of meeting pose constraint, the pose of a mechanical arm on the foot motion platform is actively adjusted to assist the control system of the foot motion platform to control the pose of the platform, so that the foot motion platform keeps the balance state of stress and torque.
2. The substation foot robot posture adjustment method according to claim 1, characterized in that when the foot robot moves forward, an overspeed withdrawal method is further adopted, so that the withdrawal speed of the swing leg exceeds the stepping speed of the support leg, and the condition that the foot is pressed by a convex part of a ground obstacle vertical surface to break balance when lifting the foot is avoided.
3. The substation legged robot pose adjustment method of claim 2, characterized by the overspeed pullback method being described by speed: the withdrawing speed of the swing leg is k, the pedaling speed of the supporting leg is k; wherein k is greater than 1.
4. The substation legged robot pose adjustment method of claim 2, wherein the overspeed pullback method is described in terms of position: the retreating position of the swing leg is the position of the supporting leg, namely the ratio of the distance of multiple retreating after the foot lifting is finished to the expected duration of the swing phase, and the timing time after the swing phase is started.
5. The substation foot robot attitude adjustment method according to claim 4, wherein the motion trajectory of the swing leg when lifting the foot is divided into an X-axis trajectory and a Z-axis trajectory, the X-axis trajectory is positive forward, and the Z-axis trajectory is the timing time after the swing leg enters the swing phase at the ratio of the Z-axis stepping height to the expected duration of the swing phase.
6. The substation foot robot attitude adjustment method of claim 1, wherein the trunk adjustment amount includes a trunk torsion angle adjustment amount, a trunk pitch angle adjustment amount, a trunk roll angle adjustment amount, a trunk left-right translation adjustment amount, a trunk front-back translation adjustment amount, and a trunk up-down translation adjustment amount.
7. The substation foot robot attitude adjustment method according to claim 1, wherein rotation is expressed by a Z-Y-X euler angle, and a rotation matrix is obtained according to a roll angle, a pitch angle and a torsion angle adjustment amount of a trunk.
8. The substation legged robot pose adjustment method of claim 7,it is characterized in that the new coordinates are:BHIPpTOE＝RX(-ψref)RY(-θref)RZ(-φref)(PHIPpTOE+PpHIP+PpB+δw)-BpHIP；
wherein the content of the first and second substances,PpBrepresenting the amount of translation of the torso in various directions,PpHIPrepresents the position of the hip joint relative to the origin in the second coordinate system, δ represents the left or right leg, w represents the left-right leg splay adjustment, ψref、θref、φrefRespectively represent the roll angle, pitch angle and torsion angle adjustment of the trunk,PHIPpTOEthe position of the toe relative to the hip joint in the second coordinate system,BpHIPfor the position of the hip joint relative to the origin in the shoulder coordinate system, RX,、RY,、RZAnd the X axis and the Y axis and the Z axis of the second coordinate system respectively.
9. The substation foot robot posture adjustment method according to claim 1, wherein a support polygon enclosed by four feet when the foot robot stands is larger than a quadrangle enclosed by a shoulder joint and a hip joint;
or the geometrical information comprises the length from the trunk to the root of the thigh, the length of the thigh and the length of the shank, and the posture information comprises the included angle among the trunk, the thigh and the shank.
10. The attitude adjustment method of the substation foot robot according to claim 1, wherein the attitude of the mechanical arm on the foot motion platform is actively adjusted, and the process of assisting the foot motion platform control system in controlling the attitude of the platform is as follows:
under the same coordinate, calculating the gravity center space pose of the motion platform when the mechanical arm does not act and the gravity center space pose of the mechanical arm when the motion platform does not act based on the balance relation of force and torque space vectors;
under the condition of satisfying pose constraint, the current pose of the robot and the mechanical arm is taken as an initial value, and the optimized motion platform gravity center space pose and the optimized mechanical arm gravity center space pose are obtained through energy consumption minimum criterion and pose iterative feedback and are respectively and correspondingly sent to a foot type motion platform control system and a mechanical arm control system for execution.
11. The substation foot robot pose adjustment method of claim 10, wherein the energy consumption minimization criteria is: and the deviation between the optimized gravity center space pose of the motion platform and the gravity center space pose of the mechanical arm and the expected pose is minimum.
12. The substation foot robot pose adjustment method of claim 10, wherein the pose constraints comprise leg joints constraints and robotic arm constraints; the constraint of each joint of the leg comprises the constraint of the motion range and the limit torque of the joint of the leg; the mechanical arm constraint is a mechanical arm operation space constraint.
13. A controller comprising a computer readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the substation legged robot pose adjustment method of any of claims 1-12.
14. A substation legged robot pose adjustment system, comprising the controller of claim 13.
15. A substation legged robot comprising the substation legged robot pose adjustment system of claim 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011636758.6A CN112847354B (en) | 2020-12-31 | 2020-12-31 | Transformer substation foot type robot posture adjusting method, controller, system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011636758.6A CN112847354B (en) | 2020-12-31 | 2020-12-31 | Transformer substation foot type robot posture adjusting method, controller, system and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112847354A CN112847354A (en) | 2021-05-28 |
| CN112847354B true CN112847354B (en) | 2022-05-17 |
Family
ID=76000352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011636758.6A Active CN112847354B (en) | 2020-12-31 | 2020-12-31 | Transformer substation foot type robot posture adjusting method, controller, system and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112847354B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115476352A (en) * | 2021-05-31 | 2022-12-16 | 腾讯科技（深圳）有限公司 | Robot control method, robot control system and robot |
| CN113580136B (en) * | 2021-08-10 | 2023-03-07 | 国网河北省电力有限公司保定供电分公司 | Control method and system for quadruped robot with mechanical arm |
| CN114275070A (en) * | 2021-12-23 | 2022-04-05 | 仲继锋 | Walking type farmland moving platform robot |
| CN114916314A (en) * | 2022-03-27 | 2022-08-19 | 刘国傲 | Intelligent cotton picking delta robot and method thereof |
| CN114889725B (en) * | 2022-05-17 | 2023-03-28 | 中国科学院自动化研究所 | Stable supporting method and device for quadruped robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107065907A (en) * | 2017-04-14 | 2017-08-18 | 中国北方车辆研究所 | A kind of method for planning the sufficient end swinging track of quadruped robot |
| CN109093626A (en) * | 2018-09-28 | 2018-12-28 | 中科新松有限公司 | The fuselage attitude control method and device of quadruped robot |
| CN110035872A (en) * | 2016-12-13 | 2019-07-19 | 波士顿动力公司 | Use whole manipulation of the dynamic equilibrium on legged robot |
| CN110480640A (en) * | 2019-08-26 | 2019-11-22 | 中科新松有限公司 | Robot foot end method for planning track for step topography walking |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10017218B1 (en) * | 2015-11-11 | 2018-07-10 | Boston Dynamics, Inc. | Achieving a target gait behavior in a legged robot |
-
2020
- 2020-12-31 CN CN202011636758.6A patent/CN112847354B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110035872A (en) * | 2016-12-13 | 2019-07-19 | 波士顿动力公司 | Use whole manipulation of the dynamic equilibrium on legged robot |
| CN107065907A (en) * | 2017-04-14 | 2017-08-18 | 中国北方车辆研究所 | A kind of method for planning the sufficient end swinging track of quadruped robot |
| CN109093626A (en) * | 2018-09-28 | 2018-12-28 | 中科新松有限公司 | The fuselage attitude control method and device of quadruped robot |
| CN110480640A (en) * | 2019-08-26 | 2019-11-22 | 中科新松有限公司 | Robot foot end method for planning track for step topography walking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112847354A (en) | 2021-05-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112847354B (en) | Transformer substation foot type robot posture adjusting method, controller, system and robot | |
| US7319919B2 (en) | Control device and footstep determination device for legged mobile robot | |
| WO2020233050A1 (en) | Biped robot uneven road surface dynamic running gait implementation method | |
| KR101985790B1 (en) | Walking robot and control method thereof | |
| KR101112499B1 (en) | Control device for mobile body | |
| CN111497965B (en) | Wheel-foot switching robot system and control method thereof | |
| CN112693541A (en) | Foot type robot of transformer substation, inspection system and method | |
| Winkler et al. | Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots | |
| JPH05337849A (en) | Attitude stabilization control device for leg type mobile robot | |
| JPWO2003011535A1 (en) | Legged mobile robot and its motion control method | |
| CN108089583B (en) | Method and device for motion transition of multi-legged robot | |
| CN113830197B (en) | Balance control method applied to dynamic walking of biped robot | |
| CN112859901B (en) | Continuous dynamic stable jumping control method of humanoid robot | |
| JP5639342B2 (en) | Robot and its walking control method | |
| Xu et al. | Obstacle-negotiation performance on challenging terrain for a parallel leg-wheeled robot | |
| Matsuzawa et al. | Crawling gait generation method for four-limbed robot based on normalized energy stability margin | |
| JP2009107032A (en) | Legged robot and its control method | |
| CN113552880B (en) | Balance control method for biped wheeled robot | |
| Liang et al. | Vision-based dynamic gait stair climbing algorithm for quadruped robot | |
| CN114684295B (en) | Foot lifting step planning method for foot robot, controller and foot robot | |
| Ma et al. | Trotting gait control of quadruped robot based on Trajectory Planning | |
| Yong et al. | A movement planning and control method of special robot over obstacle based on centroid monitoring | |
| CN109324624A (en) | It is a kind of based on can operational readiness analysis rugged topography hexapod robot method of operating | |
| Scholz et al. | Fast, robust and versatile humanoid robot locomotion with minimal sensor input | |
| CN114683272B (en) | Stability enhancement control method of substation inspection robot, controller and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |