CN112859593A - Body posture and foot end stress cooperative control method for wheel-legged robot - Google Patents

Body posture and foot end stress cooperative control method for wheel-legged robot Download PDF

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CN112859593A
CN112859593A CN202011616868.6A CN202011616868A CN112859593A CN 112859593 A CN112859593 A CN 112859593A CN 202011616868 A CN202011616868 A CN 202011616868A CN 112859593 A CN112859593 A CN 112859593A
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leg
robot
force
foot end
controller
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CN112859593B (en
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汪首坤
雷涛
王亮
司金戈
刘鹏涛
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Beijing Institute of Technology BIT
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
    • G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means

Abstract

The invention relates to a method for cooperatively controlling the body posture and the foot end stress of a wheel-legged robot, belonging to the technical field of robot motion driving and control. According to the invention, through designing the attitude adjustment model and the gravity height adjustment model, the attitude controller and the gravity height controller are arranged on the control outer ring, and the force controller is arranged on the inner ring, so that the foot end force control, the attitude control and the height control are unified into force tracking control, and the control target that the robot keeps the body horizontal, the foot end contact force is maintained in a certain range and the gravity height deforms along with the ground to be adjusted in a self-adaptive manner through a complex road surface is realized. The method greatly reduces the coupling influence of the three controllers, effectively inhibits the disturbance of the external terrain, finally achieves the effect of the stability of the motion of the robot body, and provides possibility for the practical application of the robot carrying equipment in the fields of unmanned special combat, disaster-resistant rescue, field exploration, star surface detection and the like.

Description

Body posture and foot end stress cooperative control method for wheel-legged robot
Technical Field
The invention relates to a method for cooperatively controlling the body posture and the foot end stress of a wheel-legged robot, belonging to the technical field of robot motion driving and control.
Background
The wheel-leg robot has the motion advantages of both the wheel robot and the leg robot, has the characteristics of various motion forms, high moving speed, high motion efficiency, good obstacle crossing performance and the like, and can be used in the fields of unmanned special combat, disaster-resistant rescue, field exploration, star surface detection and the like.
When the robot moves in a wheel type, the robot often encounters rough road conditions, and when the robot walks on the rough road conditions, the body inclines along with the fluctuation of the terrain, so that a series of problems are caused. Firstly, the robot shakes violently with the surface fluctuation, greatly affecting the motion stability. Secondly, the center of gravity of the robot is shifted, which may cause the body to roll over. In addition, the partial suspension wheels of the robot cannot provide driving force, and the climbing capability of the robot is weakened.
The attitude, foot end contact force and high center of gravity of the robot all affect the stability of the robot in advancing. The control of the contact force of the posture and the foot end is the premise of ensuring the stable running of the robot with the wheel legs, and can avoid the problems of uncertain vibration of the robot body, suspended foot end, slippage, insufficient driving force and the like. Therefore, the body posture and the foot end stress of the wheel-leg robot are cooperatively controlled, which is a necessary premise for realizing the stable running of the wheel-leg robot on irregular terrain.
In the prior art, the stable control strategy of the robot body of the wheel-leg robot mainly changes the length of each leg, so that the robot body is kept horizontal when moving on a rugged road. In the process of adjusting the extension amount of each leg, the length correction amount of each leg is calculated by designing a foot end force controller, a gravity height controller and a fuselage attitude compensation controller. However, the simple addition of the control quantities of the three controllers is not the desired optimal control result, because the control quantities of the outputs are mutually coupled and even contradictory, which easily causes the wheel-leg robot to be in a state of instability, violent oscillation, runaway and the like.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a method for cooperatively controlling the body attitude and the foot end stress of a wheel-legged robot, aiming at solving the coupling problem in the control process of a foot end force controller, a gravity height controller and a body attitude compensation controller in the stable control process of the body of the wheel-legged robot.
The innovation points of the invention are as follows: the attitude controller and the gravity height controller are arranged on the control outer ring, and the force controller is arranged on the inner ring, so that the foot end force control, the attitude control and the height control are unified into force tracking control, and the control target that the robot keeps the body horizontal, the foot end contact force is maintained in a certain range and the gravity height is adaptively adjusted along with the change of the ground deformation through a complex road surface is realized.
A method for cooperatively controlling the body attitude and the foot end stress of a wheel-legged robot comprises the following steps:
step 1: and designing a fuselage attitude controller.
The attitude adjustment model calculates the length adjustment quantity delta l of each leg according to the measurement value of the attitude sensoriThe calculation method is as follows:
Figure BDA0002875106560000021
wherein phi, theta,
Figure BDA0002875106560000022
Representing the fuselage attitude angle (x) collected by the attitude sensorBi,yBi0) is the coordinate of the one-legged base in the fuselage coordinate system, i denotes the robot leg number.
Step 2: and designing a gravity center height controller.
The gravity center height adjustment model plans the stretching amount delta L of each leg according to the actual extension length of each legiSo that all legs have sufficient working space.
The extension length of each leg is used as the input of the gravity center height adjustment model, and the shortest leg length is Len, PLAnd PHRespectively representing the lowest and highest threshold values for the extension of the leg in the robot operating condition. When Len<PLWhen, the working space of a certain leg is illustratedAnd if the position of each leg is not enough, adjusting the position of each leg by the following steps:
ΔLi＝PL-Len (2)
conversely, when Len > PHIn the process, the working spaces of all legs of the robot can adapt to the current terrain, and the gravity center height, delta L, needs to be reducediComprises the following steps:
ΔLi＝PH-Len (3)
and step 3: a force tracking offset is calculated.
The attitude controller and the gravity center height controller are arranged on the control outer ring, and the foot end force controller is arranged on the inner ring, so that the foot end force control, the attitude control and the height control are unified into force tracking control.
The expected force F of the foot endi rThe actual force F along the vertical direction with the foot endi ZSubtracting to obtain the initial force tracking deviation Fi e. Calculating the delta l calculated in the step 1iMultiplying by a factor K1Conversion into driving force deltafi PCalculating the Δ L of step 2iMultiplying by a factor K2Conversion into driving force deltafi H. Then, the initial force is tracked by a deviation Fi eAnd Δ Fi P、ΔFi HAdding to obtain the real force deviation F of foot endi E。
Wherein, K1The physical meaning of (A) is as follows: let each leg at Δ t1Making uniform acceleration motion with initial velocity of zero along vertical direction in time, acceleration of a1The amount of displacement is-DeltaliWhen the mass shared by the body on one leg is m, the driving force Δ F required by the process isi PComprises the following steps:
Figure BDA0002875106560000031
namely, it is
Figure BDA0002875106560000032
K2The physical meaning of (A) is as follows: let each leg at Δ t2Do in the vertical direction within timeA uniform acceleration of zero initial velocity, a2The amount of displacement is DeltaLiAnd the mass shared by the body on one leg is m, then the driving force required by the process is:
Figure BDA0002875106560000033
namely, it is
Figure BDA0002875106560000034
And 4, step 4: f calculated in step 3i EThe output of the foot end force controller is the leg length adjustment as an input to the foot end force controller, and this length adjustment is input to the actuator of each leg. Therefore, the effect of adjusting the posture, the gravity height and the stress of the foot end of the robot is achieved by adjusting the length of each leg.
Here, the foot end force controller can be designed arbitrarily as a controller that meets the requirements.
Advantageous effects
Compared with the prior art, the method of the invention has the following advantages:
the invention utilizes the idea of cascade control to convert the attitude control and the gravity center height control of the robot into the foot end force tracking control, greatly reduces the coupling influence of three controllers, effectively inhibits the disturbance of external terrain, finally achieves the effect of the motion stability of the robot body, and provides possibility for the practical application of the robot carrying equipment in the fields of unmanned special combat, disaster-resistant rescue, field exploration, star surface detection and the like.
In addition, the method designed by the method is simple and feasible in actual engineering, not only improves the adaptability of the wheel-leg robot to a complex environment, but also can be used for stability control of a vehicle with an active suspension.
Drawings
FIG. 1 is a frame for controlling the attitude and foot end stress of the fuselage in a coordinated manner;
FIG. 2 is a simplified kinematic model of a wheel-legged robot;
FIG. 3 is a robot single leg impedance model and an environmental contact model;
FIG. 4 is a block diagram of foot end force tracking control;
fig. 5 is a center of gravity height adjustment model.
Detailed Description
The method of the present invention is further described in detail below with reference to the drawings and examples.
Examples
Taking a 6-wheel leg robot as an example, a control frame as shown in fig. 1 is established, and i is 1,2, …, and 6 indicate the numbers of legs.
A coordinate system as shown in fig. 2 is established, 6 legs of the robot are numbered in the counterclockwise direction in turn, a coordinate system of the robot is Σ, and a base coordinate system thereof is Σ'. Initially, the robot body is kept horizontal, the connected coordinate system is coincident with the base coordinate system, the origin of coordinates is located at the center of the robot body, and the x axis and the line segment O areB1OB2Perpendicular, y-axis to line segment OB3OB6Parallel, with the z-axis oriented perpendicular to the plane of the fuselage. Point OBi(i 1.., 6.) indicates that 6 legs are at the center of articulation of the fuselage, and also the origin of the base coordinate system for each leg.
A single leg has only one degree of freedom in the vertical direction. When the robot is influenced by the obstacle, set OBi(i 1.., 6.) are respectively rotated around the x, y, and z axes of the base coordinate system by phi, theta, and theta,
Figure BDA0002875106560000041
The positive direction of rotation is the direction of a right-handed screw. Let OBiThe coordinate vector in the connected coordinate system is OBiThe coordinate vector in the base coordinate system is O'BiAnd then:
Figure BDA0002875106560000042
wherein T (phi), T (theta),
Figure BDA0002875106560000043
Respectively as follows:
Figure BDA0002875106560000044
let OBiThe coordinates in the connected coordinate system are represented as (x)Bi,yBi0) which is determined by the structural parameters of the robot. Is O'BiCoordinate value in the vertical direction in the base coordinate system is Δ liThe value is:
Figure BDA0002875106560000045
if the displacement of the 6 legs of the robot stretching along the vertical direction is-delta liThe posture of the machine body can be adjusted to be horizontal. This way only one degree of freedom of the leg needs to be controlled, which is convenient in practical application.
Let leg i (1,...,6) at Δ t1Making uniform acceleration motion with initial velocity of zero along vertical direction in time, acceleration of a1The amount of displacement is-DeltaliAnd the mass shared by the body on one leg is m, then the driving force required by the process is:
Figure BDA0002875106560000046
Figure BDA0002875106560000047
in the actual control process, as shown in fig. 1, the driving force Δ Fi PDeviation from initial force tracking Fi eThe addition results in the conversion of the control amount of the attitude controller into the foot end force tracking deviation.
In the embodiment, the foot end force tracking control of the six-wheel leg robot is realized by adopting an admittance control algorithm. As shown in FIG. 3, the model of the contact force between the foot end and the environment is simplified into a spring damping model, BeAnd KeRespectively representing ambient damping and ambient stiffness. Simplifying the single leg of the robot into a mass-damping-rigidity second-order impedance model in order to keep the contact force within a certain rangeWith a force deviation FeAs inputs to the second order impedance model, namely:
Figure BDA0002875106560000051
m, B, K is a mass coefficient, a damping coefficient and a rigidity coefficient respectively; x, X,
Figure BDA0002875106560000052
Respectively representing the position, the speed and the acceleration of the foot end of the robot; xr、
Figure BDA0002875106560000053
Respectively representing a desired position, a desired velocity and a desired acceleration of the foot end;
let Δ X be X-XrAnd performing Laplace transformation on the above formula to obtain:
Figure BDA0002875106560000054
the force tracking control frame of the single leg of the robot is shown in figure 4, FcRepresenting the actual force applied to the foot end, FrIndicating the desired force. Force deviation Fe＝Fr-Fc，FeAfter passing through an impedance model, the correction quantity is converted into position correction quantity delta X, XrAdding Δ X to obtain the actual desired position X of the legdThereby driving the single leg to move to realize the force tracking control.
The center of gravity height adjustment model is shown in fig. 4. The input of the model is the extension length of each leg, and the shortest leg length is Len, PLAnd PHRespectively representing the lowest and highest threshold values for the extension of the leg in the robot operating condition. When Len<PLWhen the working space of a certain leg is insufficient, the position adjustment amount of a single leg is as follows:
ΔLi＝PL-Len (8)
due to Delta Li>And 0, extending all the legs of the robot simultaneously, so that the working space of the legs is improved on the premise of not interfering the posture of the robot body.Conversely, when Len > PHIn time, the working spaces of all the legs of the robot can adapt to the current terrain, the gravity center height is properly reduced, and the delta L is calculatediComprises the following steps:
ΔLi＝PH-Len (9)
due to Delta Li<And 0, all legs retract simultaneously, so that the gravity center of the robot body is kept at a lower height, and the stability of the robot is improved. The gravity height controller can not only ensure the normal operation of the force controller and the attitude controller, but also enable the robot to adapt to more complex terrains.
Let leg i (1,...,6) at Δ t2Making uniform acceleration motion with initial velocity of zero along vertical direction in time, acceleration of a2The amount of displacement is DeltaLiAnd the mass shared by the body on one leg is m, then the driving force required by the process is:
Figure BDA0002875106560000061
wherein the content of the first and second substances,
Figure BDA0002875106560000062
in the actual control process, as shown in fig. 1, the driving force Δ Fi HDeviation from initial force tracking Fi eThe addition results in the control amount of the center of gravity height controller being converted into a foot end force tracking deviation.
In FIG. 1, the desired force F is applied to the foot endi rThe actual force F along the vertical direction with the foot endi ZSubtracting to obtain the initial force tracking deviation Fi e. Initial force tracking offset Fi eAnd Δ Fi P、ΔFi HAdding to obtain the real force deviation F of foot endi E，Fi EThe output of the controller is the length adjustment of the legs, which is input to the actuators of the legs. Therefore, the effect of adjusting the posture, the gravity height and the stress of the foot end of the robot is achieved by adjusting the length of each leg.
In summary, the above is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (2)

1. A method for cooperatively controlling the body attitude and the foot end stress of a wheel-legged robot is characterized by comprising the following steps:
step 1: designing a body attitude controller;
the attitude adjustment model calculates the length adjustment quantity delta l of each leg according to the measurement value of the attitude sensoriThe calculation method is as follows:
Figure FDA0002875106550000011
wherein phi, theta,
Figure FDA0002875106550000012
Representing the fuselage attitude angle (x) collected by the attitude sensorBi,yBi0) is the coordinate of the single-leg base in the body coordinate system, i represents the number of the robot leg;
step 2: designing a gravity center height controller;
the gravity center height adjustment model plans the stretching amount delta L of each leg according to the actual extension length of each legiAll legs have enough working space;
the extension length of each leg is used as the input of the gravity center height adjustment model, and the shortest leg length is Len, PLAnd PHMinimum and maximum threshold values respectively representing leg elongation in a robot working state; when Len<PLWhen the working space of a certain leg is insufficient, the position of each leg is adjusted by the following steps:
ΔLi＝PL-Len (2)
conversely, when Len > PHIn the meantime, it is stated that the working spaces of all legs of the robot can adapt to the current terrain, and the weight needs to be reducedHeart height,. DELTA.LiComprises the following steps:
ΔLi＝PH-Len (3)
and step 3: a force tracking offset is calculated.
The attitude controller and the gravity center height controller are arranged on the control outer ring, and the foot end force controller is arranged on the inner ring, so that the foot end force control, the attitude control and the height control are unified into force tracking control;
the expected force F of the foot endi rThe actual force F along the vertical direction with the foot endi ZSubtracting to obtain the initial force tracking deviation Fi e(ii) a Calculating the delta l calculated in the step 1iMultiplying by a factor K1Conversion into driving force deltafi PCalculating the Δ L of step 2iMultiplying by a factor K2Conversion into driving force deltafi H(ii) a Then, the initial force is tracked by a deviation Fi eAnd Δ Fi P、ΔFi HAdding to obtain the real force deviation F of foot endi E；
Wherein, K1The physical meaning of (A) is as follows: let each leg at Δ t1Making uniform acceleration motion with initial velocity of zero along vertical direction in time, acceleration of a1The amount of displacement is-DeltaliWhen the mass shared by the body on one leg is m, the driving force Δ F required by the process isi PComprises the following steps:
Figure FDA0002875106550000021
K2the physical meaning of (A) is as follows: let each leg at Δ t2Making uniform acceleration motion with initial velocity of zero along vertical direction in time, acceleration of a2The amount of displacement is DeltaLiAnd the mass shared by the body on one leg is m, then the driving force required by the process is:
Figure FDA0002875106550000022
and 4, step 4: f calculated in step 3i EAs an input of the foot end force controller, the output of the foot end force controller is a length adjustment amount of the leg, and the length adjustment amount is input to an actuator of each leg; therefore, the effect of adjusting the posture, the gravity height and the stress of the foot end of the robot is achieved by adjusting the length of each leg;
here, the foot end force controller can be arbitrarily designed as a controller that satisfies the requirement.
2. The method as claimed in claim 1, wherein a coordinate system is established when calculating the length adjustment of each leg, wherein the coordinate system of the robot is Σ and the base coordinate system thereof is Σ';
initially, the robot body is kept horizontal, the connected coordinate system is coincident with the base coordinate system, the origin of coordinates is located at the center of the robot body, and the x axis and the line segment O areB1OB2Perpendicular, y-axis to line segment OB3OB6Parallel, the z-axis is vertical to the plane of the machine body and upward; point OBi(i 1.., 6) indicates that each leg is at the center of articulation of the fuselage, and is also the base coordinate system origin of each leg; i-1, 2, …,6 indicates the number of the leg;
one leg only has one degree of freedom along the vertical direction, and when the robot is influenced by an obstacle, the robot is provided with an OBi(i 1.., 6.) are respectively rotated around the x, y, and z axes of the base coordinate system by phi, theta, and theta,
Figure FDA0002875106550000023
The positive rotation direction is a right-hand spiral direction; let OBiThe coordinate vector in the connected coordinate system is OBiThe coordinate vector in the base coordinate system is O'BiAnd then:
Figure FDA0002875106550000024
wherein T (phi), T (theta),
Figure FDA0002875106550000025
Respectively as follows:
Figure FDA0002875106550000026
let OBiThe coordinates in the connected coordinate system are represented as (x)Bi,yBi0), determined by the structural parameters of the robot;
is O'BiCoordinate value in the vertical direction in the base coordinate system is Δ liAnd represents the length adjustment of each leg.
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