CN112936284A - Method for finding back zero position of quadruped robot after starting up - Google Patents
Method for finding back zero position of quadruped robot after starting up Download PDFInfo
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- CN112936284A CN112936284A CN202110259665.4A CN202110259665A CN112936284A CN 112936284 A CN112936284 A CN 112936284A CN 202110259665 A CN202110259665 A CN 202110259665A CN 112936284 A CN112936284 A CN 112936284A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The application discloses a method for retrieving a zero position of a quadruped robot after starting, which comprises the following steps: performing zero marking operation on the joints of the quadruped robot; after zero marking, moving the joint of the quadruped robot to the limit position, acquiring the actual number of turns N0 at the moment through a driver, and storing the number of turns into an EEPROM memory; after the quadruped robot is started, a force control command is sent to the joint through the motion control host machine, so that the joint moves to the limit position; and when the driver acquires that the joint rotating speed is smaller than the preset range and the received torque command and the torque command actually executed by the driver are always larger than the set threshold value, acquiring the number of turns N0 from the EEPROM, and updating the current position information to be N0 (the maximum value of the single-turn encoder) + the feedback value of the current single-turn encoder. The problem that the service life of the EEPROM is influenced by repeatedly updating the stored value of the EEPROM when a single-turn encoder records multi-turn information in the related technology is solved.
Description
Technical Field
The application relates to the field of control of quadruped robots, in particular to a method for finding back a zero position of a quadruped robot after starting.
Background
In the existing four-foot robot control, a single-loop encoder which has the same high precision but low cost is adopted for reducing the cost. Because the single-loop encoder cannot remember multi-loop information, the single-loop encoder often adopts modes such as EEPROM (electrically erasable programmable read-Only memory) storage to be used as power-down memory, and in the moving process of the quadruped robot, the position can be repeatedly updated, the current loop number can also be repeatedly updated, and the value stored by the EEPROM can be repeatedly erased and written. The memory chip is long-lived, and the problem of failure is easy to occur after the memory chip reaches a certain number of upper limits. In addition, the initial positions of the four legs of the quadruped robot are manually placed when the quadruped robot needs to be started without recording multi-circle information, so that great inconvenience is caused in use.
Disclosure of Invention
The embodiment of the application aims to provide a method for retrieving a zero position of a quadruped robot after starting up, so as to solve the problem that the service life of the quadruped robot is influenced by repeatedly updating an EEPROM (electrically erasable programmable read-Only memory) storage value when a single-coil encoder records multi-coil information in the related technology.
According to the embodiment of the application, a method for finding back the zero position of a quadruped robot after starting up is provided, and is characterized by comprising the following steps:
performing zero marking operation on the joints of the quadruped robot;
after zero marking, moving the joint of the quadruped robot to the limit position, acquiring the actual number of turns N0 at the moment through a driver, and storing the number of turns into an EEPROM memory;
after the quadruped robot is started, a force control command is sent to the joint through the motion control host machine, so that the joint moves to the limit position;
and when the driver acquires that the joint rotating speed is smaller than the preset range and the received torque command and the torque command actually executed by the driver are always larger than the set threshold value, acquiring the number of turns N0 from the EEPROM, and updating the current position information to be N0 (the maximum value of the single-turn encoder) + the feedback value of the current single-turn encoder.
Further, the quadruped robot comprises four legs and a motion control host, each leg consists of three joints, each joint comprises a motor, a driver and a single-loop encoder, the driver drives the motor to enable the joint to exert force, the driver obtains position information of actual rotation of the motor through the single-loop encoder, and all the joints are controlled by the motion control host.
Further, performing a zero marking operation on the joints of the quadruped robot, comprising:
the joints of the quadruped robot are fixed to a preset position through a tool, the motion control host sends a command to inform a driver, the preset position is used as an initial zero position in motion control, position information of the single-turn encoder in the initial zero position is obtained and recorded as Q0 and stored in an EEPROM memory, and the current turn number value is set to be 0.
Further, the predetermined position is the current position of the tooling after the joints of the quadruped robot are fixed.
Further, moving the joints of the quadruped robot to the extreme positions, acquiring the number of turns N0 actually rotated at the moment through a driver and storing the number of turns into an EEPROM memory, and the method comprises the following steps:
the joint of the quadruped robot is hit to the limit position of the joint in one direction, in the rotation process of the joint, when the number of the joints exceeds one circle, the value obtained by the single-circle type encoder jumps back to 0 from the maximum value, so that the robot can be considered to pass through one circle only when the change value is judged to exceed one half of the maximum value, the current number of the circles N0 is obtained after the joint is hit to the limit, and the number of the circles is stored in an EEPROM memory.
Further, the predetermined range is less than 5 rpm.
Further, the set threshold is greater than 1.5A.
Further, the single-turn encoder has a maximum value of 16384.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the embodiment, as the chip of the EEPROM has the upper limit of erasing times, the technical scheme provided by the embodiment of the application only needs to record information for a plurality of circles once in the zero marking stage of factory shipment and store the information in the EEPROM, so that the problem that the EEPROM needs to be erased and written repeatedly on the market is avoided, and the service life of the EEPROM is prolonged. Meanwhile, the zero returning action is controlled by sending a force control command through the motion control host, and compared with certain existing schemes needing to manually place four legs on the market, the zero returning action is more convenient.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a flowchart illustrating a method for retrieving a zero position of a quadruped robot after the quadruped robot is powered on according to an exemplary embodiment.
FIG. 2 is a flow chart illustrating zero position calibration for the quadruped robotic joints according to one exemplary embodiment.
FIG. 3 is a flow chart illustrating the return of the null position of the quadruped robotic joint according to one exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
Fig. 1 is a flowchart illustrating a method for retrieving a zero position of a quadruped robot after the quadruped robot is powered on according to an exemplary embodiment. The embodiment of the invention provides a method for finding back a zero position of a quadruped robot after starting up, the quadruped robot comprises four legs and a motion control host, each leg consists of three joints, each joint comprises a motor, a driver and a single-loop encoder, the driver drives the motor to enable the joints to exert force, the driver obtains the position information of the actual rotation of the motor through the single-loop encoder, and all the joints are controlled by the motion control host. The quadruped robot according to the present embodiment may refer to the technical solution disclosed in the patent document with the application number CN202010187631.4, or other existing technical solutions. The method can comprise the following steps:
step S101, performing zero marking operation on joints of the quadruped robot;
step S102, after zero marking, moving the joints of the quadruped robot to the extreme position, acquiring the actual rotation number of turns N0 at the moment through a driver and storing the number of turns into an EEPROM memory;
step S103, after the quadruped robot is started, a force control command is sent to the joint through the motion control host machine, so that the joint moves to the limit position;
and step S104, when the driver acquires that the joint rotating speed is smaller than the preset range and the received torque command and the torque command actually executed by the driver are always larger than the set threshold, acquiring the number of turns N0 from the EEPROM, and updating the current position information to be N0 (the maximum value of the single-turn encoder) + the feedback value of the current single-turn encoder.
Through the technical scheme, each quadruped robot only needs to write the information of multiple circles of all joints into the EEPROM memory once when the assembly is completed for the first time, and then reads the information of multiple circles after the quadruped robot moves to the limit position through the joints when the quadruped robot is started up each time. Therefore, the situation that the EEPROM is repeatedly erased and finally cannot be erased and written can be avoided. Meanwhile, the motion control host sends a force control command to the joint, so that the process is simpler and more convenient. Compared with the multi-ring encoder on the market, the single-ring encoder has much cheaper price, so that the cost is effectively reduced.
According to the step S101, the zero marking operation for the joints of the quadruped robot may include the following steps:
FIG. 2 is a flow chart illustrating zero position calibration for the quadruped robotic joints according to one exemplary embodiment. The four-footed robot is marked with zero positions through the tooling, namely, joints of the four-footed robot are fixed to a preset position through the attached tooling, a driver is informed through an upper computer software tool (any other mode capable of being informed to the driver can be used), the specified position is specified to be an initial zero position in motion control, then currently acquired encoder position information Qt is used as an offset on software, the offset is recorded as Q0 and stored into an EEPROM, the value of the current turn number N is set to be 0, and then the current position information P is (Qt-Q0) ((2 pi) ((Q-Q) 84+ N) (2 pi) (because the current Qt is equal to Q0 and N is 0)). Because the zero position can be automatically found back by sending a command on software and one key, compared with some manual placing modes on the market at present, the method is simpler and more reliable.
Further, the predetermined position is the current position of the tooling after the joints of the quadruped robot are fixed. The zero marking precision of the tooling is high, so that the initial zero positions of all joints of the quadruped robot with the same model can be the same as much as possible.
According to the step S102, moving the joints of the quadruped robot to the extreme positions, acquiring the number of turns N0 actually rotated at the moment through the driver and storing the number of turns in the EEPROM memory, may include the following steps:
the joint of four-legged robot is beaten the spacing position of joint (fixed one direction) manually or through motion control, the joint is at the rotation in-process, can pass through many rings of change, when exceeding the round, the value that the encoder acquireed can jump back 0 from 16384, only need so judge when the change value exceeds 16384/2, can regard as through the round, N is N +1, beat spacing back at the joint, acquire current number of turns N through software, strike the order through software, with this number of turns N, deposit EEPROM, record as N0.
After zero marking, the number of turns N0 is the information of the turns to be memorized, and in doing so, the EEPROM memory can be written only once.
In step S103, after the four-legged robot is started, the motion control host sends a force control command to the joint, so that the joint moves to an extreme position;
in the step, the motion control host sends a force control instruction to each joint to slowly move to a limiting position, and then sends a 2A constant force control instruction, so that each joint can autonomously make a zero returning action without manual placement.
In step S104, when the driver obtains that the joint rotation speed is smaller than the predetermined range, and the received torque command and the torque command actually executed by the driver are always greater than the set threshold, the number of turns N0 is obtained from the EEPROM, and the current position information is updated to N0 × (maximum value of single-turn encoder) + feedback value of current single-turn encoder, which is specifically as follows:
FIG. 3 is a flow chart illustrating the return of the null position of the quadruped robotic joint according to one exemplary embodiment. When the driver judges that the current joint rotating speed is smaller than the preset range, and the received torque command and the torque command actually executed by the driver are larger than the set threshold value, the number of turns N0 originally stored in the EEPROM is assigned to the current number of turns N, namely N is N0, then the position information of the current limit is updated to P is (Qt-Q0) 2 pi/16384 + N (2 pi), and the lost zero position information is retrieved.
In the step S104, the predetermined range may be less than 5 rpm. The set threshold may be greater than 1.5A. The single-turn encoder may have a maximum value of 16384.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (8)
1. A method for finding back a zero position of a quadruped robot after starting up is characterized by comprising the following steps:
performing zero marking operation on the joints of the quadruped robot;
after zero marking, moving the joint of the quadruped robot to the limit position, acquiring the actual number of turns N0 at the moment through a driver, and storing the number of turns into an EEPROM memory;
after the quadruped robot is started, a force control command is sent to the joint through the motion control host machine, so that the joint moves to the limit position;
and when the driver acquires that the joint rotating speed is smaller than the preset range and the received torque command and the torque command actually executed by the driver are always larger than the set threshold value, acquiring the number of turns N0 from the EEPROM, and updating the current position information to be N0 (the maximum value of the single-turn encoder) + the feedback value of the current single-turn encoder.
2. The method of claim 1, wherein the quadruped robot comprises four legs and a motion control host, each leg comprises three joints, each joint comprises a motor, a driver and a single-turn encoder, the driver drives the motor to apply force to the joint, the driver obtains the position information of the actual rotation of the motor through the single-turn encoder, and all the joints are controlled by the motion control host.
3. The method for retrieving the zero position of the quadruped robot after the startup of the robot as claimed in claim 1, wherein the zero marking operation is performed on the joints of the quadruped robot, and comprises:
the joints of the quadruped robot are fixed to a preset position through a tool, the motion control host sends a command to inform a driver, the preset position is used as an initial zero position in motion control, position information of the single-turn encoder in the initial zero position is obtained and recorded as Q0 and stored in an EEPROM memory, and the current turn number value is set to be 0.
4. The method for retrieving the zero position of the quadruped robot after being started up according to claim 1, wherein the predetermined position is a current position of the tooling after the tooling fixes the joints of the quadruped robot.
5. The method for retrieving the zero position of the quadruped robot after the startup of the robot as claimed in claim 1, wherein the joints of the quadruped robot are moved to the extreme positions, the number of actual turns at this time, N0, is obtained by the driver and is stored in the EEPROM memory, and the method comprises the following steps:
the joint of the quadruped robot is hit to the limit position of the joint in one direction, in the rotation process of the joint, when the number of the joints exceeds one circle, the value obtained by the single-circle type encoder jumps back to 0 from the maximum value, so that the robot can be considered to pass through one circle only when the change value is judged to exceed one half of the maximum value, the current number of the circles N0 is obtained after the joint is hit to the limit, and the number of the circles is stored in an EEPROM memory.
6. The method of claim 1, wherein the predetermined range is less than 5 rpm.
7. The method for retrieving the zero position of the quadruped robot after starting up according to claim 1, wherein the set threshold is greater than 1.5A.
8. The method of claim 1, wherein the maximum value of the single-turn encoder is 16384.
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| CN114018296A (en) * | 2021-10-11 | 2022-02-08 | 珠海市大然机器人科技有限公司 | Servo motor control method |
| CN116619347A (en) * | 2023-07-06 | 2023-08-22 | 深圳逐际动力科技有限公司 | Actuator, biped, quadruped and quadruped robot, mechanical arm and control method |
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| CN116619347A (en) * | 2023-07-06 | 2023-08-22 | 深圳逐际动力科技有限公司 | Actuator, biped, quadruped and quadruped robot, mechanical arm and control method |
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