CN112947439A - Position adjusting method and device, terminal equipment and readable storage medium - Google Patents
Position adjusting method and device, terminal equipment and readable storage medium Download PDFInfo
- Publication number
- CN112947439A CN112947439A CN202110164560.0A CN202110164560A CN112947439A CN 112947439 A CN112947439 A CN 112947439A CN 202110164560 A CN202110164560 A CN 202110164560A CN 112947439 A CN112947439 A CN 112947439A
- Authority
- CN
- China
- Prior art keywords
- compensation amount
- historical
- virtual force
- planning
- preset
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000004364 calculation method Methods 0.000 claims description 29
- 239000011159 matrix material Substances 0.000 claims description 22
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000013016 damping Methods 0.000 claims description 10
- 239000000126 substance Substances 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 16
- 238000004891 communication Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The application provides a position adjusting method, a position adjusting device, terminal equipment and a readable storage medium, and relates to the technical field of robots. The method comprises the following steps: determining a planning position to be implemented corresponding to the current moment of the tail end of the robot according to the planning track, and obtaining the distance between the tail end of the robot and the obstacle at the current actual position; determining a virtual force corresponding to the distance; obtaining a position compensation quantity of a planning position to be implemented according to a preset admittance control equation and a virtual force; and adjusting the planning position to be implemented according to the position compensation amount. Therefore, the virtual force can be generated according to the space distance between the robot and the obstacle when the robot is at the current actual position, the position adjustment amount is generated in real time based on the virtual force through admittance control, and the planning position corresponding to the current moment is adjusted, so that the planning track is adjusted on line, and collision is avoided.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a position adjustment method, an apparatus, a terminal device, and a readable storage medium.
Background
At present, generally, a track is planned in advance, and then the robot performs motion operation according to the planned track. However, when an unexpected obstacle appears in the working path, if the robot still moves according to the planned trajectory, the robot inevitably collides with the obstacle, and at least one of the robot and the obstacle is damaged. Therefore, how to avoid the collision between the robot and the obstacle when the robot performs the operation according to the planned trajectory has become a technical problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
The application aims to provide a position adjusting method, a position adjusting device, a terminal device and a readable storage medium, which can generate a virtual force according to the space distance between a robot and an obstacle at the current actual position, and further generate a position adjusting amount in real time based on the virtual force through admittance control so as to realize online adjustment on a planned track, thereby avoiding collision.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a position adjustment method, including:
determining a planning position to be implemented corresponding to the current moment of the tail end of the robot according to the planning track, and obtaining the distance between the tail end of the robot and the obstacle at the current actual position;
determining a virtual force corresponding to the distance;
obtaining the position compensation quantity of the planning position to be implemented according to a preset admittance control equation and the virtual force;
and adjusting the planning position to be implemented according to the position compensation amount.
In an optional embodiment, the obtaining a position compensation amount of the planning position to be implemented according to a preset admittance control equation and the virtual force includes:
and calculating to obtain the position compensation amount according to the preset admittance control equation, the historical compensation amount information corresponding to the current actual position and the virtual force, wherein the historical compensation amount information is obtained according to the current actual position and the historical planning position corresponding to the current actual position.
In an optional embodiment, the calculating the position compensation amount according to the preset admittance control equation, the historical compensation amount information corresponding to the current actual position, and the virtual force includes:
when the virtual force is zero, determining that the position compensation amount is zero.
In an optional implementation manner, the historical compensation amount information includes a historical position compensation amount and a historical speed compensation amount, and the calculating the position compensation amount according to the preset admittance control equation, the historical compensation amount information corresponding to the current actual position, and the virtual force includes:
calculating the acceleration compensation quantity of the planning position to be implemented according to the preset admittance control equation, the historical position compensation quantity and the historical speed compensation quantity, wherein the preset admittance control equation is as follows:
wherein the content of the first and second substances,
representing the acceleration compensation quantity of the planning position to be implemented, M representing the inertia matrix of the expected impedance model, B representing the damping matrix of the expected impedance model, K representing the stiffness matrix of the expected impedance model, t representing the current time, fvirtual(t) represents the virtual force, Xc(t-n)-Xr(t-n) represents a historical position compensation amount corresponding to the current actual position,
representing the historical speed compensation amount corresponding to the current actual position;
calculating to obtain the position compensation amount according to the acceleration compensation amount, the historical position compensation amount, the historical speed compensation amount and a first preset calculation formula, wherein the first preset calculation formula is as follows:
wherein Δ X (t) represents the position compensation amount,
ΔX(t-n)＝Xc(t-n)-Xr(t-n)，
and the speed compensation quantity information of the planning position to be implemented is shown, and T represents the time difference between the current time and the historical time T-n.
In an optional embodiment, the historical compensation amount information includes a historical position compensation amount, and the calculating the position compensation amount according to the preset admittance control equation, the historical compensation amount information corresponding to the current actual position, and the virtual force includes:
calculating the speed compensation amount information of the planning position to be implemented according to the preset admittance control equation and the virtual force, wherein the preset admittance control equation is as follows:
wherein the content of the first and second substances,
representing the information of the speed compensation quantity of the planning position to be implemented, B representing the damping matrix of the expected impedance model, t representing the current time, fvirtual(t) represents a virtual force;
calculating to obtain the position compensation amount according to the speed compensation amount information, the historical position compensation amount and a second preset calculation formula, wherein the second preset calculation formula is as follows:
where Δ X (T) represents the position compensation amount, Δ X (T-n) represents the historical position compensation amount, and T represents the time difference between the current time and the historical time T-n.
In an optional embodiment, the adjusting the planned position to be implemented according to the position compensation amount includes:
and when the virtual force is zero, the position compensation quantity at the moment before the virtual force is zero is superposed to the planning position to be implemented.
In an alternative embodiment, the determining the virtual force corresponding to the distance includes:
determining that the virtual force corresponding to the distance is 0 under the condition that the distance is greater than a preset safety distance;
and under the condition that the distance is not greater than the preset safety distance, calculating according to a preset virtual force calculation formula to obtain a virtual force corresponding to the distance.
In a second aspect, an embodiment of the present application provides a position adjustment apparatus, including:
the distance determining module is used for determining a planning position to be implemented corresponding to the current moment of the tail end of the robot according to the planning track and obtaining the distance between the tail end of the robot and the obstacle at the current actual position;
the virtual force determining module is used for determining the virtual force corresponding to the distance;
the calculation module is used for obtaining the position compensation quantity of the planning position to be implemented according to a preset admittance control equation and the virtual force;
and the adjusting module is used for adjusting the planning position to be implemented according to the position compensation amount.
In a third aspect, the present application provides a terminal device, including a processor and a memory, where the memory stores machine executable instructions capable of being executed by the processor, and the processor can execute the machine executable instructions to implement the position adjustment method according to any one of the foregoing embodiments.
In a fourth aspect, the present application provides a readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the position adjustment method according to any one of the preceding embodiments.
The embodiment of the application provides a position adjusting method, a position adjusting device, terminal equipment and a readable storage medium, wherein a to-be-implemented planning position corresponding to a robot tail end at the current moment is determined according to a planning track, the distance between the robot tail end and an obstacle at the current actual position is obtained, and then a virtual force corresponding to the distance is determined according to the distance; and then, according to a preset admittance control equation and the virtual force, obtaining a position compensation quantity of the planning position to be implemented, and then, adjusting the planning position to be implemented according to the position compensation quantity. Therefore, virtual force can be generated according to the space distance between the actual position of the robot at the current moment and the obstacle, and further position adjustment amount is generated in real time on the basis of the virtual force through admittance control, and the planning position corresponding to the current moment is adjusted on line, so that collision between the robot and the obstacle at the subsequent moment is avoided. According to the embodiment of the application, the planning track can be re-planned in real time according to the dynamic relative pose, so that collision is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic block diagram of a terminal device according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a position adjustment method according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of an obstacle avoidance according to an embodiment of the present application;
FIG. 4 is a schematic diagram of virtual force-based admittance control provided by an embodiment of the present application;
fig. 5 is a schematic diagram of another obstacle avoidance provided in the embodiment of the present application;
FIG. 6 is a block diagram of a position adjustment apparatus according to an embodiment of the present disclosure;
fig. 7 is a second schematic block diagram of a position adjustment apparatus according to an embodiment of the present application.
Icon: 100-a terminal device; 110-a memory; 120-a processor; 130-a communication unit; 200-a position adjustment device; 210-a distance determination module; 220-a virtual force determination module; 230-a calculation module; 240-an adjustment module; 250-control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The distance between the robot and objects in the environment can be dynamically monitored based on the vision equipment at present, and the collision can be predicted to a certain extent by the method. However, the method is only known in advance, and the planned trajectory cannot be re-planned in real time according to the dynamic relative pose, so that the collision problem cannot be solved.
Therefore, the inventor provides the position adjustment method in the embodiment of the application, and the planning track can be re-planned in real time according to the dynamic relative pose between the current actual position and the obstacle, so that collision is avoided.
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a block diagram of a terminal device 100 according to an embodiment of the present disclosure. The terminal device 100 may be, but is not limited to, a computer, a server, or a part of a robot (e.g., a control device of a robot). The terminal device 100 includes a memory 110, a processor 120, and a communication unit 130. The elements of the memory 110, the processor 120 and the communication unit 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The memory 110 is used to store programs or data. The Memory 110 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The processor 120 is used to read/write data or programs stored in the memory 110 and perform corresponding functions. For example, the memory 110 stores the position adjusting apparatus 200, and the position adjusting apparatus 200 includes at least one software functional module which can be stored in the memory 110 in the form of software or firmware (firmware). The processor 120 executes various functional applications and data processing by running software programs and modules stored in the memory 110, such as the position adjusting apparatus 200 in the embodiment of the present application, so as to implement the position adjusting method in the embodiment of the present application.
The communication unit 130 is used to establish a communication connection between the terminal device 100 and another communication terminal through a network, and to transceive data through the network.
It should be understood that the structure shown in fig. 1 is only a schematic structural diagram of the terminal device 100, and the terminal device 100 may also include more or less components than those shown in fig. 1, or have a different configuration than that shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 2, fig. 2 is a flowchart illustrating a position adjustment method according to an embodiment of the present disclosure. The method is applicable to the terminal device 100 described above. The specific flow of the position adjustment method is described in detail below. The method may include steps S110 to S140.
And step S110, determining a position to be planned at the current moment of the robot end according to the planned track, and obtaining the distance between the robot end and the obstacle at the current actual position.
The planned trajectory represents a pre-planned path, and the path may include positions to which a plurality of pre-planned robot ends should sequentially arrive, that is, the path includes a plurality of planned positions. And the robot operates according to the planned track. At the current moment, determining a planning position corresponding to the tail end of the robot at the current moment according to the planning track, and taking the planning position as a planning position to be implemented; that is, the planning to be implemented is a planning position corresponding to the current moment of the robot end in the planning track. The planning position to be implemented corresponding to the current moment is the position of the robot end planned in advance at the target future moment, and the target future moment is a moment after the current moment.
Optionally, the time difference between the current time and the target future time may be one control cycle, or may be multiple control cycles, and may be specifically set according to actual requirements. Wherein the robot end can be moved from one position to another by one control cycle. That is, according to the planning trajectory, the planning position to be implemented corresponding to the current time may be the first planning position that the robot end needs to arrive immediately next; it is also possible that not the first planned position that the robot end needs to reach immediately next, but the nth planned position that needs to be reached next.
In this embodiment, the distance between the robot end and the obstacle at the current actual position of the robot end at the current time may also be obtained. Alternatively, the distance between the robot tip and the obstacle may be continuously acquired in real time by a vision device (e.g., a camera) or other device (e.g., a radar), and thus obtained directly when needed.
And step S120, determining the virtual force corresponding to the distance.
In the case where the distance is obtained, a virtual force can be calculated based on the distance in an arbitrary manner.
And step S130, obtaining the position compensation quantity of the planning position to be implemented according to a preset admittance control equation and the virtual force.
The preset admittance control equation is an equation designed according to the admittance control equation. Wherein the admittance control equation is:
wherein M represents an inertia matrix of the expected impedance model, B represents a damping matrix of the expected impedance model, and K represents a stiffness matrix of the expected impedance model; xcRepresenting a position vector; xrRepresenting a desired position vector;
representing a position vector XcA first derivative with respect to time;
representing a desired position vector XrA first derivative with respect to time;
representing a position vector XcA second derivative with respect to time;
representing a desired position vector XrA second derivative with respect to time; f represents the actual generalized force of the feedback. Δ X ═ Xc-XrIndicating the amount of position compensation.
The preset admittance control equation can be specifically set according to actual requirements. For example, the preset admittance control equation is set using an inertia matrix, a damping matrix, and a stiffness matrix, i.e., similar to the admittance control equation described above. The calculated virtual force can be substituted into the equation so as to calculate a position compensation quantity, and the position compensation quantity is used as the position compensation quantity corresponding to the planning position to be implemented, so that the planning position to be implemented is adjusted according to the position compensation quantity.
And step S140, adjusting the planning position to be implemented according to the position compensation amount.
When the position compensation amount corresponding to the planning position to be implemented is obtained, the planning position to be implemented may be adjusted based on the position compensation amount, and the adjusted planning position to be implemented is taken as a target implementation position. For example, the position compensation amount may be added to the planned position to be implemented, and the addition result may be used as the target implementation position.
In this embodiment, each time the robot end reaches a certain position, the above steps S110 to S140 are performed, so as to adjust the planned position, obtain the target implementation position capable of avoiding collision, and move based on the target implementation position.
According to the embodiment of the application, the virtual force can be generated according to the space distance between the robot and the obstacle at the actual position (namely the current actual position) of the robot at the current moment, the position adjustment amount is generated in real time based on the virtual force through admittance control, and the planning position corresponding to the current moment is adjusted on line, so that the collision between the robot and the obstacle at the future moment of the target is avoided. Therefore, the planning track can be replanned in real time according to the dynamic relative pose between the robot and the obstacle, and collision is avoided.
Optionally, after determining the target implementation location, the method may further include: and controlling the robot tail end to move to the target implementation position at the target future moment.
The movement of the robot end can be controlled according to the adjusted target implementation position, so that the robot end moves to the target implementation position at the target future time, and collision is avoided. It can be understood that, when the robot end needs to move according to the planning position to be implemented corresponding to the current time, the robot end is controlled to move according to the target implementation position obtained by adjusting the planning position to be implemented.
As an alternative embodiment, the target future time is a time next to the current time, that is, the time difference between the target future time and the current time is one control cycle. Therefore, after reaching one position, the position compensation quantity corresponding to the planning position corresponding to the current time can be calculated, namely the position compensation quantity corresponding to the planning position which should be reached at the next time is calculated, the planning position which should be reached at the next time is adjusted according to the calculated position compensation quantity, and then the next movement is controlled according to the position obtained after adjustment, so that the adjusted position is reached at the next time, and the collision with the obstacle is avoided.
As another alternative, the time difference between the target future time and the current time is a plurality of control cycles. Therefore, after reaching a position, the position compensation amount corresponding to the planned position which should be reached at a future time which is not the next time can be calculated, the planned position which should be reached at the future time is adjusted according to the position compensation amount, and then the movement of a certain time is controlled according to the position obtained after adjustment when needed, so that the adjusted position is reached at the future time, and the collision with the obstacle is avoided.
Optionally, a preset safety distance may be preset, and a specific value of the preset safety distance may be set according to actual requirements. The virtual force may be calculated as follows: judging whether the distance between the tail end of the robot and the obstacle at the current actual position is greater than the preset safety distance or not; if so, determining that the virtual force corresponding to the distance is 0; if not, the virtual force corresponding to the distance can be calculated according to a preset virtual force calculation formula. Optionally, in the preset virtual force calculation formula, the smaller the distance is, the larger the virtual force is. The preset virtual force calculation formula may be set according to an actual distance.
Therefore, based on the preset safety distance, the working space of the robot is divided into a safety space and a dangerous space according to the distance between the tail end of the robot and the obstacle, and a unified frame can be provided for the position control of the safety space and the dangerous space based on the position adjusting mode of admittance control, so that the stability of the robot during switching between the safety space and the dangerous space is kept.
As an optional implementation manner, the preset virtual force calculation formula is:
wherein f isvirtualRepresenting virtual force, fmaxRepresenting a preset maximum virtual force, d representing a distance between the robot end and an obstacle at the current actual position, dsafeRepresenting the preset safe distance.
Under the above-mentioned preset virtual force calculation formula, the manner of obtaining the virtual force can be expressed by the following formula:
under the condition of obtaining the virtual force, calculating to obtain the position compensation quantity of the planning position to be implemented according to the preset admittance control equation, the historical compensation quantity information corresponding to the current actual position where the tail end of the robot is located and the virtual force. And obtaining the historical compensation amount information according to the current actual position of the tail end of the robot and the historical planning position corresponding to the current actual position. The current actual position is obtained by adjusting the historical planned position, and it is understood that the adjustment amplitude may be 0 or not, and is determined by actual conditions. Therefore, the position compensation quantity of the planning position to be implemented can be calculated and obtained in an admittance control mode by combining the compensation quantity information used by the current position of the robot tail end and the virtual force. It should be noted that, in some cases (for example, when the present solution starts to be executed in a static state), if the current actual position does not have a corresponding historical planned position, historical compensation amount information corresponding to the current actual position may be set according to an actual requirement, for example, set to 0, so as to determine the position compensation amount based on the set historical compensation amount information.
Referring to fig. 3, fig. 3 is a schematic diagram of obstacle avoidance according to an embodiment of the present disclosure. Optionally, as an optional implementation manner, when the position is adjusted, a safe distance may be generated by adjusting the position to avoid the obstacle; when the obstacle is actively far away or the robot is far away from the obstacle along with the movement of the robot, the robot can be enabled to return to the planned track again, namely, the robot continues to move according to the planned position. Therefore, the robot can continuously move according to the original planned position at the moment after avoiding the obstacle, so that the operation is continuously carried out, and the operation effect is ensured.
Alternatively, when the virtual force is zero, the position compensation amount calculated by the virtual force may be determined to be zero, so that the robot tip may be controlled to follow the trajectory. As one implementation, the position compensation amount may be directly determined to be zero when the virtual force is zero. As another implementation manner, after the virtual force is zero for a period of time, it may be determined that the corresponding position compensation amount is zero after the period of time, that is, in a case where the virtual force is continuously zero, the position compensation amount may gradually change from non-zero to zero.
Referring to fig. 4, fig. 4 is a schematic view of virtual force-based admittance control according to an embodiment of the present disclosure. In the present embodiment, the history compensation amount information corresponding to the current actual position includes a history position compensation amount Δ X (t-n) and a history speed compensation amount
n represents the total duration of at least one control period. When the time difference between the target future time and the current time is one control cycle, as shown in fig. 4, the historical compensation amount information may include a historical position compensation amount Δ X (t-1) and a historical speed compensation amount
The acceleration compensation quantity of the planning position to be implemented can be calculated according to the preset admittance control equation, the historical position compensation quantity and the historical speed compensation quantity.
Wherein the preset admittance control equation is:
wherein the content of the first and second substances,
representing an acceleration compensation quantity of the planning position to be implemented; m represents an inertia matrix of the expected impedance model, B represents a damping matrix of the expected impedance model, and K represents a stiffness matrix of the expected impedance model; t represents the current time, and t-n represents the historical time; the time difference between the historical time and the current time is equal to the time difference between the target future time and the current time; f. ofvirtual(t) represents a virtual force at the present time; xc(t-n) represents the current actual position, Xr(t-n) represents the historical planning position corresponding to the current actual position, namely the planning position corresponding to the historical moment; xc(t-n)-Xr(t-n) represents a historical position compensation amount corresponding to the current actual position, namely a position compensation amount delta X (t-n) between the current actual position at the current moment and the historical planning position corresponding to the current actual position;
representing the current actual position Xc(t-n) first derivative with respect to time, i.e. the current actual position Xc(t-n);
representing historical planning positions Xr(t-n) first derivative with respect to time, i.e. historical planning position Xr(t-n);
indicating the historical speed compensation amount corresponding to the current actual position
And then, calculating to obtain the position compensation amount according to the acceleration compensation amount, the historical position compensation amount, the historical speed compensation amount and a first preset calculation formula. Wherein the first preset calculation formula is as follows:
wherein Δ X (t) represents the position compensation amount,
ΔX(t-n)＝Xc(t-n)-Xr(t-n)，
and the speed compensation quantity information of the planning position to be implemented is shown, and T represents the time difference between the current time and the historical time T-n.
As shown in FIG. 4, after obtaining the position compensation amount, the planning position X to be implemented can be determined based on the position compensation amountr(t) obtaining a target implementation position Xc(t) of (d). Under the condition that the time difference between the current time and the future time of the target is one control period, the target implementation position X can be further obtained by inverse IK (IK) solution of mechanical arm kinematicscAnd (t) the corresponding command joint angle. The servo system may be controlled in accordance with the commanded joint angle to move the robot tip to the target application location at a future time of the target.
In this manner, when the distance d between the robot and the obstacle is less than the preset safety distance, the virtual force f is generatedvirtualAnd further generates a position compensation amount Δ X ═ X based on admittance controlc-XrWherein X iscIndicating the actual position (alternatively called the command position), XrIndicating the planned location. When the obstacle is actively far away or the robot is far away from the obstacle along with the movement of the robot, d is increased to enable fvirtualIs approximately equal to 0 because ofIn the presence of the degree term, the admittance control mode continues to output the position compensation quantity until the delta X is equal to Xc-XrAt this time, the robot returns to the planned trajectory.
Referring to fig. 5, fig. 5 is a schematic diagram of another obstacle avoidance provided in the embodiment of the present application. Alternatively, as another alternative, when the position is adjusted, a safe distance may be generated to avoid the obstacle by adjusting the position, and the safe distance may be maintained in the subsequent trajectory. Thereby the safety of the robot can be ensured.
In this embodiment, when the virtual force is zero, the position compensation amount at the time before the virtual force is zero may be used as the position compensation amount corresponding to the planning position to be implemented at the current time, and the position compensation amount at the time before the virtual force is zero may be superimposed on the planning position to be implemented, so as to adjust the planning position to be implemented. As shown in fig. 5, if the virtual force determined according to the distance between the end of the mechanical arm and the obstacle from a certain moment is continuously 0, that is, the virtual force disappears, after the virtual force disappears, the position compensation amount before the virtual force disappears may be superimposed on each subsequent planned position in the planned trajectory, so that after the virtual force disappears, the difference between each subsequent planned position in the planned trajectory and the corresponding adjusted planned position is the position compensation amount before the virtual force disappears, that is, the difference between the trajectory after the virtual force disappears (i.e., the subsequent trajectory after the adjustment) and the original planned trajectory (i.e., the subsequent trajectory before the adjustment) in fig. 5 is the position compensation amount before the virtual force disappears. For example, the planned trajectory sequentially includes planned positions a1, a2, A3, and a4, and if the virtual force determined when calculating the planned position a1 is not 0, a non-zero position compensation amount may be calculated for the planned position 1; if the virtual forces determined later are all 0, the position compensation amounts corresponding to the planned position a1 can be respectively superimposed on the planned positions a2 to a 4.
In the embodiment shown in fig. 5, the historical compensation amount information may include a historical position compensation amount. The speed compensation amount information of the planning position to be implemented can be calculated according to the preset admittance control equation and the virtual force. Wherein the preset admittance control equation is:
wherein the content of the first and second substances,
representing the information of the speed compensation quantity of the planning position to be implemented, B representing the damping matrix of the expected impedance model, t representing the current time, fvirtual(t) represents a virtual force at the present time.
And then, calculating to obtain the position compensation amount according to the speed compensation amount information, the historical position compensation amount and a second preset calculation formula. Wherein the second preset calculation formula is:
where Δ X (T) represents the position compensation amount, Δ X (T-n) represents the historical position compensation amount, and T represents the time difference between the current time and the historical time T-n. For the specific description of the characters in this manner, reference may be made to the description of the characters in the previous manner, which is not described herein again.
In this mode, the virtual force fvirtualThe admittance control mode is enabled to generate a position compensation quantity delta X, and the f isvirtualWhen the position compensation amount is returned to 0, the change speed of the position compensation amount is set to 0, that is, the position compensation amount Δ X is maintained in the subsequent trajectory of the robot.
In order to execute the corresponding steps in the above embodiments and various possible manners, an implementation manner of the position adjusting apparatus 200 is given below, and optionally, the position adjusting apparatus 200 may adopt the device structure of the terminal device 100 shown in fig. 1. Further, referring to fig. 6, fig. 6 is a block diagram illustrating a position adjustment apparatus 200 according to an embodiment of the present disclosure. It should be noted that the basic principle and the generated technical effects of the position adjustment apparatus 200 provided in the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and corresponding contents in the above embodiments may be referred to. The position adjustment apparatus 200 may include: distance determination module 210, virtual force determination module 220, calculation module 230.
The distance determining module 210 is configured to determine, according to the planned trajectory, a to-be-implemented planned position corresponding to the current moment of the robot end, and obtain a distance between the robot end and the obstacle at the current actual position.
The virtual force determining module 220 is configured to determine a virtual force corresponding to the distance.
The calculating module 230 is configured to obtain a position compensation amount of the planning position to be implemented according to a preset admittance control equation and the virtual force.
The adjusting module 240 is configured to adjust the planning position to be implemented according to the position compensation amount.
Optionally, in this embodiment, the calculating module 230 is specifically configured to: the obtaining of the position compensation quantity of the planning position to be implemented according to the preset admittance control equation and the virtual force includes: and calculating to obtain the position compensation amount according to the preset admittance control equation, the historical compensation amount information corresponding to the current actual position and the virtual force, wherein the historical compensation amount information is obtained according to the current actual position and the historical planning position corresponding to the current actual position.
Optionally, in this embodiment, the calculating module 230 is specifically configured to determine that the position compensation amount is zero when the virtual force is zero.
Optionally, in this embodiment, the historical compensation amount information includes a historical position compensation amount and a historical speed compensation amount, and the calculating module 230 is specifically configured to:
calculating the acceleration compensation quantity of the planning position to be implemented according to the preset admittance control equation, the historical position compensation quantity and the historical speed compensation quantity, wherein the preset admittance control equation is as follows:
wherein the content of the first and second substances,
representing the acceleration compensation quantity of the planning position to be implemented, M representing the inertia matrix of the expected impedance model, B representing the damping matrix of the expected impedance model, K representing the stiffness matrix of the expected impedance model, t representing the current time, fvirtual(t) represents the virtual force, Xc(t-n)-Xr(t-n) represents a historical position compensation amount corresponding to the current actual position,
representing the historical speed compensation amount corresponding to the current actual position;
calculating to obtain the position compensation amount according to the acceleration compensation amount, the historical position compensation amount, the historical speed compensation amount and a first preset calculation formula, wherein the first preset calculation formula is as follows:
wherein Δ X (t) represents the position compensation amount,
ΔX(t-n)＝Xc(t-n)-Xr(t-n)，
and the speed compensation quantity information of the planning position to be implemented is shown, and T represents the time difference between the current time and the historical time T-n.
Optionally, in this embodiment, the historical compensation amount information includes a historical position compensation amount, and the calculating module 230 is specifically configured to:
calculating the speed compensation amount information of the planning position to be implemented according to the preset admittance control equation and the virtual force, wherein the preset admittance control equation is as follows:
wherein the content of the first and second substances,
representing the information of the speed compensation quantity of the planning position to be implemented, B representing the damping matrix of the expected impedance model, t representing the current time, fvirtual(t) represents a virtual force;
calculating to obtain the position compensation amount according to the speed compensation amount information, the historical position compensation amount and a second preset calculation formula, wherein the second preset calculation formula is as follows:
where Δ X (T) represents the position compensation amount, Δ X (T-n) represents the historical position compensation amount, and T represents the time difference between the current time and the historical time T-n.
Optionally, in this embodiment, the adjusting module 240 is specifically configured to, when the virtual force is zero, add a position compensation amount at a time before the virtual force is zero to the planned position to be implemented.
Optionally, in this embodiment, the virtual force determining module 220 is specifically configured to: determining that the virtual force corresponding to the distance is 0 under the condition that the distance is greater than a preset safety distance; and under the condition that the distance is not greater than the preset safety distance, calculating according to a preset virtual force calculation formula to obtain a virtual force corresponding to the distance.
Optionally, in the preset virtual force calculation formula, the smaller the distance, the larger the virtual force.
Referring to fig. 7, fig. 7 is a second block diagram of a position adjustment apparatus 200 according to an embodiment of the present disclosure. The position adjustment apparatus 200 may further include a control module 250.
The control module 250 is configured to control the robot end to move to the target implementation position at a target future time.
Alternatively, the modules may be stored in the memory 110 shown in fig. 1 in the form of software or Firmware (Firmware) or be fixed in an Operating System (OS) of the terminal device 100, and may be executed by the processor 120 in fig. 1. Meanwhile, data, codes of programs, and the like required to execute the above-described modules may be stored in the memory 110.
An embodiment of the present application further provides a readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the position adjustment method.
To sum up, the embodiment of the present application provides a position adjustment method, a device, a terminal device, and a readable storage medium, and the method determines a to-be-implemented planning position corresponding to a robot end at a current moment according to a planning track, obtains a distance between the robot end and an obstacle at a current actual position, and further determines a virtual force corresponding to the distance according to the distance; and then, according to a preset admittance control equation and the virtual force, obtaining a position compensation quantity of the planning position to be implemented, and then, adjusting the planning position to be implemented according to the position compensation quantity. Therefore, virtual force can be generated according to the space distance between the actual position of the robot at the current moment and the obstacle, and further position adjustment amount is generated in real time on the basis of the virtual force through admittance control, and the planning position corresponding to the current moment is adjusted on line, so that collision between the robot and the obstacle at the subsequent moment is avoided. According to the embodiment of the application, the planning track can be re-planned in real time according to the dynamic relative pose, so that collision is avoided.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A position adjustment method, comprising:
determining a planning position to be implemented corresponding to the current moment of the tail end of the robot according to the planning track, and obtaining the distance between the tail end of the robot and the obstacle at the current actual position;
determining a virtual force corresponding to the distance;
obtaining the position compensation quantity of the planning position to be implemented according to a preset admittance control equation and the virtual force;
and adjusting the planning position to be implemented according to the position compensation amount.
2. The method of claim 1, wherein obtaining the position compensation amount of the planned position to be implemented according to the preset admittance control equation and the virtual force comprises:
and calculating to obtain the position compensation amount according to the preset admittance control equation, the historical compensation amount information corresponding to the current actual position and the virtual force, wherein the historical compensation amount information is obtained according to the current actual position and the historical planning position corresponding to the current actual position.
3. The method of claim 2, wherein the calculating the position compensation amount according to the preset admittance control equation, the historical compensation amount information corresponding to the current actual position, and the virtual force comprises:
when the virtual force is zero, determining that the position compensation amount is zero.
4. The method of claim 2, wherein the historical compensation amount information includes a historical position compensation amount and a historical speed compensation amount, and the calculating the position compensation amount according to the preset admittance control equation, the historical compensation amount information corresponding to the current actual position, and the virtual force includes:
calculating the acceleration compensation quantity of the planning position to be implemented according to the preset admittance control equation, the historical position compensation quantity and the historical speed compensation quantity, wherein the preset admittance control equation is as follows:
wherein the content of the first and second substances,
representing the acceleration compensation quantity of the planning position to be implemented, M representing the inertia matrix of the expected impedance model, B representing the damping matrix of the expected impedance model, K representing the stiffness matrix of the expected impedance model, t representing the current time, fvirtual(t) represents the virtual force, Xc(t-n)-Xr(t-n) represents a historical position compensation amount corresponding to the current actual position,
representing the historical speed compensation amount corresponding to the current actual position;
calculating to obtain the position compensation amount according to the acceleration compensation amount, the historical position compensation amount, the historical speed compensation amount and a first preset calculation formula, wherein the first preset calculation formula is as follows:
wherein Δ X (t) represents the position compensation amount,
ΔX(t-n)＝Xc(t-n)-Xr(t-n)，
and the speed compensation quantity information of the planning position to be implemented is shown, and T represents the time difference between the current time and the historical time T-n.
5. The method of claim 2, wherein the historical compensation amount information includes a historical position compensation amount, and the calculating the position compensation amount according to the preset admittance control equation, the historical compensation amount information corresponding to the current actual position, and the virtual force includes:
calculating the speed compensation amount information of the planning position to be implemented according to the preset admittance control equation and the virtual force, wherein the preset admittance control equation is as follows:
wherein the content of the first and second substances,
representing the information of the speed compensation quantity of the planning position to be implemented, B representing the damping matrix of the expected impedance model, t representing the current time, fvirtual(t) represents a virtual force;
calculating to obtain the position compensation amount according to the speed compensation amount information, the historical position compensation amount and a second preset calculation formula, wherein the second preset calculation formula is as follows:
where Δ X (T) represents the position compensation amount, Δ X (T-n) represents the historical position compensation amount, and T represents the time difference between the current time and the historical time T-n.
6. The method of claim 1, wherein the adjusting the planned position to be implemented according to the position compensation amount comprises:
and when the virtual force is zero, the position compensation quantity at the moment before the virtual force is zero is superposed to the planning position to be implemented.
7. The method of claim 1, wherein determining the virtual force corresponding to the distance comprises:
determining that the virtual force corresponding to the distance is 0 under the condition that the distance is greater than a preset safety distance;
and under the condition that the distance is not greater than the preset safety distance, calculating according to a preset virtual force calculation formula to obtain a virtual force corresponding to the distance.
8. A position adjustment device, comprising:
the distance determining module is used for determining a planning position to be implemented corresponding to the current moment of the tail end of the robot according to the planning track and obtaining the distance between the tail end of the robot and the obstacle at the current actual position;
the virtual force determining module is used for determining the virtual force corresponding to the distance;
the calculation module is used for obtaining the position compensation quantity of the planning position to be implemented according to a preset admittance control equation and the virtual force;
and the adjusting module is used for adjusting the planning position to be implemented according to the position compensation amount.
9. A terminal device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the position adjustment method of any one of claims 1 to 6.
10. A readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the position adjustment method according to any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110164560.0A CN112947439A (en) | 2021-02-05 | 2021-02-05 | Position adjusting method and device, terminal equipment and readable storage medium |
| PCT/CN2021/133000 WO2022166330A1 (en) | 2021-02-05 | 2021-11-25 | Position adjustment method and apparatus, terminal device and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110164560.0A CN112947439A (en) | 2021-02-05 | 2021-02-05 | Position adjusting method and device, terminal equipment and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112947439A true CN112947439A (en) | 2021-06-11 |
Family
ID=76242878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110164560.0A Pending CN112947439A (en) | 2021-02-05 | 2021-02-05 | Position adjusting method and device, terminal equipment and readable storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112947439A (en) |
| WO (1) | WO2022166330A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022166330A1 (en) * | 2021-02-05 | 2022-08-11 | 深圳市优必选科技股份有限公司 | Position adjustment method and apparatus, terminal device and readable storage medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115958610B (en) * | 2023-03-16 | 2023-06-30 | 季华实验室 | Mechanical arm obstacle avoidance method and device, electronic equipment and storage medium |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013158837A (en) * | 2012-02-01 | 2013-08-19 | Seiko Epson Corp | Robot control device and robot control method |
| US20140081461A1 (en) * | 2012-09-17 | 2014-03-20 | Matthew Murray Williamson | Constraining robotic manipulators with redundant degrees of freedom |
| DE102014226936B3 (en) * | 2014-11-14 | 2016-03-17 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Full-body impedance for mobile robots |
| JP2016120561A (en) * | 2014-12-25 | 2016-07-07 | トヨタ自動車株式会社 | Transfer robot and transfer robot control method |
| CN108430375A (en) * | 2015-11-11 | 2018-08-21 | 马科外科公司 | The method of robot system and the reverse drive system |
| CN109171965A (en) * | 2018-09-27 | 2019-01-11 | 上海电气集团股份有限公司 | The control method and system of robot based on virtual clamp |
| CN109313436A (en) * | 2016-04-24 | 2019-02-05 | 卡斯坦宁堡有限公司 | Method and apparatus for determining motion sequence for robot |
| WO2019025248A1 (en) * | 2017-08-04 | 2019-02-07 | Kuka Deutschland Gmbh | Method and system for checking and/or modifying a working process of a robot |
| US20190101930A1 (en) * | 2017-09-29 | 2019-04-04 | Peyman Yadmellat | Impedance-based motion control for autonomous vehicles |
| CN110405762A (en) * | 2019-07-22 | 2019-11-05 | 北京理工大学 | A kind of biped robot's attitude control method based on space double inverted pendulum model |
| CN111230867A (en) * | 2020-01-16 | 2020-06-05 | 腾讯科技（深圳）有限公司 | Robot motion control method, motion control equipment and robot |
| CN111730599A (en) * | 2020-07-08 | 2020-10-02 | 深圳市优必选科技股份有限公司 | Impedance control method and device, impedance controller and robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101383726B1 (en) * | 2012-12-17 | 2014-04-08 | 현대자동차(주) | Method for improving sensitivity of robot |
| US9849595B2 (en) * | 2015-02-06 | 2017-12-26 | Abb Schweiz Ag | Contact force limiting with haptic feedback for a tele-operated robot |
| US10661453B2 (en) * | 2016-09-16 | 2020-05-26 | Verb Surgical Inc. | Robotic arms |
| KR102353178B1 (en) * | 2016-11-10 | 2022-01-20 | 코그니보티스 에이비 | Systems and methods for directing robots |
| CN107907131B (en) * | 2017-11-10 | 2019-12-13 | 珊口（上海）智能科技有限公司 | positioning system, method and applicable robot |
| CN111252162B (en) * | 2020-02-24 | 2021-07-23 | 北京理工大学 | Foot soft balance control system and method for biped robot |
| CN111923038B (en) * | 2020-07-01 | 2022-04-15 | 深圳市越疆科技有限公司 | Mechanical arm type robot, obstacle avoidance method of robot and storage medium |
| CN112947439A (en) * | 2021-02-05 | 2021-06-11 | 深圳市优必选科技股份有限公司 | Position adjusting method and device, terminal equipment and readable storage medium |
-
2021
- 2021-02-05 CN CN202110164560.0A patent/CN112947439A/en active Pending
- 2021-11-25 WO PCT/CN2021/133000 patent/WO2022166330A1/en active Application Filing
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013158837A (en) * | 2012-02-01 | 2013-08-19 | Seiko Epson Corp | Robot control device and robot control method |
| US20140081461A1 (en) * | 2012-09-17 | 2014-03-20 | Matthew Murray Williamson | Constraining robotic manipulators with redundant degrees of freedom |
| DE102014226936B3 (en) * | 2014-11-14 | 2016-03-17 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Full-body impedance for mobile robots |
| JP2016120561A (en) * | 2014-12-25 | 2016-07-07 | トヨタ自動車株式会社 | Transfer robot and transfer robot control method |
| CN108430375A (en) * | 2015-11-11 | 2018-08-21 | 马科外科公司 | The method of robot system and the reverse drive system |
| CN109313436A (en) * | 2016-04-24 | 2019-02-05 | 卡斯坦宁堡有限公司 | Method and apparatus for determining motion sequence for robot |
| WO2019025248A1 (en) * | 2017-08-04 | 2019-02-07 | Kuka Deutschland Gmbh | Method and system for checking and/or modifying a working process of a robot |
| US20190101930A1 (en) * | 2017-09-29 | 2019-04-04 | Peyman Yadmellat | Impedance-based motion control for autonomous vehicles |
| CN109171965A (en) * | 2018-09-27 | 2019-01-11 | 上海电气集团股份有限公司 | The control method and system of robot based on virtual clamp |
| CN110405762A (en) * | 2019-07-22 | 2019-11-05 | 北京理工大学 | A kind of biped robot's attitude control method based on space double inverted pendulum model |
| CN111230867A (en) * | 2020-01-16 | 2020-06-05 | 腾讯科技（深圳）有限公司 | Robot motion control method, motion control equipment and robot |
| CN111730599A (en) * | 2020-07-08 | 2020-10-02 | 深圳市优必选科技股份有限公司 | Impedance control method and device, impedance controller and robot |
Non-Patent Citations (5)
| Title |
|---|
| JONATHAN CACACE 等: "《Variable Admittance Control based on Virtual Fixtures for Human-Robot Co-Manipulation》", 《2019 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS》, 9 October 2019 (2019-10-09), pages 1 - 6 * |
| SHUNKI ITADERA 等: "《Admittance control based robotic clinical gait training with physiological cost evaluation》", 《ROBOTICS AND AUTONOMOUS SYSTEMS》, 18 October 2019 (2019-10-18), pages 1 - 12 * |
| 宋志鹏 等: "《基于力反馈的机械臂关节导纳控制研究》", 《机械装备研发》, 31 August 2020 (2020-08-31), pages 1 - 2 * |
| 王斌锐 等: "《气动肌肉肘关节的滑模内环导纳控制设计》", 《兵工学报》, 30 June 2018 (2018-06-30), pages 1 - 6 * |
| 王琪 等: "《双臂机器人的协调控制算法综述》", 《计算机工程与应用》, 4 December 2020 (2020-12-04), pages 1 - 16 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022166330A1 (en) * | 2021-02-05 | 2022-08-11 | 深圳市优必选科技股份有限公司 | Position adjustment method and apparatus, terminal device and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022166330A1 (en) | 2022-08-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112775976B (en) | Task execution control method and device, control equipment and readable storage medium | |
| CN112947439A (en) | Position adjusting method and device, terminal equipment and readable storage medium | |
| Avanzini et al. | Constrained model predictive control for mobile robotic manipulators | |
| Fahimi | Sliding-mode formation control for underactuated surface vessels | |
| US6004016A (en) | Motion planning and control for systems with multiple mobile objects | |
| JP2020503614A (en) | Model predictive control system and method for controlling machine operation | |
| JP6992719B2 (en) | Control device | |
| JP2021175590A (en) | Robot optimization operation planning initial stage reference generation | |
| Gracia et al. | Integrated sliding-mode algorithms in robot tracking applications | |
| CN113589689A (en) | Sliding mode controller design method based on multi-parameter adaptive neural network | |
| Kulathunga et al. | Trajectory tracking for quadrotors: An optimization‐based planning followed by controlling approach | |
| Lam et al. | Haptic feedback in uninhabited aerial vehicle teleoperation with time delay | |
| Rodrigues et al. | Leader-following graph-based distributed formation control | |
| CN114137982A (en) | Robot motion control method and device, robot control device and storage medium | |
| KR102289968B1 (en) | Apparatus for controlling robot manipulator and method therefor | |
| Vafamand et al. | Robust neural network‐based backstepping landing control of quadrotor on moving platform with stochastic noise | |
| CN113997291B (en) | Robot-based autonomous control method and related device | |
| CN111805537A (en) | Multi-manipulator cooperative control method, system, equipment and storage medium | |
| CN114193458B (en) | Robot control method based on Gaussian process online learning | |
| CN112975986B (en) | Mechanical arm point-to-point trajectory planning method and device based on radial basis function | |
| CN112975965B (en) | Decoupling control method and device of humanoid robot and humanoid robot | |
| CN115042178A (en) | Robot reinforcement learning method, device, equipment and medium for ensuring contact safety | |
| Kalaria et al. | Delay-aware robust control for safe autonomous driving and racing | |
| Ebrahimpour et al. | Multi-Constraint predictive control system with auxiliary emergency controllers for autonomous vehicles | |
| CN113954078B (en) | Force control joint control method and device, robot and readable storage medium |
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 |