CN113319836A - Attitude control system and method for non-structured spatial redundancy monitoring robot for roadway - Google Patents
Attitude control system and method for non-structured spatial redundancy monitoring robot for roadway Download PDFInfo
- Publication number
- CN113319836A CN113319836A CN202110628826.2A CN202110628826A CN113319836A CN 113319836 A CN113319836 A CN 113319836A CN 202110628826 A CN202110628826 A CN 202110628826A CN 113319836 A CN113319836 A CN 113319836A
- Authority
- CN
- China
- Prior art keywords
- module
- snake
- joint
- shaped arm
- potentiometer
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The application provides a redundant control system of monitoring machine people gesture in non-structured space of roadway and method, belongs to the continuous type robot field, and the system includes: the system comprises a core controller, an upper computer, a sensor module, a potentiometer, a snake-shaped arm posture control module, a rope driving module and a snake-shaped arm movement module; the method comprises the following steps: collecting roadway environment information; acquiring the angle variable quantity of each joint of the snake-shaped arm; controlling the angle of each joint of the snake-shaped arm, and transmitting the voltage value corresponding to each joint angle measured by the potentiometer to the core controller; calculating the voltage value to obtain a joint deflection angle, and further converting the joint deflection angle into a driving signal; and driving the snake-shaped arm movement module to enable the redundant monitoring robot to reach a preset pose. And displaying the variable change condition of the redundant monitoring robot and the information acquired by the sensor module. The problem of each joint turned angle difficult the confirming in control process, can't carry out nimble control according to the complicated changeable condition of reality to the arm has been solved in this application.
Description
Technical Field
The invention belongs to the field of continuous robots, and particularly relates to a system and a method for controlling the attitude of a roadway unstructured space redundancy monitoring robot.
Background
The roadway space is narrow, the number of obstacles is large, the environment is severe, the maintenance is difficult when mechanical equipment breaks down, the number of degrees of freedom of the traditional discrete robot is limited due to a rigid joint and a connecting rod structure, the adaptability to the environment with limited working space is not strong, and the monitoring and maintenance task of the roadway equipment cannot be completed. The continuous robot is a flexible structure of an invertebrate, can flexibly and flexibly change the shape of the robot, and accordingly can flexibly pass through various complex and unstructured spaces, and is simple in mechanical structure, small in size, and good in motion flexibility and stability. Therefore, the continuous robot is very suitable for being applied to equipment monitoring and overhauling of a non-structured space of a roadway.
The continuous robot adopts a line driving mode, and the driving line is driven by the motor to move so as to control the robot to reach a preset position. Device such as driving motor, control line board are placed on the bottom base of robot to continuous type robot based on rope drive, separate drive division and working part, make the control panel and drive mechanism of robot be difficult for receiving the influence of external operational environment such as factors such as high temperature, humidity, many dusts, effectively promote the flexibility and the accurate nature of space motion.
The motion control of the continuum robot needs to firstly plan a path and then control the continuum robot to move according to a preset path. However, the control process is complicated, and in the path planning process, the rotation angle of each joint is not easy to determine, so that the mechanical arm cannot be flexibly controlled according to actual complex and variable conditions.
Aiming at the problems that in the prior art, the rotation angle of each joint is not easy to determine in the control process, and the mechanical arm cannot be flexibly controlled according to actual complex and variable conditions, an effective technical scheme is not provided at present.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides a system and a method for controlling the attitude of a roadway unstructured space redundancy monitoring robot, and solves the problems that the rotation angle of each joint is not easy to determine in the control process, and the mechanical arm cannot be flexibly controlled according to actual complex and variable conditions.
In a first aspect, the present application provides a lane unstructured space redundancy monitoring robot attitude control system, including: the system comprises a core controller, an upper computer, a sensor module, a potentiometer, a snake-shaped arm posture control module, a rope driving module and a snake-shaped arm movement module;
the core controller is respectively connected with the upper computer, the sensor module, the snake-shaped arm attitude control module and the rope driving module, the potentiometer is connected with the snake-shaped arm attitude control module, and the snake-shaped arm movement module is connected with the rope driving module;
the core controller is used for receiving the environmental information transmitted by the sensor module, receiving the voltage values corresponding to the joint angles transmitted by the snake-shaped arm attitude control module, obtaining joint deflection angles through calculation aiming at the voltage values, further converting the joint deflection angles into driving signals, and transmitting the driving signals to the rope driving module;
the upper computer is connected with the core controller through Ethernet communication, and is used for controlling and displaying the variable change condition of the redundant monitoring robot and displaying the information acquired by the sensor module through configuration software;
the sensor module is used for acquiring roadway environment information and transmitting the environment information to the upper computer module and the core controller module;
the potentiometer is used for acquiring the angle variable quantity of each joint of the snake-shaped arm;
the snake-shaped arm attitude control module is used for controlling the angle of each joint of the snake-shaped arm and transmitting the voltage value corresponding to each joint angle measured by the potentiometer to the core controller;
the rope driving module is used for driving the snake-shaped arm movement module according to a driving signal transmitted by the core controller;
the snake-shaped arm movement module is used for receiving the drive of the rope driving module, so that the redundant monitoring robot reaches a preset pose.
Calculating the voltage value to obtain a joint deflection angle, and adopting a first joint deflection angle solving formula or a second joint deflection angle solving formula, wherein the first joint deflection angle solving formula is obtained by multiplying output voltage of a potentiometer by 360 degrees and dividing the output voltage of the potentiometer by total voltage at two ends of the potentiometer; and the second joint deflection angle solving formula is obtained by multiplying the output voltage of the potentiometer by 360 degrees and dividing the product of the control subdivision number and the total voltage at two ends of the potentiometer, wherein the output voltage of the potentiometer is the voltage value corresponding to each joint angle transmitted by the snake-shaped arm attitude control module.
The snake-shaped arm attitude control module is formed by connecting modular joints in series, the number of the joints corresponds to that of the snake-shaped arm motion module, and the attitude of the snake-shaped arm attitude control module can be manually changed, so that the output voltage of a potentiometer is changed.
Rope drive module comprises brace table, motor drive, lead screw, slip table, shaft coupling, rope, core controller passes through serial ports communication control motor drive to the control motor rotates, drives the slip table motion on the lead screw, and then stimulates rope reciprocating motion.
The snake-shaped arm motion module is formed by connecting modular joints in series, the number of the joints corresponds to that of the snake-shaped arm attitude control module, universal joints are connected among the modular joints, and a wiring disc of the snake-shaped arm motion module is provided with a circle of through holes for fixing a rope of the rope driving module.
When the single movement angle of the snake-shaped arm movement module is larger than a first threshold value and the speed of the snake-shaped arm movement module is larger than a second threshold value, a movement mode of acceleration, uniform speed and deceleration is adopted so as to improve the movement stability of the snake-shaped arm movement module.
The core controller is controlled by a PLC controller, and an analog quantity acquisition module, a Modbus 485 communication interface and an Ethernet communication interface are integrated in the core controller.
The sensor module is selected according to actual requirements, and at least one or more of the following devices are selected: camera, temperature sensor, humidity transducer, acoustic sensor, gas concentration sensor.
In a second aspect, the application provides a method for controlling the attitude of a roadway unstructured space redundancy monitoring robot, which is implemented by using the attitude control system of the roadway unstructured space redundancy monitoring robot, and includes the following steps:
acquiring roadway environment information, and transmitting the environment information to the upper computer module and the core controller module;
acquiring the angle variable quantity of each joint of the snake-shaped arm;
controlling the angle of each joint of the snake-shaped arm, and transmitting the voltage value corresponding to each joint angle measured by the potentiometer to the core controller;
calculating the voltage value to obtain a joint deflection angle, and further converting the joint deflection angle into a driving signal;
and driving the snake-shaped arm movement module according to the driving signal so as to enable the redundant monitoring robot to reach a preset pose.
And displaying the variable change condition of the redundant monitoring robot and the information acquired by the sensor module.
The conversion into the driving signal is as follows:
performing kinematic analysis on the snake-shaped arm motion module to obtain a positive kinematic equation of the snake-shaped robot;
according to the positive kinematic equation of the snake-shaped robot, carrying out an inversion process to obtain a quantitative relation between the current pose difference value and the joint variable;
obtaining the length variation of the rope according to the principle of the rope driving module, and further obtaining the current pose difference value;
obtaining a numerical value of the joint variable according to the current pose difference value and a quantitative relation between the current pose difference value and the joint variable;
converting the value of the joint variable into a drive signal.
The beneficial technical effects are as follows:
(1) has more freedom degrees and good environmental adaptability
The super-redundant snake-shaped arm robot can flexibly and flexibly change the shape of the robot, so that the robot can flexibly pass through various complex and unstructured spaces, and has the advantages of simple mechanical structure, small volume, and good motion flexibility and stability. The control module is positioned behind the snake-shaped arm movement module, so that the anti-interference capability of electromagnetism, moisture, dust and the like in a roadway space is enhanced, and the system is very suitable for monitoring and overhauling of the roadway unstructured space equipment.
(2) Simple operation, high control precision and high reliability
Can manual regulation snakelike arm attitude control module gesture, through snakelike arm drive module control snakelike arm robot, for traditional path planning, easy and simple to handle. The joint rotation angle is obtained through the potentiometer and transmitted to the core processor for calculation, and the control precision is high and the reliability is good.
(3) The modularized configuration meets different working requirements
The snakelike arm attitude control module and the snakelike arm motion module both adopt modular joints, and the number of the modular joints can be increased or decreased according to actual demands so as to match different devices. The sensor module can be replaced at will, such as a camera, a temperature sensor and a humidity sensor, so as to meet different use requirements.
Drawings
Fig. 1 is a block diagram of a posture control system of a roadway unstructured space redundancy monitoring robot proposed in the present application;
FIG. 2 is a schematic diagram of a serpentine arm attitude control module;
FIG. 3 is a schematic diagram of a potentiometer;
FIG. 4 is a schematic structural diagram of a serpentine arm motion module;
FIG. 5 is a cross-sectional view of a serpentine arm motion module joint
Fig. 6 is a schematic structural view of a rope drive module;
FIG. 7 is a cross-sectional view of a serpentine arm motion module base;
FIG. 8 is a flowchart of a method for controlling the attitude of a roadway unstructured space redundancy monitoring robot;
FIG. 9 is a flow chart of the present application for converting to driving signals;
the device comprises a base 1, a modular joint 2, a universal joint 3, a potentiometer 4, a potentiometer 5, a potentiometer rotating shaft 6, a thread 7, a slider terminal 8, a potentiometer shell 9, a resistor terminal 10, a serpentine arm single joint 11, a serpentine arm support 12, a base 13, a spherical head 14, a wiring disc 14, a hemispherical groove 15, a rope fixing bolt 16, an adjusting knob 17, an adjusting knob 18, a bottom plate 19, a coupler 19, a motor 20, a wire clamp 21, a sliding table 22, a lead screw 23, a support frame 24, a serpentine arm movement module 25, a rope driving module 26, a pulley support seat 27, a guide pulley 28 and a rope 29.
Detailed Description
The invention is further described below with reference to the figures and examples.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection. The terms "motor", "gimbal", etc. are also to be understood in a broad sense, e.g. "motor", which may be a dc motor, a stepper motor, or a servo motor. The universal joint can be a ball-and-fork universal joint, a cross universal joint or the like, and can be a rigid universal joint or a flexible universal joint. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example (b):
in a first aspect, the present application provides a system for controlling a posture of a roadway unstructured spatial redundancy monitoring robot, as shown in fig. 1, including: the system comprises a core controller, an upper computer, a sensor module, a potentiometer, a snake-shaped arm posture control module, a rope driving module and a snake-shaped arm movement module;
the core controller is respectively connected with the upper computer, the sensor module, the snake-shaped arm attitude control module and the rope driving module, the potentiometer is connected with the snake-shaped arm attitude control module, and the snake-shaped arm movement module is connected with the rope driving module;
the core controller is used for receiving the environmental information transmitted by the sensor module, receiving the voltage values corresponding to the joint angles transmitted by the snake-shaped arm attitude control module, obtaining joint deflection angles through calculation aiming at the voltage values, further converting the joint deflection angles into driving signals, and transmitting the driving signals to the rope driving module;
the upper computer is connected with the core controller through Ethernet communication, and is used for controlling and displaying the variable change condition of the redundant monitoring robot and displaying the information acquired by the sensor module through configuration software;
the sensor module is used for acquiring roadway environment information and transmitting the environment information to the upper computer module and the core controller module;
the potentiometer is used for acquiring the angle variable quantity of each joint of the snake-shaped arm;
the snake-shaped arm attitude control module is used for controlling the angle of each joint of the snake-shaped arm and transmitting the voltage value corresponding to each joint angle measured by the potentiometer to the core controller;
the serpentine arm attitude control module is shown in fig. 2 and comprises a support base 1, a module joint 2 and a potentiometer 3. The modularized joint is formed by connecting a plurality of modularized joints 2 in series, adjacent joints are connected by universal joints, and oval grooves are formed in the joints to prevent the joints of the modules from interfering with each other; the joint unit is provided with a through hole and a threaded hole for mounting the universal joint and the potentiometer 3. The snakelike arm attitude control module belongs to a super-redundant structure and can be freely bent to change the shape. The number of the modularized joints used by the snake-shaped arm attitude control module can be added or detached according to actual needs.
When the device is used, the posture of the module is controlled by manually changing the posture of the snake-shaped arm, so that the module joint deflects to drive the universal joint to deflect, the resistance value of the potentiometer changes, and the output voltage changes accordingly.
The rope driving module is used for driving the snake-shaped arm movement module according to a driving signal transmitted by the core controller;
the snake-shaped arm movement module is used for receiving the drive of the rope driving module, so that the redundant monitoring robot reaches a preset pose.
Calculating the voltage value to obtain a joint deflection angle, and adopting a first joint deflection angle solving formula or a second joint deflection angle solving formula, wherein the first joint deflection angle solving formula is obtained by multiplying output voltage of a potentiometer by 360 degrees and dividing the output voltage of the potentiometer by total voltage at two ends of the potentiometer; and the second joint deflection angle solving formula is obtained by multiplying the output voltage of the potentiometer by 360 degrees and dividing the product of the control subdivision number and the total voltage at two ends of the potentiometer, wherein the output voltage of the potentiometer is the voltage value corresponding to each joint angle transmitted by the snake-shaped arm attitude control module.
The joint deflection angle solving formula is as follows:
wherein alpha is a universal joint deflection angle, namely a calculated joint deflection angle, and the unit is an angle; u is the output voltage of the potentiometer and has the unit of V; e is the total voltage at two ends of the potentiometer and the unit is V.
M is a control subdivision number, and can be selected according to actual requirements, wherein the larger m is, the smaller the movement amplitude of the snake-shaped arm is, and the higher the control precision is; the smaller m is, the larger the movement amplitude of the snake-shaped arm is, and the lower the control precision is.
The snake-shaped arm attitude control module is formed by connecting modular joints in series, the number of the joints corresponds to that of the snake-shaped arm motion module, and the attitude of the snake-shaped arm attitude control module can be manually changed, so that the output voltage of a potentiometer is changed.
Rope drive module comprises brace table, motor drive, lead screw, slip table, shaft coupling, rope, core controller passes through serial ports communication control motor drive to the control motor rotates, drives the slip table motion on the lead screw, and then stimulates rope reciprocating motion.
The snake-shaped arm motion module is formed by connecting modular joints in series, the number of the joints corresponds to that of the snake-shaped arm attitude control module, universal joints are connected among the modular joints, and a wiring disc of the snake-shaped arm motion module is provided with a circle of through holes for fixing a rope of the rope driving module.
When the single movement angle of the snake-shaped arm movement module is larger than a first threshold value and the speed of the snake-shaped arm movement module is larger than a second threshold value, a movement mode of acceleration, uniform speed and deceleration is adopted so as to improve the movement stability of the snake-shaped arm movement module.
(1) The serpentine arm attitude control module motion speed solving formula is as follows:
wherein v isconThe unit is rad/s, alpha is the universal joint deflection angle, and the unit is degree; t is the deflection time in units of s.
(2) Setting the motion speed of a snake-shaped arm motion module as v and limiting the maximum motion speed as vmaxAnd then:
in the acceleration process, in order to ensure that the acceleration of each movement is uniform, the acceleration a is:
wherein, a is rad/s2，tminFor the minimum time of the complete movement,
theta is the maximum rotation angle of the joint and the accelerated motion time taComprises the following steps:
wherein, the uniform motion time teComprises the following steps:
during deceleration, the acceleration a is:
the potentiometer is structurally shown in figure 3, the potentiometer is connected and fixed on a modular joint through threads 6, a rotating shaft 5 of the potentiometer is connected with a universal joint and rotates along with the deflection of the universal joint, so that the output voltage of a terminal 7 of a sliding sheet of the potentiometer changes, and the deflection angle of the joint is obtained. And each universal joint is orthogonally connected with two potentiometers so as to obtain two deflection freedom degrees of the universal joint, namely two-freedom-degree rotation angles of a module joint, further obtain the current pose of the snake-shaped arm attitude control module, and the output value of each potentiometer is processed by the core controller and converted into the rope displacement length, so that the snake-shaped arm motion module can be controlled to achieve the same pose as the snake-shaped arm attitude control module.
In special application occasions, for example, when the snake-shaped arm is close to a target point, the gesture of the snake-shaped arm needs to be adjusted at a low speed, the output voltage of the potentiometer can be processed, and the control subdivision number of the potentiometer is modified, so that the motion accuracy is improved.
The core controller is controlled by a PLC controller, and an analog quantity acquisition module, a Modbus 485 communication interface and an Ethernet communication interface are integrated in the core controller.
The sensor module is selected according to actual requirements, and at least one or more of the following devices are selected: camera, temperature sensor, humidity transducer, acoustic sensor, gas concentration sensor.
The serpentine arm motion module is shown in fig. 4 and is composed of a base 12, a serpentine arm support 11 and a series of unit joints 10. Each module joint adopts the universal joint series connection, can install additional or dismantle the joint according to actual demand, and the joint is more, and working space is bigger, and the motion is more nimble. The number of joints is the same as that of joints of the snake-shaped arm attitude control module, so that the joints are in one-to-one correspondence and are flexibly controlled. The base is provided with a fixed supporting plate, and a snake-shaped arm driving module can be installed on the base. In the invention, the joints are connected by universal joints and can be driven by three or more ropes so as to meet the requirement of planar two-degree-of-freedom rotation. The joint close to the base is set as a front end joint, the joint far away from the base is set as a tail end joint, and a rope for controlling the tail end joint needs to sequentially pass through all joints at the front end of the joint. Therefore, the tail end joint does not influence the front end joint during movement, the front end joint can generate coupling influence on all the joints behind the tail end joint during movement, and decoupling analysis is needed during control.
The bottom cross section of the base of the snake-shaped arm movement module is shown in fig. 7, a snake-shaped arm movement module 25 is arranged above the base, a rope driving module 26 is arranged below the base, a pulley supporting seat 27 is arranged on the base and used for fixing a guide pulley 28, and a rope 29 is guided by a fixed pulley, so that friction can be reduced, and movement precision is improved.
In a second aspect, the present application provides a method for controlling an attitude of a roadway unstructured spatial redundancy monitoring robot, which is implemented by using the attitude control system of the roadway unstructured spatial redundancy monitoring robot, as shown in fig. 8, and includes the following steps:
step S1: acquiring roadway environment information, and transmitting the environment information to the upper computer module and the core controller module;
step S2: acquiring the angle variable quantity of each joint of the snake-shaped arm;
step S3: controlling the angle of each joint of the snake-shaped arm, and transmitting the voltage value corresponding to each joint angle measured by the potentiometer to the core controller;
step S4: calculating the voltage value to obtain a joint deflection angle, and further converting the joint deflection angle into a driving signal;
step S5: and driving the snake-shaped arm movement module according to the driving signal so as to enable the redundant monitoring robot to reach a preset pose.
Step S6: displaying the variable change condition of the redundancy monitoring robot and the information acquired by the sensor module;
the conversion into the driving signal, as shown in fig. 9, is as follows:
step S4.1: performing kinematic analysis on the snake-shaped arm motion module to obtain a positive kinematic equation of the snake-shaped robot;
s4.2, according to the positive kinematic equation of the snake-shaped robot, carrying out an inversion process to obtain a quantitative relation between the current pose difference and the joint variable;
step S4.3: obtaining the length variation of the rope according to the principle of the rope driving module, and further obtaining the current pose difference value;
step S4.4: obtaining a numerical value of the joint variable according to the current pose difference value and a quantitative relation between the current pose difference value and the joint variable;
step S4.5: converting the value of the joint variable into a drive signal.
Snake-arm motion module kinematics analysis
The mapping relationship from the joint space to the operation space can be represented by a homogeneous transformation matrix T from the base coordinate system to the terminal coordinate system after the D-H coordinate system is established. Homogeneous transformation matrix of adjacent rod coordinate systemsi-1Ti(1. ltoreq. i. ltoreq.2n) is represented by:
according to the homogeneous transformation relation of all the connecting rods, the expression of the tail end of the robot in a base coordinate system can be solved by multiplying the homogeneous transformation matrixes in sequence, and the positive kinematic equation of the snake-shaped robot is as follows:
0T2n＝0T1 1T2 2T3L 2n-1T2n＝f(θ1,θ2,θ3,L,θ2n) (10)
the kinematic inversion process can be described as: determining an expected pose X of a robot end effector in a working space according to a specific task target requirement, calculating a difference value dX between the expected pose X and the current pose, obtaining a quantitative relation between the dX and a joint variable d theta by using a Jacobian matrix of a mapping relation between a joint space and the working space, repeatedly iterating and controlling the motion of the robot by taking (theta + d theta) as a new input quantity of the robot joint to realize the motion of a mechanical arm and meet the task target requirement, namely the kinematic inversion process expression is as follows:
dθ＝J+dX (11)
wherein J refers to Jacobian matrix of robot joint space and working space mapping joint, J+＝JT(JJT)-1。
The snake-shaped arm movement joint is shown in figure 5, wherein all joints are connected by adopting a spherical hinge, and other universal joints such as a cross shaft can be used for connection. The spherical head 13 of the front end joint is matched with the hemispherical groove 15 of the next joint, and the joint disc 14 is provided with a through hole for passing through a driving rope. The joint adopts the cavity form, can lighten weight, improves load capacity, and sensor module wire accessible cavity pipeline is connected to the core control ware, prevents the interference motion, makes the succinct durable of snakelike arm motion module.
The rope driving module is shown in fig. 6 and comprises a bottom plate 18, a motor 20, a sliding table 22, a lead screw 23 and the like, wherein the motor is connected with the lead screw through a coupler 19, the lead screw is fixedly connected with the bottom plate through a supporting frame 24, a wire clamping device 21 is installed on a sliding block, and a rope can be fixed through a bolt 16. The wire clamping device can move relative to the sliding table through the adjusting knob 17 so as to adjust the pretightening force of the rope.
Analyzing any joint n, and driving rope length variation delta l 'of the joint n when the joint n moves independently'nj(j ═ 1,2,3) is:
wherein, alpha is a joint pitch angle and the unit is degree; beta is the joint yaw angle, and the unit is degree; theta is the initial angle of the rope and is expressed by degree; h is the distance between the front end joint and the center of the universal joint in mm, and d is the distance between the rear end joint and the center of the universal joint in mm.
Where f (α, β, θ) represents a rope length calculation formula:
the amount of exercise Δ l of the joint n due to coupling "nj(j ═ 1,2,3) is:
after decoupling analysis, namely the length change delta l of the n-joint driving rope when the two joints are linkednj(j ═ 1,2,3) is:
setting the two-degree-of-freedom rotation angle of a joint i (i is more than or equal to 1 and less than or equal to n) as alphai、βiThe position of the first rope on the wiring disc is marked by thetaiAfter decoupling analysis, the variation of the length of the driving rope is delta lij(j ═ 1,2,3), as inferred from the above analogy:
when the system is used for controlling the attitude of the snake-shaped arm in the roadway space, the motion space needs to be observed in advance, the size of the space is estimated, and then the appropriate number of joints is selected according to the length of the joints of the snake-shaped arm motion module. The snake-shaped arm gesture control module is manually controlled to achieve a preset gesture, a potentiometer rotating shaft at each joint rotates, output voltage changes, the output voltage changes are analyzed and calculated by a core controller and converted into rotation angles of each joint, the rotation angles and the pulse numbers of each motor are further converted into movement of a rope through a rope driving module, and therefore each joint of the snake-shaped arm movement module is pulled to rotate, and the snake-shaped arm gesture control module achieve the same gesture. The sensor module on the snake-shaped arm motion module tail end joint can acquire needed information in real time, monitors the equipment, acquires the needed information, and displays the information in real time through the upper computer. The pose of the snake-shaped arm motion module is continuously changed by repeatedly adjusting the snake-shaped arm gesture control module, and required information is acquired through the sensor module, so that the monitoring and the overhauling of the roadway space equipment are realized.
In a specific application process, when the snake-shaped arm movement module is far away from a target object, the snake-shaped arm attitude control module is used for manual control, so that the tail end of the snake-shaped arm movement module reaches the position near a target point. And then the control is converted into automatic control, the sensor module carries out image recognition, the space coordinate of a target point is collected, the coordinate information is transmitted to the core processor, the core processor is compared with the terminal position coordinate of the snake-shaped arm, the relative distance is calculated, the rope length change is converted, and the snake-shaped arm movement module is controlled to reach the position of the target point.
The snake-shaped arm can be controlled to move to different target point positions, the coordinate information of each target point is recorded in sequence, then the sensor scans the space information of each target point, the barrier is identified, the track planning is automatically carried out, the core processor calculates the shortest path which orderly passes through each target point, and the ordered back and forth movement among the target points is carried out.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A lane unstructured space redundancy monitoring robot attitude control system is characterized by comprising:
the system comprises a core controller, an upper computer, a sensor module, a potentiometer, a snake-shaped arm posture control module, a rope driving module and a snake-shaped arm movement module;
the core controller is respectively connected with the upper computer, the sensor module, the snake-shaped arm attitude control module and the rope driving module, the potentiometer is connected with the snake-shaped arm attitude control module, and the snake-shaped arm movement module is connected with the rope driving module;
the core controller is used for receiving the environmental information transmitted by the sensor module, receiving the voltage values corresponding to the joint angles transmitted by the snake-shaped arm attitude control module, obtaining joint deflection angles through calculation aiming at the voltage values, further converting the joint deflection angles into driving signals, and transmitting the driving signals to the rope driving module;
the upper computer is connected with the core controller through Ethernet communication, and is used for controlling and displaying the variable change condition of the redundant monitoring robot and displaying the information acquired by the sensor module through configuration software;
the sensor module is used for acquiring roadway environment information and transmitting the environment information to the upper computer module and the core controller module;
the potentiometer is used for acquiring the angle variable quantity of each joint of the snake-shaped arm;
the snake-shaped arm attitude control module is used for controlling the angle of each joint of the snake-shaped arm and transmitting the voltage value corresponding to each joint angle measured by the potentiometer to the core controller;
the rope driving module is used for driving the snake-shaped arm movement module according to a driving signal transmitted by the core controller;
the snake-shaped arm movement module is used for receiving the drive of the rope driving module, so that the redundant monitoring robot reaches a preset pose.
2. The roadway unstructured spatially redundant monitoring robot attitude control system of claim 1,
calculating the voltage value to obtain a joint deflection angle, and adopting a first joint deflection angle solving formula or a second joint deflection angle solving formula, wherein the first joint deflection angle solving formula is obtained by multiplying output voltage of a potentiometer by 360 degrees and dividing the output voltage of the potentiometer by total voltage at two ends of the potentiometer; and the second joint deflection angle solving formula is obtained by multiplying the output voltage of the potentiometer by 360 degrees and dividing the product of the control subdivision number and the total voltage at two ends of the potentiometer, wherein the output voltage of the potentiometer is the voltage value corresponding to each joint angle transmitted by the snake-shaped arm attitude control module.
3. The roadway unstructured spatially redundant monitoring robot attitude control system of claim 1,
the snake-shaped arm attitude control module is formed by connecting modular joints in series, the number of the joints corresponds to that of the snake-shaped arm motion module, and the attitude of the snake-shaped arm attitude control module can be manually changed, so that the output voltage of a potentiometer is changed.
4. The roadway unstructured spatially redundant monitoring robot attitude control system of claim 1,
rope drive module comprises brace table, motor drive, lead screw, slip table, shaft coupling, rope, core controller passes through serial ports communication control motor drive to the control motor rotates, drives the slip table motion on the lead screw, and then stimulates rope reciprocating motion.
5. The roadway unstructured spatially redundant monitoring robot attitude control system of claim 1,
the snake-shaped arm motion module is formed by connecting modular joints in series, the number of the joints corresponds to that of the snake-shaped arm attitude control module, universal joints are connected among the modular joints, and a wiring disc of the snake-shaped arm motion module is provided with a circle of through holes for fixing a rope of the rope driving module.
6. The roadway unstructured spatially redundant monitoring robot attitude control system of claim 1,
and when the single movement angle of the snake-shaped arm movement module is larger than a first threshold value and the speed of the snake-shaped arm movement module is larger than a second threshold value, adopting a movement mode of acceleration, uniform speed and deceleration.
7. The roadway unstructured spatially redundant monitoring robot attitude control system of claim 1,
the core controller is controlled by a PLC controller, and an analog quantity acquisition module, a Modbus 485 communication interface and an Ethernet communication interface are integrated in the core controller.
8. The roadway unstructured spatially redundant monitoring robot attitude control system of claim 1,
the sensor module is selected according to actual requirements, and at least one or more of the following devices are selected: camera, temperature sensor, humidity transducer, acoustic sensor, gas concentration sensor.
9. A method for controlling the attitude of a roadway unstructured space redundancy monitoring robot is realized by the attitude control system of the roadway unstructured space redundancy monitoring robot, which comprises the following steps:
acquiring roadway environment information, and transmitting the environment information to the upper computer module and the core controller module;
acquiring the angle variable quantity of each joint of the snake-shaped arm;
controlling the angle of each joint of the snake-shaped arm, and transmitting the voltage value corresponding to each joint angle measured by the potentiometer to the core controller;
calculating the voltage value to obtain a joint deflection angle, and further converting the joint deflection angle into a driving signal;
driving the snake-shaped arm movement module according to the driving signal to enable the redundant monitoring robot to reach a preset pose;
and displaying the variable change condition of the redundant monitoring robot and the information acquired by the sensor module.
10. The method for controlling the attitude of a roadway unstructured space redundancy monitoring robot according to claim 9,
the conversion into the driving signal is as follows:
performing kinematic analysis on the snake-shaped arm motion module to obtain a positive kinematic equation of the snake-shaped robot;
according to the positive kinematic equation of the snake-shaped robot, carrying out an inversion process to obtain a quantitative relation between the current pose difference value and the joint variable;
obtaining the length variation of the rope according to the principle of the rope driving module, and further obtaining the current pose difference value;
obtaining a numerical value of the joint variable according to the current pose difference value and a quantitative relation between the current pose difference value and the joint variable;
converting the value of the joint variable into a drive signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110628826.2A CN113319836A (en) | 2021-06-02 | 2021-06-02 | Attitude control system and method for non-structured spatial redundancy monitoring robot for roadway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110628826.2A CN113319836A (en) | 2021-06-02 | 2021-06-02 | Attitude control system and method for non-structured spatial redundancy monitoring robot for roadway |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113319836A true CN113319836A (en) | 2021-08-31 |
Family
ID=77419765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110628826.2A Pending CN113319836A (en) | 2021-06-02 | 2021-06-02 | Attitude control system and method for non-structured spatial redundancy monitoring robot for roadway |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113319836A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114136682A (en) * | 2022-01-27 | 2022-03-04 | 极限人工智能有限公司 | Method, device and equipment for detecting motion control precision of instrument and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201837857U (en) * | 2010-04-23 | 2011-05-18 | 北京航空航天大学 | Modularized embedded control device for movement-oriented rescue robot |
| CN102990676A (en) * | 2012-11-23 | 2013-03-27 | 中国航空工业集团公司北京航空制造工程研究所 | Snakelike mechanical arm |
| KR20130112981A (en) * | 2012-04-02 | 2013-10-15 | 삼성전자주식회사 | Driving device usable with robot arm and robot arm |
| CN105150203A (en) * | 2015-09-22 | 2015-12-16 | 成都理工大学 | Method for detecting internal environment of nuclear equipment pipeline by snake-like robot |
| CN106695803A (en) * | 2017-03-24 | 2017-05-24 | 中国民航大学 | Continuous robot posture control system |
| CN109015655A (en) * | 2018-09-06 | 2018-12-18 | 清华大学深圳研究生院 | Snake-shaped robot motion control and end localization method and device, storage medium |
| JP2019058648A (en) * | 2017-07-17 | 2019-04-18 | キヤノン ユーエスエイ, インコーポレイテッドCanon U.S.A., Inc | Continuum robot control method and device |
-
2021
- 2021-06-02 CN CN202110628826.2A patent/CN113319836A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201837857U (en) * | 2010-04-23 | 2011-05-18 | 北京航空航天大学 | Modularized embedded control device for movement-oriented rescue robot |
| KR20130112981A (en) * | 2012-04-02 | 2013-10-15 | 삼성전자주식회사 | Driving device usable with robot arm and robot arm |
| CN102990676A (en) * | 2012-11-23 | 2013-03-27 | 中国航空工业集团公司北京航空制造工程研究所 | Snakelike mechanical arm |
| CN105150203A (en) * | 2015-09-22 | 2015-12-16 | 成都理工大学 | Method for detecting internal environment of nuclear equipment pipeline by snake-like robot |
| CN106695803A (en) * | 2017-03-24 | 2017-05-24 | 中国民航大学 | Continuous robot posture control system |
| JP2019058648A (en) * | 2017-07-17 | 2019-04-18 | キヤノン ユーエスエイ, インコーポレイテッドCanon U.S.A., Inc | Continuum robot control method and device |
| CN109015655A (en) * | 2018-09-06 | 2018-12-18 | 清华大学深圳研究生院 | Snake-shaped robot motion control and end localization method and device, storage medium |
Non-Patent Citations (2)
| Title |
|---|
| 邢利辉等: "管道探测蛇形机器人控制系统设计及仿真", 《小型微型计算机系统》, no. 06, 29 May 2020 (2020-05-29), pages 1340 - 1344 * |
| 郭天太，李东升，薛生虎: "《"十三五"普通高等教育规划教材 传感器技术》", 31 August 2019, pages: 14 - 15 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114136682A (en) * | 2022-01-27 | 2022-03-04 | 极限人工智能有限公司 | Method, device and equipment for detecting motion control precision of instrument and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112621736B (en) | Flexible mechanical arm system for deep cavity operation and continuum robot | |
| CN109720609B (en) | Suspended microgravity simulation device and control method | |
| CN111400917B (en) | Kinematics optimization solving method of rope traction parallel robot with variable structure | |
| CN109580404B (en) | Method and device for testing abrasion and accelerated abrasion of built-in wire bundle of industrial robot | |
| CN109623780B (en) | Camera robot for shooting multi-view continuum and using method thereof | |
| CN104552295B (en) | A kind of man-machine technical ability transmission system based on Multi-information acquisition | |
| CN108202185B (en) | Tube-tube intersecting line weld joint tracking method based on double sensing modes | |
| CN113319836A (en) | Attitude control system and method for non-structured spatial redundancy monitoring robot for roadway | |
| CN108362336B (en) | Parallel flexible cable type air detection system and method for large-space public places | |
| CN107414474B (en) | Narrow space bolt positioning and mounting robot and control method | |
| CN112936273B (en) | Speed stage kinematics modeling method for rope-driven flexible mechanical arm | |
| CN112692831A (en) | Mechanical arm control system and mechanical arm | |
| CN107718550B (en) | Flexible cable driving 3D printer | |
| CN100336635C (en) | Stereoscopic vision monitoring device with five degrees of freedom | |
| CN106625629B (en) | The many arm supports in tunnel, the end arm support posture multi-mode automaton of multi-joint implement and method | |
| Krotkov et al. | An agile stereo camera system for flexible image acquisition | |
| CN111421529B (en) | Control method of rope-driven flexible arm | |
| CN108230865A (en) | Automated teaching apparatus based on spin control system | |
| JPH0750412B2 (en) | Robot controller | |
| CN114675542A (en) | Trajectory planning method for end effector of target tracking performance testing device | |
| CN114211503A (en) | Rope-driven flexible robot track control method and system based on visual feedback | |
| CN109588400A (en) | A kind of electricity drive formula pesticide spraying machinery arm and control method | |
| CN209087236U (en) | Automated teaching apparatus based on spin control system | |
| CN210650753U (en) | Fixing device for robot | |
| Wei | Design and Implementation of the Inverse Kinematics and Monitoring Module for Six-axis Crank Arm Platform |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210831 |
|
| RJ01 | Rejection of invention patent application after publication |